JPS59201778A - Flexible touch hand - Google Patents
Flexible touch handInfo
- Publication number
- JPS59201778A JPS59201778A JP7527383A JP7527383A JPS59201778A JP S59201778 A JPS59201778 A JP S59201778A JP 7527383 A JP7527383 A JP 7527383A JP 7527383 A JP7527383 A JP 7527383A JP S59201778 A JPS59201778 A JP S59201778A
- Authority
- JP
- Japan
- Prior art keywords
- piston
- external surface
- block
- flexible touch
- present
- 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
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は自動作業装置等のノ・ンドリング機構の内、ハ
ンド部に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a hand portion of a non-handling mechanism of an automatic working device or the like.
従来、自動作業装置等におけるノ・ノド類は、被加工物
の外形面に合せて固定化したものを専用的に使用してお
シ、物体の外形面が類似する場合以外は共用が不可能で
あった。Conventionally, slots and grooves in automatic work equipment, etc. have been fixed to match the external surface of the workpiece and have been used exclusively, and cannot be shared unless the external surface of the object is similar. Met.
本発明はこの欠点に鑑み、物体の外形面の多種多様な変
化に即応して均等な力で接触するフレキシブルな接手を
提供する。In view of this drawback, the present invention provides a flexible joint that can contact objects with uniform force in response to various changes in the external surface of the object.
本発明の一実施例を図面に基いて説明する。An embodiment of the present invention will be described based on the drawings.
第１図及び第２図は、四角形のブロック（１）の上面か
ら均等ピッチに多数の止り穴を穿設して夫々シリンダー
と成し、これらの隣接するシリンダー室（２）間の底部
近傍に連絡通路（３）を設け、各シリンダー室（２）に
はピストンを差し込み、ピストン下部（４）を蜜漬嵌合
し、かつブロック（１）の上面にピストン抜止板（５）
をボルトなどにて固着した上、シリンダー室（２）及び
連絡通路（３）の各々に油、水などの非圧縮性流体を満
たして構成したものである。Figures 1 and 2 show a rectangular block (1) with a number of blind holes drilled at equal pitches from the top surface to form cylinders, and holes near the bottom between these adjacent cylinder chambers (2). A communication passage (3) is provided, a piston is inserted into each cylinder chamber (2), the lower part of the piston (4) is tightly fitted, and a piston removal prevention plate (5) is provided on the top surface of the block (1).
The cylinder chamber (2) and communication passageway (3) are each filled with an incompressible fluid such as oil or water.
ブロック（１）は用途に応じて円、楕円又はその他適宜
の形状に成形することもあり、シリンダー室（２）のピ
ッチも最適の配列にすることができる。The block (1) may be formed into a circle, an ellipse, or any other suitable shape depending on the application, and the pitch of the cylinder chambers (2) can also be arranged in an optimal manner.
ピストンの頭部（６）は丸先の他、棒先、トガリ先など
に形成、したり、合成樹脂、ゴム又は滑り止めを着設し
てもよい。The head (6) of the piston may be formed into a round tip, a bar tip, a torpedo tip, etc., or may be coated with synthetic resin, rubber, or anti-slip.
第３図は、連絡通路（３）の一実施例であって、ブロッ
ク（１）の底部に設けた流体の溜り（１）に各７リンダ
ー室（２）を貫通して連絡通路（３）と成したものであ
る。FIG. 3 shows an embodiment of the communication passage (3), which passes through each of the seven Linder chambers (2) to the fluid reservoir (1) provided at the bottom of the block (1). This is what was accomplished.
次に本発明の作用について説明する。Next, the operation of the present invention will be explained.
