WO2019181985A1 - Electric hand and method for grasping target object - Google Patents

Electric hand and method for grasping target object Download PDF

Info

Publication number
WO2019181985A1
WO2019181985A1 PCT/JP2019/011595 JP2019011595W WO2019181985A1 WO 2019181985 A1 WO2019181985 A1 WO 2019181985A1 JP 2019011595 W JP2019011595 W JP 2019011595W WO 2019181985 A1 WO2019181985 A1 WO 2019181985A1
Authority
WO
WIPO (PCT)
Prior art keywords
target object
motion
translational
members
rotary motor
Prior art date
Application number
PCT/JP2019/011595
Other languages
French (fr)
Japanese (ja)
Inventor
富高 五反田
浩二 松島
Original Assignee
第一精工株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 第一精工株式会社 filed Critical 第一精工株式会社
Priority to CN201980021248.7A priority Critical patent/CN111902247A/en
Publication of WO2019181985A1 publication Critical patent/WO2019181985A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to an electric hand and a method of gripping a target object.
  • An electric hand that holds a target object (work) by opening and closing two fingers with an electric motor is disclosed (for example, see Patent Document 1).
  • This electric hand has a configuration in which an electric motor, a screw shaft, a nut, a pair of swing arms, and a pair of fingers (gripping portions) are connected in this order.
  • the nut fitted to the screw shaft that is rotationally driven by the electric motor reciprocates in the axial direction of the screw shaft, the pair of swing arms swings, and the pair of fingers approach each other to grip the target object.
  • the electric hand disclosed in Patent Document 1 incorporates a complicated mechanism such as a link mechanism including a screw shaft, a nut, a pair of swing arms, and a pair of fingers as a mechanism for gripping a target object. ing. If a complicated mechanism as described above is interposed between the electric hand and the finger that grips the target object, the output torque of the electric motor is consumed for the operation of the complicated mechanism, and the torque of the electric motor is lost. It becomes difficult to convey to the finger without. Further, the relationship between the output torque and the gripping force of the electric hand greatly depends on the state of the mechanism.
  • the present invention has been made in view of the above circumstances, and an object thereof is to provide an electric hand capable of gripping a target object with an appropriate gripping force and a target object gripping method.
  • an electric hand provides: A rotary motor; A rotary motion member coupled to a rotor of the rotary motor; A plurality of translational motion members that grip a target object by translationally moving in a tangential direction of the circumference around the rotation axis of the rotational motion member as the rotational motion member rotates.
  • a guide unit that guides the plurality of translational motion members in the direction of the translational motion while holding the plurality of translational motion members so as not to perform a motion other than the translational motion by receiving a force from the rotational motion member and the target object.
  • the plurality of translational members are Centered on the rotation axis of the rotary motion member, it is arranged rotationally symmetrically, It is good as well.
  • the guide portion is provided with a linear motion rail, In the plurality of translational movement members, A block guided by the linear motion rail; A claw portion that approaches or moves away from the target object by translational motion; Are provided, It is good as well.
  • the same linear motion rail guides the two blocks; It is good as well.
  • the rotary motion member is provided with a pinion gear at an end portion to which the rotor of the rotary motor is not connected,
  • the translational movement member is provided with a rack gear that meshes with the pinion gear. It is good as well.
  • a target object gripping method includes: Drive the rotor of the rotary motor to rotate the rotary motion member, Along with the rotation of the rotational motion member, a plurality of translational motion members are translated in the tangential direction of the circumference around the rotation axis of the rotational motion member, and the target object is gripped, A guide unit that guides the plurality of translational motion members in the direction of the translational motion while holding the plurality of translational motion members so as not to perform a motion other than the translational motion by receiving a force from the rotational motion member and the target object.
  • a torque sensor provided between the stator of the rotary motor and only the torque that is linearly related to the reaction force of the gripping force that the plurality of translational members grip the target object, Based on the detected torque, the target object is gripped by the plurality of translational members while adjusting the rotation of the rotary motor.
  • the rotor of the rotary motor and the rotary motion member are connected, and the target object is held by the plurality of translational motion members that translate in accordance with the rotation of the rotary motion member.
  • the torque sensor detects torque generated between a guide portion that guides the plurality of translational motion members that receive the rotational force of the rotational motion member in the direction of translational motion, and the stator of the rotary motor.
  • the output torque of the rotary motor can be transmitted to the translation member without loss to grip the target object, and the reaction force of the gripping force with which the translation member grips the target object based on the guide unit. Can be detected by a torque sensor. Thereby, a torque corresponding to the gripping force for gripping the target object can be detected, and the gripping force can be accurately controlled based on the torque. As a result, the target object can be gripped with an appropriate gripping force.
