JPH0265992A - Holding mechanism for work - Google Patents
Holding mechanism for workInfo
- Publication number
- JPH0265992A JPH0265992A JP21409488A JP21409488A JPH0265992A JP H0265992 A JPH0265992 A JP H0265992A JP 21409488 A JP21409488 A JP 21409488A JP 21409488 A JP21409488 A JP 21409488A JP H0265992 A JPH0265992 A JP H0265992A
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- pressure
- work
- interposing
- holding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000004177 elastic tissue Anatomy 0.000 claims abstract description 4
- 229920002994 synthetic fiber Polymers 0.000 description 10
- 239000012209 synthetic fiber Substances 0.000 description 10
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- LLZRNZOLAXHGLL-UHFFFAOYSA-J titanic acid Chemical compound O[Ti](O)(O)O LLZRNZOLAXHGLL-UHFFFAOYSA-J 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明はロボッ１へ、搬送装置等のワーク保持、特に軽
量で且つ柔軟な紙、シー１へ、プラスチックとのワーク
を確実に保持できるワーク保持機構に関するものである
。[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a robot 1 that can hold a work such as a conveyance device, and in particular a work that can securely hold a work of lightweight and flexible paper, sheet 1, or plastic. This relates to a holding mechanism.
［従来の技術］
従来の、軽量で且つ柔軟なワークを保持するものとして
、エアーによるワークの吸着、スプリングを利用してワ
ークを弾力的に挾持するものが知られている。[Prior Art] As conventional devices for holding lightweight and flexible workpieces, there are known devices that use air to adsorb the workpiece or use springs to elastically hold the workpiece.
［発明が解決しようとする問題点コ
上述した従来のワーク保持機構で前者のエアーによるワ
ークの吸着では、ワーク表面に凹凸があると、ワークの
吸着面の密閉性の問題から吸着力が落ちてしまい、又後
者のスプリングを利用したものでは、ワークの形状が複
雑になると、ワークの挾持或いは保持位置の設定、特に
特定部位に圧力が集中してしまいワークを変形損傷して
しまうという問題点があった。[Problems to be solved by the invention] In the conventional work holding mechanism described above, in which the work is attracted by air, if the work surface is uneven, the suction force decreases due to problems with the airtightness of the suction surface of the work. However, with the latter type of spring, when the shape of the workpiece becomes complex, there is a problem in setting the clamping or holding position of the workpiece, in particular, that pressure is concentrated on a specific part, causing deformation and damage to the workpiece. there were.
［問題点を解決するための手段］
本発明は上述した従来の問題点を解決するためになされ
たもので、ワークを挾持する面に配置された平面状の圧
力センサーと、該圧力センサーの平面上に略垂直に植設
された複数の弾力性を有する繊維と、前記ワークの挾持
圧に応じた信号を圧力センサーから出力し、該出力され
た信号の大きさに対応した挾持圧を調整するワーク保持
機構を提案するものである。[Means for Solving the Problems] The present invention has been made to solve the above-mentioned conventional problems, and includes a flat pressure sensor disposed on a surface that holds a workpiece, and a flat pressure sensor of the pressure sensor. A pressure sensor outputs a signal corresponding to the clamping pressure of the plurality of elastic fibers planted substantially vertically on the workpiece and the workpiece, and the clamping pressure is adjusted in accordance with the magnitude of the output signal. This paper proposes a workpiece holding mechanism.
［作 用］
本発明のワーク保持機構は、ワークの形状に対応して変
形可能な弾力性を有する繊維によるワーク保持部と、こ
のワーク保持部に加えられた圧力を映出、ｄＩす定して
、この測定結果に基ついて、ワーク保持部の保持力（挾
持力）を１駆動部から供給するようになされたものであ
る。[Function] The workpiece holding mechanism of the present invention includes a workpiece holding portion made of elastic fibers that can be deformed in accordance with the shape of the workpiece, and a workpiece holding portion that reflects the pressure applied to the workpiece holding portion and determines dI. Based on this measurement result, the holding force (clamping force) of the workpiece holding section is supplied from one drive section.
［実施例］ 本発明の−・実施例を添付図１Ｍを参照して説明する。[Example] An embodiment of the invention will now be described with reference to the attached FIG. 1M.