例えば第４図の様に、凸形の外形面（７）を形成する物
体に向かってブロック（１）を移動した場合、外膨面（
７）と頭部（６）で接した各々のピストン下部（４）は
、ブロック（１）の移動に伴ないシリンダー室（２）内
に次々と埋没する方向に移動するので、非圧縮性流体は
連絡通路（３）を通シ、隣接してかつ未埋没のピストン
下部（４）を蜜漬嵌合しているシリンダー室（２）内へ
次々と移動し、流体の全移動量の平均に見合った容積増
加分のみ、各々のピストン下部（４）を平均に押し上げ
ることになシ、ブロック（１）の移動継続によってピス
トン下部（４）の頭部（６）はまた次々と外形面（７）
と接して、ついには外形面（７）と接触可能な頭部（６
）の全数と接した後、ピストン下部（４）および（４）
の移動が停止し、シリンダー室（２）および連絡通路（
３）内の非圧縮性流体の圧力が平衡し、同時に、外形面
（７）と頭部（６）との接触力も均等となる。For example, as shown in Fig. 4, when the block (1) is moved toward an object that forms a convex external surface (7),
The lower parts of each piston (4), which are in contact with the upper part of the piston (4) at the head (6), move in the direction of being buried in the cylinder chamber (2) one after another as the block (1) moves, so that the incompressible fluid The fluid moves one after another through the communication passage (3) into the cylinder chamber (2) in which the adjacent and unburied piston lower part (4) is tightly fitted, and the average of the total displacement of the fluid Each piston lower part (4) is pushed up to the average by the corresponding increase in volume, and as the block (1) continues to move, the head (6) of the piston lower part (4) is successively pushed up by the outer surface (7). )
Finally, the head (6) that can come into contact with the external surface (7)
), the lower part of the piston (4) and (4)
The movement of the cylinder chamber (2) and the communication passage (
3) The pressure of the incompressible fluid in the container is balanced, and at the same time, the contact force between the external surface (7) and the head (6) is also equalized.
外形面（力に向かってブロック（１）を移動する際、そ
の軌跡には制限がなく、例えば外形面（７）とほぼ平行
に接近しても、また、移動速度に変化があっても、ピス
トン下部（４）および（４）の動作に支障は及ばない。When the block (1) moves toward the external surface (force), there is no limit to its trajectory, for example, even if it approaches almost parallel to the external surface (7), or even if the moving speed changes, The operation of the piston lower parts (4) and (4) is not affected.
なお、条件によって外形面（７）と頭部（６）の接触力
をコントロールする必要がある場合は、例えばシリンダ
ー室（２）又は連絡通路（３）内の流体圧力をセンサー
で感知し、コントロールすれば自、在となる。In addition, if it is necessary to control the contact force between the external surface (7) and the head (6) depending on the conditions, for example, the fluid pressure in the cylinder chamber (2) or the communication passageway (3) may be sensed with a sensor and controlled. If you do that, you will be.
本発明を目的物体の把握動作に用いる際には、一対又は
、数対に構成して、駆動装置に配設すれば、目的物体の
外形面の変化に即応して、均等な接触力でしかも迅速に
把握が完了する他、接触力のコントロールによって、把
握力も自在にできる。When the present invention is used for gripping a target object, it can be configured in one pair or in several pairs and installed in a drive device, so that it can quickly respond to changes in the external shape of the target object and provide uniform contact force. Grasping can be completed quickly, and the gripping force can be adjusted freely by controlling the contact force.
また、物体に向かって移動する際の接触角度並びに接触
速度に順応するので、例えば多方向から複雑多種な荷重
を受ける緩衝装置の主要部ヰ→州１−− として
も有効である。In addition, since it adapts to the contact angle and contact speed when moving toward an object, it is effective as the main part of a shock absorber that receives complex and various loads from multiple directions, for example.
なお、第５図の様に、ピストン下部（４）の底面に固着
してブロック（１）の底部を貫通し、かっ蜜漬嵌合した
土、先端をセンサーに接続したものは、ピストン下部（
４）および（４）の移動に伴なうバー（８）の出入シを
センサーで感知することによって、頭２部（６）を探触
子として使用できることにな９、未知の形状探査に有効
となる。この様に構成したものを把握力を自在にした把
握装置と併設し、自動作業装置等に応用すれば、例えば
海底を歩行しつつ目的物体の形状、硬度を探知し、選別
、把握、採集する等、複雑多岐な用途に極めて有効であ
る。As shown in Fig. 5, soil that is fixed to the bottom surface of the piston lower part (4), penetrates the bottom of the block (1), and is connected to the sensor at the tip is connected to the piston lower part (4).
By detecting the entry and exit of the bar (8) with the movement of (4) and (4), the second part of the head (6) can be used as a probe9, which is effective for exploring unknown shapes. becomes. If a device configured in this way is installed with a grasping device that can freely grasp the grasping force and applied to automatic work equipment, it can, for example, detect the shape and hardness of a target object while walking on the ocean floor, sort it, grasp it, and collect it. It is extremely effective for a wide variety of complex applications.