  • FIG. 1A It is a side view of the electric hand of FIG. 1A. It is a front view of an electric hand.
  • FIG. 2 is a cross-sectional view taken along line AA of FIG. It is a BB line sectional view of Drawing 1C showing an internal structure of an electric hand.
  • It is a top view which shows the part which the rotational motion member and the translational motion member are engaging.
  • It is a schematic diagram which shows the control system of the electric hand of FIG. It is a schematic diagram which shows the force which arises in a rotational motion member and a translational motion member in the state which is not holding the target object.
  • a part of the electric hand 1 according to the present embodiment is covered with an external cover 2.
  • the stator 11 of the rotary motor 10 is exposed.
  • a pair of grip portions 3 protrudes on the ⁇ z side of the outer cover 2.
  • the pair of gripping units 3 sandwich the target object M and grip it with an appropriate gripping force.
  • the appropriate gripping force is a force that exceeds the product of the coefficient of static friction between the gripping unit 3 and the target object M and the target object M and can hold the target object M without deforming it.
  • the direction in which the grip portion 3 moves is described as the x-axis direction.
  • the electric hand 1 includes a rotary motor 10 which is a driving source and a torque sensor 20 which detects torque. And a guide portion 30 for guiding the grip portion 3 (FIG. 1A) in a gripping direction, a rotational motion member 40 that performs a rotational motion, and a pair of translational motion members 50 that perform a translational motion.
  • the rotary motor 10 includes a stator 11 and a rotor 12.
  • the stator 11 has a rectangular parallelepiped housing, and the rotor 12 is rotatably held therein.
  • casing of the stator 11 does not need to be a rectangular parallelepiped shape.
  • the rotor 12 extends from the stator 11 in the ⁇ z direction. 2 and 3, the rotation axis AX is parallel to the z-axis direction. Electric power is supplied to the rotary motor 10 from the outside.
  • the rotor 12 rotates about the rotation axis AX with respect to the stator 11 with a torque corresponding to the supplied electric power.
  • the end on the + z side of the torque sensor 20 is fixed to the stator 11 of the rotary motor 10 by bolting.
  • the end of the torque sensor 20 on the ⁇ z side is fixed to the base plate 31 constituting the guide portion 30 by bolting.
  • the torque sensor 20 detects a torque around the rotation axis AX generated between the stator 11 of the rotary motor 10 and the guide portion 30 (base plate 31).
  • the torque sensor 20 is provided with a columnar through hole 20a having the rotation axis AX as a central axis.
  • the rotor 12 of the rotary motor 10 is inserted into the through hole 20a in a rotatable state.
  • the guide unit 30 guides the translational movement member 50 (the gripping unit 3 in FIG. 1A) in the translational movement direction, that is, the x-axis direction.
  • the guide part 30 regulates the movement of the translational movement member 50 in directions other than the x-axis direction.
  • the guide unit 30 includes a base plate 31, a housing 32, and a linear motion rail 33.
  • the base plate 31 is a flat plate member made of metal.
  • the base plate 31 is connected to other members (not shown) (for example, a stand fixed to a building or the like) and serves as a substrate for the guide unit 30.
  • the base plate 31 is provided with a cylindrical through hole 31a having the rotation axis AX as a central axis.
  • the base plate 31 is attached to the torque sensor 20 in a state where the through hole 31 a is disposed coaxially with the through hole 20 a of the torque sensor 20. Torque detected by the torque sensor 20 is torque generated in the stator 11 of the rotary motor 10 with the base plate 31 as a reference.
  • the housing 32 is attached to the ⁇ z side surface of the base plate 31.
  • the base plate 31 and the housing 32 form an internal space 32a.
  • the linear motion rail 33 is attached to the surface on the ⁇ z side of the housing 32.
  • the linear motion rail 33 extends in the x-axis direction orthogonal to the rotation axis AX.
  • a groove portion 33a for engaging with and guiding the pair of gripping portions 3 (translational motion members 50) extends in the x-axis direction.
  • the rotary motion member 40 is connected to the rotor 12 of the rotary motor 10.
  • the rotary motion member 40 includes a rotary body 41 and a pinion gear 42 (see FIG. 4).
  • the rotary body 41 is a columnar member made of metal, is connected to the rotor 12 of the rotary motor 10, and extends in the direction of the rotation axis AX.
  • the rotating body 41 enters the internal space 32 a of the housing 32 through the through hole 20 a of the torque sensor 20 and the through hole 31 a of the base plate 31.
