JPH06190764A - Gripping mechanism - Google Patents
Gripping mechanismInfo
- Publication number
- JPH06190764A JPH06190764A JP34597492A JP34597492A JPH06190764A JP H06190764 A JPH06190764 A JP H06190764A JP 34597492 A JP34597492 A JP 34597492A JP 34597492 A JP34597492 A JP 34597492A JP H06190764 A JPH06190764 A JP H06190764A
- Authority
- JP
- Japan
- Prior art keywords
- fluid pressure
- cylinder
- cylinder rod
- pressure
- gripping mechanism
- 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
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、マニピュレータに係
り、特に原子力，宇宙等の人間が容易に近接が困難な現
場や完全自動工場等で、多様な形状，大きさの対象物を
把持するのに好適な把持機構に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator, and in particular, it can grasp objects of various shapes and sizes at a site such as nuclear power or space where humans cannot easily approach it or a fully automatic factory. The present invention relates to a gripping mechanism suitable for.
【０００２】[0002]
【従来の技術】従来、特開昭62−152690号公報に記載の
ようにワーク当接部材を形状記憶合金で形成することに
より、一つの保持具で種々形状のワークを把持可能とし
たものがある。2. Description of the Related Art Conventionally, as described in Japanese Unexamined Patent Publication No. 62-152690, there has been one in which a work holding member is made of a shape memory alloy so that a single holder can hold various shaped works. is there.
【０００３】[0003]
【発明が解決しようとする課題】上記従来技術は、ある
形状のワークを保持するときには、その都度、ワーク形
状に沿うように形状記憶合金を加熱，成形することが必
要となり、敏速に処理を必要とする作業現場では不適合
であった。In the above-mentioned prior art, when holding a work of a certain shape, it is necessary to heat and shape the shape memory alloy so as to follow the shape of the work each time, and prompt treatment is required. Was not suitable at the work site.
【０００４】本発明の目的は、多様な形状，大きさの対
象物をいかなる方向からも適確に把持することができる
把持機構を提供することにある。An object of the present invention is to provide a gripping mechanism capable of accurately gripping objects of various shapes and sizes from any direction.
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するため
に、本発明は複数個のシリンダからなりシリンダロッド
の先端と対象物とが接するように配置した流体圧可動手
段と、この流体圧可動手段のシリンダ内の流体圧を検出
する流体圧検出手段と、この流体圧可動手段のシリンダ
内の流体圧を調節する流体圧調節手段と、この流体圧検
出手段で検出した流体圧を入力して流体圧調節手段に出
力するための指令値を計算する流体圧計算手段とで構成
する。In order to achieve the above object, the present invention provides a fluid pressure movable means which is composed of a plurality of cylinders and is arranged so that the tip of a cylinder rod and an object are in contact with each other. The fluid pressure detecting means for detecting the fluid pressure in the cylinder of the means, the fluid pressure adjusting means for adjusting the fluid pressure in the cylinder of the fluid pressure moving means, and the fluid pressure detected by the fluid pressure detecting means are input. And a fluid pressure calculating means for calculating a command value to be output to the fluid pressure adjusting means.
【０００６】[0006]
【作用】流体圧可動手段の内部には、油などの流体が注
入されており、平行形ハンドの開閉によって複数個のシ
リンダロッドの先端が対象物がいかなる形状であって
も、それぞれ均等圧で接触する。把持力が検出されたと
同時に平行形ハンドの動作を止め、さらに、流体圧調節
手段を作動させシリンダロッドを押し込む。それにつれ
て油によって他のシリンダロッドは押し出される。する
と、流体圧検出手段に圧がかかり出し、シリンダロッド
の動作が完了し、平行形ハンドの把持力と流体圧検出手
段の値を流体圧計算手段で計算し、等しくなるまで流体
圧調節手段を作動させる。値が等しくなると、シリンダ
ロッドが対象物の形状に沿った状態で確実に把持され
る。[Function] A fluid such as oil is injected into the fluid pressure movable means, and even if the tips of the plurality of cylinder rods are shaped into uniform shapes by the opening and closing of the parallel hand, the objects can have any uniform pressure. Contact. At the same time when the gripping force is detected, the operation of the parallel hand is stopped, and the fluid pressure adjusting means is operated to push the cylinder rod. As a result, the other cylinder rod is pushed out by the oil. Then, the pressure is applied to the fluid pressure detecting means, the operation of the cylinder rod is completed, the holding force of the parallel hand and the value of the fluid pressure detecting means are calculated by the fluid pressure calculating means, and the fluid pressure adjusting means is adjusted until they become equal. Activate. When the values are equal, the cylinder rod is reliably gripped in a state that follows the shape of the object.