また機械工業全般に亘る最今の省エネ、省力化の傾向に
鑑み、モデルチェンジや多種少量生産に柔軟に対応する
効率的な生産システムの実現が急務となっている折から
、本発明が大きく功献するものと確信する。In addition, in view of the latest energy-saving and labor-saving trends throughout the machinery industry, there is an urgent need to realize an efficient production system that can flexibly respond to model changes and high-mix, low-volume production. I am confident that I will donate it.
第１図は本発明の１部断面を表わした平面図第２図は本
発明の側断面図
第５図は本発明の一実施例の部分側断面図第４図は本発
明の作用説明用側断面図
第５図は本発明の一実施例の部分側断面図（１）はブロ
ック （１）は流体の溜シ（２）はシリンダー室 （３
）は連絡通路 （４）と（４）はピストン下部（５）は
ピストン抜止板 （６）は頭部 （７）は外形面（８）
はバー
特許出願人 王立工業株式会社
り者小形 清Fig. 1 is a plan view showing a partial cross section of the present invention Fig. 2 is a side sectional view of the present invention Fig. 5 is a partial side sectional view of an embodiment of the present invention Fig. 4 is for explaining the operation of the present invention Side sectional view Figure 5 is a partial side sectional view of one embodiment of the present invention (1) is the block (1) is the fluid reservoir (2) is the cylinder chamber (3)
) is the communication passage (4) and (4) is the piston bottom (5) is the piston removal prevention plate (6) is the head (7) is the external surface (8)
Bar patent applicant Kiyoshi Riyakogata Royal Industrial Co., Ltd.
Claims (1)
ー間に連絡通路を設け、これらの空間に非圧縮性流体を
満たして、接触面が凹凸自在となる事を特徴としたフレ
キシブル接触手。A flexible contact hand characterized in that communication passages are provided between a number of adjacent cylinders each having a piston fitted therein, and these spaces are filled with an incompressible fluid so that the contact surface can be freely uneven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7527383A JPS59201778A (en) | 1983-04-28 | 1983-04-28 | Flexible touch hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7527383A JPS59201778A (en) | 1983-04-28 | 1983-04-28 | Flexible touch hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59201778A true JPS59201778A (en) | 1984-11-15 |
Family
ID=13571455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7527383A Pending JPS59201778A (en) | 1983-04-28 | 1983-04-28 | Flexible touch hand |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59201778A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05169387A (en) * | 1991-12-17 | 1993-07-09 | Fujitsu Ltd | Robot hand |
| JP2016003070A (en) * | 2014-06-13 | 2016-01-12 | 株式会社ダイフク | Container lifting conveyance device |
| JP2016121002A (en) * | 2014-12-25 | 2016-07-07 | 株式会社ダイフク | Container lifting and lowering device |
| JP2017043417A (en) * | 2015-08-24 | 2017-03-02 | 株式会社ダイフク | Lifting/lowering conveyance device for article conveyance container |
| JP2017177294A (en) * | 2016-03-31 | 2017-10-05 | キヤノン株式会社 | Robot control device, robot control method, robot system and computer program |
| IT201900005096A1 (en) * | 2019-04-04 | 2020-10-04 | Mec S R L | GRIP SYSTEM WITH VARIABLE ADAPTATION |
-
1983
- 1983-04-28 JP JP7527383A patent/JPS59201778A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05169387A (en) * | 1991-12-17 | 1993-07-09 | Fujitsu Ltd | Robot hand |
| JP2016003070A (en) * | 2014-06-13 | 2016-01-12 | 株式会社ダイフク | Container lifting conveyance device |
| JP2016121002A (en) * | 2014-12-25 | 2016-07-07 | 株式会社ダイフク | Container lifting and lowering device |
| JP2017043417A (en) * | 2015-08-24 | 2017-03-02 | 株式会社ダイフク | Lifting/lowering conveyance device for article conveyance container |
| WO2017033845A1 (en) * | 2015-08-24 | 2017-03-02 | 株式会社ダイフク | Raising/lowering conveyance device for container for conveying article |
| JP2017177294A (en) * | 2016-03-31 | 2017-10-05 | キヤノン株式会社 | Robot control device, robot control method, robot system and computer program |
| US10800033B2 (en) | 2016-03-31 | 2020-10-13 | Canon Kabushiki Kaisha | Robot control apparatus, robot control method, robot system, and storage medium |
| 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 |
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