  • the housing 32 is provided with a recess 32b around the rotation axis AX, and a bearing 32c is inserted into the recess 32b.
  • the ⁇ z side end of the rotary body 41 is fitted into the bearing 32c.
  • the rotating body 41 rotates around the rotation axis AX in accordance with the rotation of the rotor 12.
  • the pinion gear 42 is provided at the end of the rotary motor 10 where the rotor 12 is not fixed, that is, at the end of the rotary motion member 40 (rotary body 41) that enters the internal space 32a of the housing 32.
  • the pinion gear 42 is a circular gear that rotates about the rotation axis AX. Therefore, when the rotor 12 of the rotary motor 10 rotates, the rotary body 41 rotates and the pinion gear 42 rotates.
  • the pair of translational members 50 correspond to the pair of gripping portions 3 in FIG. As shown in FIG. 4, the translational motion member 50 is arranged in two-fold rotational symmetry about the rotational axis AX of the rotational motion member 40. The translation member 50 translates in the tangential direction of the circumference (virtual arc C in FIG. 4) around the rotation axis AX of the rotation member 40 as the rotation member 40 rotates.
  • the translational movement member 50 includes a translation main body 51, a rack gear 52, a block 53, and a claw portion 54, respectively.
  • the translation body 51 is the body of the translation member 50 that performs translation in the x-axis direction. As shown in FIG. 3, through holes 32 d are provided on both sides of the linear motion rail 33 in the housing 32 in the y-axis direction. The translation main body 51 protrudes from the internal space 32a of the housing 32 in the ⁇ z direction through the through hole 32d.
  • the through-hole 32d has the x-axis direction as the longitudinal direction so as not to prevent the translation body 51 from moving in the x-axis direction.
  • the translation main body 51 extends in the x-axis direction in the internal space 32a of the housing 32 as shown in FIG. 4, and the ⁇ z direction as shown in FIG. And is projected to the outside of the housing 32 through the through hole 32d.
  • the end portion that protrudes to the outside of the housing 32 is a flat plate-like member that is parallel to the xy plane.
  • the rack gear 52 is attached to a portion extending in the x-axis direction in the internal space 32 a of the housing 32 of the translation main body 51. It has been.
  • the rack gear 52 meshes with the pinion gear 42 and causes the translation main body 51 to translate in the x-axis direction by the rotation of the pinion gear 42. More specifically, when the pinion gear 42 rotates, the pair of rack gears 52 are driven in opposite directions, and the pair of translation bodies 51 approach or separate from each other.
  • the block 53 is connected to the surface on the + z side of the flat plate-like portion projecting outside the housing 32 of the translation main body 51. Further, as shown in FIG. 3, the block 53 is fitted in the groove 33 a of the linear motion rail 33 and is coupled to the linear motion rail 33 of the guide portion 30 so as to be slidable in the x-axis direction. The block 53 is guided by the linear motion rail 33 in the x-axis direction. When the translation body 51 translates in the x-axis direction, the block 53 also translates in the x-axis direction guided by the linear motion rail 33. In the present embodiment, the same linear motion rail 33 guides the two blocks 53.
  • the claw portion 54 is provided at the lower end of the translation main body 51.
  • the claw portion 54 is disposed so as to face the other claw portion 54 in the x-axis direction.
  • the rotary motor 10 is a stepping motor.
  • the control device 60 When gripping the target object M, the control device 60 outputs a pulse command to the drive device 70 while monitoring the sensor detection value of the torque sensor 20.
  • the driving device 70 drives the rotary motor 10 in accordance with the input pulse command.
  • the rotary motion member 40 (pinion gear 42) rotates.
  • the pair of translational motion members 50 (rack gears 52) receive a force F1 from the rotary motion member 40 (pinion gear 42), and the circumference around the rotational axis of the rotary motion member 40
  • the tangential direction of (virtual arc C in FIG. 4) is translated.
  • the translation member 50 moves in a direction approaching each other.
  • the translational member 50 when there is no target object M between the claw portions 54 of the pair of translational members 50, the translational member 50 performs a translational motion without receiving a reaction force from the target object M.
  • the torque sensor 20 detects torque generated between the guide unit 30 and the stator 11 of the rotary motor 10.
  • the rotational movement member 40 receives the reaction force F ⁇ b> 1 ′ from the translational movement member 50.
  • the torque detected by the torque sensor 20 is a counter-torque T1 'of the torque T1 that drives the rotor 12, the rotary motion member 40, and the translational motion member 50 by the stator 11 of the rotary motor 10.