【０００７】[0007]
【実施例】以下、本発明の一実施例を図１，図２と図３
により説明する。図１に示すように、マニピュレータ１
の先端部には、グリッパ支持部２から一対の平行リンク
機構３を介して一対の平行グリッパ４をその相対向する
把持面が常に平行であるように動作する機能をもつ平行
ハンド５が取り付けられている。平行グリッパ４を開閉
するボールねじ６ａとグリッパ駆動用モータ６ｂとから
なるグリッパ駆動機構６と平行リンク機構３との連結部
にはグリッパの駆動力、すなわち、把持力を検出する力
センサ７が内蔵されている。グリッパ駆動用モータ６ｂ
には回転角を検出するエンコーダ８が付いている。ま
た、平行グリッパ４の把持部には図２に示すように、複
数個のシリンダ群からなる内部に油が注入されている油
圧シリンダ機構９が配置されている。油圧シリンダ機構
９の各シリンダは寸法が等しく、同一構造である。すな
わち、各シリンダは内径、シリンダロッド１０のストロ
ークが等しい。シリンダ１１の内面に沿って中心軸方向
に動作可能なシリンダロッド１０の先端部にはピンジョ
イント１２により回転自在に保持された円形のプレート
１３がある。シリンダ１１とシリンダロッド１０の挿出
部には図３に示すように、シリンダ１１から外部に油が
漏れるのを防止するため三重構造のＶパッキン１４とパ
ッキン押え１５とがある。油圧シリンダ機構９の端部に
は、油圧シリンダ機構９の各シリンダの負圧を均等に保
ち、各シリンダロッドにかかる圧力を調節するため圧力
調節機構１６がある。圧力調節機構１６は図４に示すよ
うに、シリンダ１７の内面に沿って中心軸方向に動作可
能なシリンダロッド１８を押しつける圧力調節用モータ
１９とその伝達部であるギア２０ａ，ギア２０ｂ，ボー
ルねじ２０ｃと、油圧シリンダ機構９の内部圧を検出す
る半導体圧力センサ２１とで構成される。次に本発明に
係る制御装置を図１と図２により説明する。平行グリッ
パ４により把持した把持物の把持力は、力センサ７と半
導体圧力センサ２１のアナログ信号をＡＤコンバータ５
０によりディジタル信号に変換してマイクロコンピュー
タ５１に取り込まれる。この力センサ７と半導体圧力セ
ンサ２１の値を等しくなるようにすることで確実な把持
動作が行われる。そのため、グリッパ駆動用モータ６ｂ
と圧力調節用モータ１９をドライブするモータドライバ
５２，５３には、マイクロコンピュータ５１からの信号
をアナログに変換するＤＡコンバータ５４を介して、指
令値が与えられる。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to FIGS.
Will be described. As shown in FIG. 1, the manipulator 1
A parallel hand 5 having a function of operating the pair of parallel grippers 4 from the gripper support portion 2 through the pair of parallel link mechanisms 3 so that the opposing gripping surfaces are always parallel to each other is attached to the tip end of the. ing. A force sensor 7 for detecting the driving force of the gripper, that is, the gripping force, is built in the connecting portion between the parallel link mechanism 3 and the gripper driving mechanism 6 including the ball screw 6a for opening and closing the parallel gripper 4 and the gripper driving motor 6b. Has been done. Gripper drive motor 6b
Has an encoder 8 for detecting the rotation angle. Further, as shown in FIG. 2, a hydraulic cylinder mechanism 9 having a plurality of cylinder groups and in which oil is injected is arranged in the grip portion of the parallel gripper 4. Each cylinder of the hydraulic cylinder mechanism 9 has the same size and the same structure. That is, each cylinder has the same inner diameter and the stroke of the cylinder rod 10. A circular plate 13 rotatably held by a pin joint 12 is provided at the tip of the cylinder rod 10 that is movable in the central axis direction along the inner surface of the cylinder 11. As shown in FIG. 3, the insertion portion of the cylinder 11 and the cylinder rod 10 has a triple packing V packing 14 and packing presser 15 for preventing oil from leaking from the cylinder 11 to the outside. At the end of the hydraulic cylinder mechanism 9, there is a pressure adjusting mechanism 16 for uniformly maintaining the negative pressure of each cylinder of the hydraulic cylinder mechanism 9 and adjusting the pressure applied to each cylinder rod. As shown in FIG. 4, the pressure adjusting mechanism 16 includes a pressure adjusting motor 19 that presses a cylinder rod 18 that can move in the central axis direction along the inner surface of a cylinder 17, and gears 20a, gears 20b, ball screws that are transmission parts thereof. 20c and a semiconductor pressure sensor 21 that detects the internal pressure of the hydraulic cylinder mechanism 9. Next, the control device according to the present invention will be described with reference to FIGS. The grasping force of the grasped object grasped by the parallel gripper 4 is obtained by converting the analog signals of the force sensor 7 and the semiconductor pressure sensor 21 into the AD converter 5.