ワーク１（第３図参照）を挾持するための鋏型保持部材
２，３は支点４により開閉可能となされている。保持部
材２，３の相対する面には圧力センサーとしてのストレ
ンゲージ５，６が貼付されている。このス１〜レンゲー
ジ５，６には５／１００〜１５／］、０Ｏｎｎφ程度の
ナイロン、アクリル等の合成繊維７が複数本、それぞれ
接着或いは植毛等により植設されている。尚５合成繊維
についてはワークに合わせた形状を選択できるものであ
る。保持部材２，３の支点４の反対側には保持部材１，
２を開閉する暉動源としての電磁ソレノイド８が配置さ
れ、この電磁ソレノイド８の収縮に応じて保持部材２，
３が接近し、反対に電磁ソレノイド８の拡開に応じて保
持部材２，３が離隔するようになされている。また、電
気的には第２図に示すように、圧力センサーとしてのス
１〜レンゲージ５，６のそれぞれは増幅器９，１ｏに接
続され、増幅器９．１０のそれぞれは弁別器１１．１２
に接続され、弁別器１１．１２は制御回路１３に接続さ
れ、制御回路１３は駆動制御部１４に接７続され、駆動
制御部１４は電磁ソレノイ１＜８の収縮または拡開を制
御する。Scissor-shaped holding members 2 and 3 for holding the workpiece 1 (see FIG. 3) can be opened and closed by a fulcrum 4. Strain gauges 5 and 6 as pressure sensors are attached to opposing surfaces of the holding members 2 and 3. A plurality of synthetic fibers 7 such as nylon, acrylic, etc., each having a diameter of about 5/100 to 15/] and 0 Onn, are implanted in the space 1 to the range gauges 5 and 6 by adhesion or flocking, respectively. As for 5 synthetic fibers, the shape can be selected according to the workpiece. On the opposite side of the fulcrum 4 of the holding members 2 and 3 are the holding members 1,
An electromagnetic solenoid 8 is disposed as a vibration source for opening and closing the holding member 2,
3 approach each other, and conversely, as the electromagnetic solenoid 8 expands, the holding members 2 and 3 move away from each other. Electrically, as shown in FIG.
The discriminators 11, 12 are connected to a control circuit 13, and the control circuit 13 is connected to a drive control section 14, which controls the contraction or expansion of the electromagnetic solenoids 1<8.
ここで、実際の制御について説明°すると、ワーク１を
保持部材２と３の略中間部分に位置さ吐、制御回路１３
からの信号によりＩ原動制御部１４は電磁ソレノイド８
の収縮を指令し、保持部材２゜３は接近を開始する。更
に、電磁ソレノイ１−８が収１縮するとワークの周面に
合成繊維７が当接し、ワーク１の形状に沿って合成繊維
は屈折し、この屈折力に応じた力がストレンゲージ５，
６に印加され、ス１〜レンゲージ５，６それぞれから圧
力に応した信号が増幅器９，１０に印加され、増幅器９
．１０て増幅された信号は弁別器１１．１２に印加され
る。弁別器１１．１２はそれぞれ入力された信号の値に
応じてデジタル化された信号を制御回路１３に印加し、
制御回路１３は印加されたデジタル信号を読み取り、ワ
ーク１により予め設定されている圧力値になるまで１区
動制御部１４を。Here, to explain the actual control, the workpiece 1 is positioned approximately midway between the holding members 2 and 3, and the control circuit 13
The I drive control section 14 activates the electromagnetic solenoid 8 by a signal from
, and the holding member 2.3 starts to approach. Furthermore, when the electromagnetic solenoid 1-8 contracts, the synthetic fiber 7 comes into contact with the circumferential surface of the workpiece, the synthetic fiber is bent along the shape of the workpiece 1, and a force corresponding to this refractive power is applied to the strain gauge 5,
Signals corresponding to the pressure are applied to amplifiers 9 and 10 from the range gauges 5 and 6, respectively.
．． The amplified signal 10 is applied to a discriminator 11.12. The discriminators 11 and 12 each apply a digitized signal to the control circuit 13 according to the value of the input signal,
The control circuit 13 reads the applied digital signal and controls the 1-section movement control unit 14 until the pressure value preset by the workpiece 1 is reached.
電磁ソレノイ１〜８が収縮するように制御する。制御回
路１３において予め設定されている圧力値に達した時、
制御回路１３は１犯動制御部１４に電磁ソレノイド８の
収縮停止を命じ、保持部材２と３にワーク１が挾持され
て移動、加工等の所望の処理が行なわれる。The electromagnetic solenoids 1 to 8 are controlled to contract. When a preset pressure value is reached in the control circuit 13,
The control circuit 13 instructs the first crime control unit 14 to stop the contraction of the electromagnetic solenoid 8, and the workpiece 1 is held between the holding members 2 and 3 and desired processing such as movement and processing is performed.
所望の処理が終了すると、制御回路１３は駆動制御部１
４を介して電磁ソレノイド８の拡開を指令し、保持部材
２と３の離隔が行なわれ、ワーク１は合成繊維７が離れ
て自由になり操作が終了する。When the desired process is completed, the control circuit 13
4, the electromagnetic solenoid 8 is commanded to expand, the holding members 2 and 3 are separated, and the synthetic fiber 7 of the workpiece 1 is separated and becomes free, thus completing the operation.
本実施例においては第３図に示すように、ワーク１を円
筒もしくは球状のもので説明したが、他の形状例えば外
面に凹凸のあるワークに対しても、合成繊維７はその外
面の形状に従って屈撓してワークに当接することより挾
持力が集中することはなく、ワークを保持できるもので
ある。In this embodiment, as shown in FIG. 3, the workpiece 1 is cylindrical or spherical. However, even for workpieces of other shapes, for example those with uneven outer surfaces, the synthetic fibers 7 will be shaped according to the shape of the outer surface. By bending and contacting the workpiece, the clamping force is not concentrated and the workpiece can be held.