  • the pair of claws 54 when the pair of claws 54 contacts the target object M, the pair of claws 54 receives a reaction force F2 ′ from the target object M, and the gripping force is F2 larger than the force F1. (F2> F1).
  • the reaction force F2 ′ is transmitted from the translational motion member 50 to the rotational motion member 40, and the rotational motion member 40 is the rotor of the rotary motor 10. 12 receives a torque T ⁇ b> 2 ′ opposite to the rotational direction of 12 from the translation member 50.
  • the torque T2 ′ opposite to the torque T received by the rotary motion member 40 due to the reaction force F2 ′ is applied to the rotary motor 10 via the rotary motion member 40 and the rotor 12 of the rotary motor 10. It is transmitted to the stator 11.
  • the base plate 31 of the guide part 30 is fixed to an external member (not shown), and its position and posture are constant. For this reason, torque T2 'is generated between the stator 11 of the rotary motor 10 and the guide portion 30 (base plate 31).
  • the torque sensor 20 detects this torque T2 '.
  • the torque T2 'detected by the torque sensor 20 is due to the reaction force F2' of the gripping force for gripping the target object M.
  • the torque detection value of the torque sensor 20 is T1'
  • the torque detection value of the torque sensor 20 is T2'.
  • the control device 60 stops the rotation of the rotary motor 10 via the drive device 70 when the torque detected by the torque sensor 20 reaches T2 ′. Thereby, the pair of gripping units 3 grips the target object M while maintaining the gripping force F2.
  • this electric hand 1 it is possible to detect the torque having a linear relationship with the gripping force of the target object M, control the torque, and appropriately adjust the gripping force.
  • the gripping force for gripping the target object M without crushing is F2 or more. Therefore, the target object M can be gripped without being crushed.
  • the control device 60 may perform feedback control when gripping the target object M.
  • the control device 60 performs feedback control using the gripping force F ⁇ b> 2 as a target value while monitoring the sensor detection value of the torque sensor 20, and outputs a pulse command to the drive device 70.
  • the drive device 70 supplies drive power to the rotary motor 10 based on the pulse command.
  • the rotary motor 10 rotates the rotor 12 and the rotary motion member 40 with the supplied driving power. As a result, the pair of translational members 50 translate, and the pair of claws 54 move in a direction approaching each other.
  • the torque sensor 20 detects the torque T2 'due to the reaction force F2' of the gripping force F2.
  • the control device 60 monitors the sensor detection value of the torque sensor 20 and gives a pulse command to the driving device 70 such that the gripping force becomes F2, that is, the sensor detection value of the torque sensor 20 is maintained at T2 ′.
  • the drive device 70 drives the rotary motor 10 to rotate. Thereby, even if the target object M is soft and easily crushed, the target object M can be gripped with a gripping force F2 that does not collapse.
  • the rotor 12 of the rotary motor 10 and the rotary motion member 40 are coupled, and a plurality of translational motion members that translate as the rotary motion member 40 rotates. 50, the target object M is gripped.
  • the torque sensor 20 detects torque generated between the guide portion 30 that guides the plurality of translational motion members 50 that receive the rotational force of the rotational motion member 40 in the direction of translational motion and the stator 11 of the rotary motor 10. To do.
  • a reaction force F2 ′ of the gripping force F2 is applied from the target object M to the translational motion member 50, and the rotational motion member 40, the rotor 12 of the rotary motor 10, and the fixed state. It is transmitted to child 11.
  • the reaction force F ⁇ b> 2 ′ is detected by the torque sensor 20 as torque T ⁇ b> 2 ′ generated between the stator 11 of the rotary motor 10 and the guide portion 30.
  • the output torque of the rotary motor 10 can be transmitted to the translational motion member 50 without loss to grip the target object M, and the translational motion member 50 grips the target object M with reference to the guide unit 30. Only the torque T2 ′ having a linear relationship with the reaction force F2 ′ of the gripping force F2 to be detected can be detected. As a result, the gripping force for gripping the target object M can be detected, and the gripping force can be accurately controlled based on the torque T2 '. As a result, the target object M can be gripped with an appropriate gripping force.
  • the gripping force can be maintained at a value that does not crush the target object M.
  • the target object M can be gripped without being deformed.
  • the translational motion member 50 is arranged in two-fold rotational symmetry about the rotational axis AX of the rotational motion member 40, but the present invention is not limited to this.
  • the translational members 50 may be arranged in a three-fold rotational symmetry.
  • the target object M is gripped by the three claw portions 54.
  • the translational members 50 can also be arranged with four-fold rotational symmetry or more.
  • the two blocks 53 are slidable on one linear motion rail 33. Thereby, since it becomes unnecessary to provide the linear motion rail 33 for every block 53, the electric hand 1 can be reduced in size.