It is converted into a digital signal by 0 and taken into the microcomputer 51. By making the values of the force sensor 7 and the semiconductor pressure sensor 21 equal, a reliable gripping operation is performed. Therefore, the gripper driving motor 6b
A command value is given to the motor drivers 52 and 53 that drive the pressure adjusting motor 19 via the DA converter 54 that converts the signal from the microcomputer 51 into an analog signal.
【０００８】次に、把持動作を図２に示すように被把持
物３０が円筒形状の場合で説明する。油圧シリンダ機構
９内部の油はシリンダロッド１８が押し込まれた位置、
すなわち、下限の位置で、シリンダロッド１０がすべ
て、押し出される量が注入されている。したがって、シ
リンダロッド１８が押し出された位置、すなわち、上限
の位置では、シリンダロッド１０がすべて、縮むことが
可能な状態である。この状態で、まず、平行リンク機構
３の動作により平行グリッパ４を被把持物３０に接近さ
せていく。すると、シリンダロッド１０のプレート１３
が被把持物３０に接触する。その後、平行グリッパ４を
閉じると力センサ７により把持力が検出される。把持力
が検出されたと同時に平行グリッパ４の動作を止め、さ
らに、圧力調節用モータ１９を作動させシリンダロッド
１８を押し込む。それにつれ、油によってシリンダロッ
ド１０も押し出される。すると、半導体圧力センサ２１
にも圧がかかり出し、シリンダロッド１０の動作が完了
し、力センサ７の把持力と半導体圧力センサ２１の値を
等しくなるまで圧力調節用モータ１９を作動させる。値
が等しくなると、シリンダロッド１０が被把持物３０の
形状に沿った状態で確実に把持される。これは、シリン
ダの推力Ｆはシステムの圧ｐとピストンの受圧面積Ａで
決まり、Ｆ＝ｐＡの関係で表される。この関係は空圧の
場合と同じであるが、油には圧縮性がないので、シリン
ダ内に供給されている油はピストンを動かすためにだけ
消費され、シリンダロッド１８を押し込むと、シリンダ
の推力Ｆが発生してｐ＝Ｆ／Ａの圧力を発生する。する
と、シリンダロッド１０は発生した圧力を消費するため
押し出される。すなわち、シリンダ内に供給されている
油の容積Ｖが一定に保たれようとするためシリンダの推
力Ｆが発生しなくなる状態、すなわち、シリンダロッド
１０が被把持物３０に接触しているか、伸びきった状態
で、半導体圧力センサ２１にかかる圧力の均等圧がシリ
ンダロッド１０にかかる。Next, the gripping operation will be described in the case where the object to be gripped 30 has a cylindrical shape as shown in FIG. The oil inside the hydraulic cylinder mechanism 9 is at the position where the cylinder rod 18 is pushed in,
That is, at the lower limit position, the cylinder rod 10 is entirely injected with the amount to be extruded. Therefore, at the position where the cylinder rod 18 is pushed out, that is, at the upper limit position, all the cylinder rods 10 are in a state capable of contracting. In this state, first, the parallel gripper 4 is moved toward the object to be grasped 30 by the operation of the parallel link mechanism 3. Then, the plate 13 of the cylinder rod 10
Contacts the object to be grasped 30. After that, when the parallel gripper 4 is closed, the gripping force is detected by the force sensor 7. At the same time when the gripping force is detected, the operation of the parallel gripper 4 is stopped, and the pressure adjusting motor 19 is operated to push the cylinder rod 18 in. Along with that, the cylinder rod 10 is also pushed out by the oil. Then, the semiconductor pressure sensor 21
Then, pressure is applied to the cylinder rod 10, the operation of the cylinder rod 10 is completed, and the pressure adjusting motor 19 is operated until the gripping force of the force sensor 7 and the value of the semiconductor pressure sensor 21 become equal. When the values are equal, the cylinder rod 10 is reliably gripped in the state of following the shape of the object to be gripped 30. This is because the thrust force F of the cylinder is determined by the pressure p of the system and the pressure receiving area A of the piston, and is represented by the relation F = pA. This relationship is the same as in the case of pneumatic pressure, but since oil is not compressible, the oil supplied to the cylinder is consumed only to move the piston, and when the cylinder rod 18 is pushed in, the thrust of the cylinder is increased. F is generated to generate a pressure of p = F / A. Then, the cylinder rod 10 is pushed out to consume the generated pressure. That is, since the volume V of the oil supplied into the cylinder is about to be kept constant, the thrust F of the cylinder is not generated, that is, the cylinder rod 10 is in contact with the object to be grasped 30 or is fully extended. In this state, the uniform pressure applied to the semiconductor pressure sensor 21 is applied to the cylinder rod 10.