また上述した実施例では、平板状の圧力センサー上に弾
力を有する合成繊維を一様に植設した場合を説明したが
、本発明ではこれに限定されるものではなく、第４図に
示すように保持部材１５のワークに接する方向の面に複
数の圧力センサー１６．１７．１８を貼付し、それぞれ
の圧力センサー１６，１７．１８毎に長さのことなる合
成繊維を植設することにより、ワークを挾持した場合に
、圧力センサー１６，１７．１８は圧力に比例した出力
信号を必要とせず、接触だけで検知するものとして、例
えばＰＺＴ （チタン酸、ジルコン酸鉛系セラミック）
等の振動センサーを用いることが可能となる。Further, in the above-mentioned embodiment, a case was explained in which elastic synthetic fibers were uniformly planted on a flat pressure sensor, but the present invention is not limited to this, and as shown in FIG. By attaching a plurality of pressure sensors 16, 17, 18 to the surface of the holding member 15 in the direction that contacts the workpiece, and planting synthetic fibers of different lengths for each pressure sensor 16, 17, 18, When a workpiece is clamped, the pressure sensors 16, 17, and 18 do not require an output signal proportional to the pressure, and detect only by contact, such as PZT (titanic acid, lead zirconate ceramic).
It becomes possible to use vibration sensors such as
尚、第１の実施例では合成繊維及び圧力センサーを相対
する保持部材の両方に配置したが１本発明はこれに限定
されるものではなく、一方の保持部材にはワークを直接
保持する部材を貼付しても良いものである。In the first embodiment, the synthetic fibers and the pressure sensor were placed on both of the opposing holding members; however, the present invention is not limited thereto, and one holding member may include a member that directly holds the workpiece. It can also be pasted.
［発明の効果］
本発明は如上のような溝底となしたので、軽量で且つ柔
軟及び複雑な形状のワークを変形させることなく確実に
保持して、移動、加工等の処理を行なえるものである。[Effects of the Invention] Since the present invention has a groove bottom as shown above, it is lightweight and can securely hold a flexible and complex-shaped workpiece without deforming it and perform processing such as movement and processing. It is.
図面は本発明の一実施例を示すもので、第１図は（幾植
図、第２図は′漱気的ブロック図、第３図は挾持状況図
、第４図は他の実施例である。
１・・・ワーク、 ２，３ 保持部材、５．６・・ス
トレンゲージ、 ７ ・合成繊維、８・・電磁ソレノ
イＩ−The drawings show one embodiment of the present invention; FIG. 1 is a block diagram, FIG. 2 is a block diagram of a suction system, FIG. 1. Workpiece, 2, 3 Holding member, 5. 6. Strain gauge, 7. Synthetic fiber, 8. Electromagnetic solenoid I-
Claims (1)
と、該圧力センサーの平面上に略垂直に植設された複数
の弾力性を有する繊維と、前記ワークの挾持圧に応じた
信号を圧力センサーから出力し、該出力された信号の大
きさに対応した挾持圧を調整することを特徴とするワー
ク保持機構。A planar pressure sensor placed on a surface that clamps a workpiece, a plurality of elastic fibers planted substantially perpendicularly on the plane of the pressure sensor, and a pressure signal that corresponds to the clamping pressure of the workpiece. A work holding mechanism output from a sensor and adjusting clamping pressure corresponding to the magnitude of the output signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21409488A JPH0265992A (en) | 1988-08-29 | 1988-08-29 | Holding mechanism for work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21409488A JPH0265992A (en) | 1988-08-29 | 1988-08-29 | Holding mechanism for work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0265992A true JPH0265992A (en) | 1990-03-06 |
Family
ID=16650128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21409488A Pending JPH0265992A (en) | 1988-08-29 | 1988-08-29 | Holding mechanism for work |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0265992A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5709583A (en) * | 1994-07-27 | 1998-01-20 | Tyco Industries, Inc. | Steering system for radio-controlled wheeled vehicle toy |
| CN105690411A (en) * | 2016-02-18 | 2016-06-22 | 陆玉正 | Pressure-controllable soft-body manipulator device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4849156A (en) * | 1971-10-25 | 1973-07-11 | ||
| JPS4853464A (en) * | 1971-11-04 | 1973-07-27 | ||
| JPS5759090B2 (en) * | 1974-03-22 | 1982-12-13 | Kubota Ltd |
-
1988
- 1988-08-29 JP JP21409488A patent/JPH0265992A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4849156A (en) * | 1971-10-25 | 1973-07-11 | ||
| JPS4853464A (en) * | 1971-11-04 | 1973-07-27 | ||
| JPS5759090B2 (en) * | 1974-03-22 | 1982-12-13 | Kubota Ltd |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5709583A (en) * | 1994-07-27 | 1998-01-20 | Tyco Industries, Inc. | Steering system for radio-controlled wheeled vehicle toy |
| CN105690411A (en) * | 2016-02-18 | 2016-06-22 | 陆玉正 | Pressure-controllable soft-body manipulator device |
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