【０００９】[0009]
【発明の効果】本発明によれば、多様な形状，大きさの
対象物をいかなる方向からも適確に把持することができ
る。According to the present invention, objects of various shapes and sizes can be properly grasped from any direction.
【図１】本発明の全体ブロック図。FIG. 1 is an overall block diagram of the present invention.
【図２】油圧シリンダ機構の説明図。FIG. 2 is an explanatory diagram of a hydraulic cylinder mechanism.
【図３】油圧シリンダ機構の部分説明図。FIG. 3 is a partial explanatory view of a hydraulic cylinder mechanism.
【図４】圧力調節機構の説明図。FIG. 4 is an explanatory view of a pressure adjusting mechanism.
４…平行グリッパ、９…油圧シリンダ機構、１０，１８
…シリンダロッド、１６…圧力調節機構、２１…半導体
圧力センサ、５１…マイクロコンピュータ。4 ... Parallel gripper, 9 ... Hydraulic cylinder mechanism, 10, 18
... cylinder rod, 16 ... pressure adjusting mechanism, 21 ... semiconductor pressure sensor, 51 ... microcomputer.
Claims (1)
ンド部に設けられた一対の平行移動可能な指を有する把
持機構において、前記指の対向面部には複数個のシリン
ダからなりシリンダロッドの先端と対象物とが接するよ
うに配置した流体圧可動手段と、前記流体圧可動手段の
前記シリンダ内の流体圧を検出する流体圧検出手段と、
前記流体圧可動手段の前記シリンダ内の流体圧を調節す
る流体圧調節手段と、前記流体圧検出手段で検出した流
体圧を入力して前記流体圧調節手段に出力するための指
令値を計算する流体圧計算手段とを有することを特徴と
する把持機構。1. A gripping mechanism having a pair of parallel-movable fingers provided on a hand portion attached to the tip of a manipulator, wherein a facing surface portion of the fingers comprises a plurality of cylinders and a tip of a cylinder rod and an object. Fluid pressure movable means arranged so as to contact an object, fluid pressure detection means for detecting the fluid pressure in the cylinder of the fluid pressure movable means,
A fluid pressure adjusting means for adjusting the fluid pressure in the cylinder of the fluid pressure moving means, and a command value for inputting the fluid pressure detected by the fluid pressure detecting means and outputting it to the fluid pressure adjusting means are calculated. A gripping mechanism comprising: a fluid pressure calculating means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34597492A JPH06190764A (en) | 1992-12-25 | 1992-12-25 | Gripping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34597492A JPH06190764A (en) | 1992-12-25 | 1992-12-25 | Gripping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06190764A true JPH06190764A (en) | 1994-07-12 |
Family
ID=18380278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP34597492A Pending JPH06190764A (en) | 1992-12-25 | 1992-12-25 | Gripping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06190764A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002321184A (en) * | 2001-04-23 | 2002-11-05 | Yamazaki Mazak Corp | Clamp unit and gantry robot using clamp unit |
| JP2016003070A (en) * | 2014-06-13 | 2016-01-12 | 株式会社ダイフク | Container lifting conveyance device |
| EP3147088A1 (en) * | 2015-08-28 | 2017-03-29 | TE Connectivity Corporation | Gripper with conformal spring fingers |
| JP2020078857A (en) * | 2018-11-14 | 2020-05-28 | 富士電機株式会社 | Gripping unit |
| IT201900005096A1 (en) * | 2019-04-04 | 2020-10-04 | Mec S R L | GRIP SYSTEM WITH VARIABLE ADAPTATION |
| CN116372212A (en) * | 2023-05-30 | 2023-07-04 | 四川卡雷亚数控机床有限公司 | Self-adjusting large-specification workpiece milling and boring lathe and method |
-
1992
- 1992-12-25 JP JP34597492A patent/JPH06190764A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002321184A (en) * | 2001-04-23 | 2002-11-05 | Yamazaki Mazak Corp | Clamp unit and gantry robot using clamp unit |
| JP2016003070A (en) * | 2014-06-13 | 2016-01-12 | 株式会社ダイフク | Container lifting conveyance device |
| KR20170018316A (en) * | 2014-06-13 | 2017-02-17 | 가부시키가이샤 다이후쿠 | Container raising/lowering conveyance apparatus |
| US20170066602A1 (en) * | 2014-06-13 | 2017-03-09 | Daifuku Co., Ltd. | Container Raising/Lowering Conveyance Apparatus |
| US9938090B2 (en) * | 2014-06-13 | 2018-04-10 | Daifuku Co., Ltd. | Container raising/lowering conveyance apparatus |
| EP3147088A1 (en) * | 2015-08-28 | 2017-03-29 | TE Connectivity Corporation | Gripper with conformal spring fingers |
| JP2020078857A (en) * | 2018-11-14 | 2020-05-28 | 富士電機株式会社 | Gripping unit |
| IT201900005096A1 (en) * | 2019-04-04 | 2020-10-04 | Mec S R L | GRIP SYSTEM WITH VARIABLE ADAPTATION |
| EP3718712A1 (en) * | 2019-04-04 | 2020-10-07 | MEC S.r.l. | Variable adaptation gripping system |
| CN116372212A (en) * | 2023-05-30 | 2023-07-04 | 四川卡雷亚数控机床有限公司 | Self-adjusting large-specification workpiece milling and boring lathe and method |
| CN116372212B (en) * | 2023-05-30 | 2023-08-01 | 四川卡雷亚数控机床有限公司 | Self-adjusting large-specification workpiece milling and boring lathe and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4715773A (en) | Method and apparatus for repositioning a mislocated object with a robot hand | |
| US7445260B2 (en) | Gripping type hand | |
| JP2506402Y2 (en) | Controller for spot welding robot | |
| US5342254A (en) | End-of-arm tooling device | |
| EP2018940A2 (en) | Flexible workpiece assembling method | |
| EP1702727A3 (en) | Production assembly with a bending press, a manipulation device and a calibration device | |
| CA2338557A1 (en) | An apparatus for performing animal related operations | |
| CN110394741B (en) | Multidirectional linkage pipe wrench capable of adaptively clamping thin-wall pipe fitting | |
| JPH06190764A (en) | Gripping mechanism | |
| WO2021141039A1 (en) | Workpiece conveyance system | |
| JP2000071189A (en) | Workpiece acquisition determination method for robot grip device | |
| GB2092924A (en) | Method and apparatus for controlling the clamping of workpieces to machine tools | |
| JPH06126684A (en) | Object holder and controll method thereof | |
| JP2872383B2 (en) | Gripping device | |
| US4660877A (en) | Power operated gripper | |
| JPS63251186A (en) | Hand for robot | |
| JPH02218576A (en) | Holding device | |
| US6019409A (en) | Adjustable positioning target assembly | |
| EP3946845B1 (en) | Teaching a holding force for an object in a robotic gripper | |
| EP0184502A3 (en) | Universal gripper apparatus for robotic device | |
| EP0205141A2 (en) | Autoprogramming pneumatic gripper | |
| JP3774806B2 (en) | Electric chuck device | |
| JPH071240Y2 (en) | Gripping device | |
| JPH0212007Y2 (en) | ||
| CN217372351U (en) | Processing grabbing manipulator workstation |