  • linear motion rails 33 may be provided, and one block 53 may be slidably attached to each linear motion rail 33.
  • FIG. 9A when the three translational motion members 50 are arranged rotationally symmetrically three times, the translational motion members 50 are provided with linear motion rails 33, respectively.
  • the rotational motion member 40 is provided with the pinion gear 42
  • the translational motion member 50 is provided with the rack gear 52
  • the rotational motion of the rotor 12 of the rotary motor 10 is translated. Converted to movement.
  • the present invention is not limited to this.
  • the grip portion 3 may be driven by a cam system such as a groove cam or a yoke cam.
  • the electric hand 1 is configured with a simpler mechanism that converts the rotational movement of the rotational force of the rotary motor into a linear movement that grips the target object M in one step.
  • the rotary motor 10 may be an induction motor or a synchronous motor. Further, the rotary motor 10 may be an AC motor or a DC motor. Further, the rotary motor 10 may be a single-phase motor or a three-phase motor. In the above embodiment, since the rotary motor 10 is a stepping motor, the command output to the rotary motor 10 is a pulse command. However, the command applied to the rotary motor 10 is a voltage command, a current command, or the like. Depending on the type of
  • the base plate 31, the housing 32, and the linear motion rail 33 may be configured as an integral member.
  • the present invention can be applied to an electric hand, and in particular, can be applied to an electric hand that grips a soft target object.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Telephone Function (AREA)

Abstract

Provided is an electric hand (1) comprising: a rotary motor (10); a rotary motion member (40); a plurality of translational motion members (50); a guide part (30); and a torque sensor (20). The rotary motion member (40) is connected to a rotor (12) of the rotary motor (10). The translational motion members (50) move translationally in a tangential direction of a circumference centered on a rotation axis (AX) of the rotary motion member (40) accompanying the rotation of the rotary motion member (40). The guide part (30) guides the plurality of translational motion members (50) in directions of their translational motions. The torque sensor (20) detects torque occurring between the guide part (30) and the rotor (11) of the rotary motor (10).

Description

電動ハンド及び対象物体の把持方法Electric hand and target object gripping method
　本発明は、電動ハンド及び対象物体の把持方法に関する。 The present invention relates to an electric hand and a method of gripping a target object.
　２つのフィンガーを電動モータにより開閉して対象物体（ワーク）を把持する電動ハンドが開示されている（例えば、特許文献１参照）。この電動ハンドは、電動モータ、ねじ軸、ナット、一対の揺動アーム、一対のフィンガー（把持部）がこの順に連結された構成を有している。電動モータにより回転駆動されるねじ軸に嵌合されたナットがねじ軸の軸方向に往復移動すると、一対の揺動アームが揺動し、一対のフィンガーが互いに接近して対象物体を把持する。 An electric hand that holds a target object (work) by opening and closing two fingers with an electric motor is disclosed (for example, see Patent Document 1). This electric hand has a configuration in which an electric motor, a screw shaft, a nut, a pair of swing arms, and a pair of fingers (gripping portions) are connected in this order. When the nut fitted to the screw shaft that is rotationally driven by the electric motor reciprocates in the axial direction of the screw shaft, the pair of swing arms swings, and the pair of fingers approach each other to grip the target object.
特開２０１６－１１２６６１号公報JP 2016-112661 A
　電動ハンドで対象物体をその形を保持したまま把持するには、電動モータの出力トルクを制御して電動ハンドの把持力を適切な値とする必要がある。しかしながら、上記特許文献１に開示された電動ハンドには、対象物体を把持する機構として、ねじ軸、ナット、一対の揺動アーム及び一対のフィンガーから成るリンク機構のような複雑な機構が組み込まれている。電動ハンドと対象物体を把持するフィンガーとの間に上述のような複雑な機構が介在していると、電動モータの出力トルクが複雑な機構の動作に消費されてしまい、電動モータのトルクをロスなくフィンガーに伝えるのが困難になる。また、出力トルクと電動ハンドの把持力との関係はその機構の状態に大きく左右される。 In order to grip the target object while holding its shape with the electric hand, it is necessary to control the output torque of the electric motor to set the gripping force of the electric hand to an appropriate value. However, the electric hand disclosed in Patent Document 1 incorporates a complicated mechanism such as a link mechanism including a screw shaft, a nut, a pair of swing arms, and a pair of fingers as a mechanism for gripping a target object. ing. If a complicated mechanism as described above is interposed between the electric hand and the finger that grips the target object, the output torque of the electric motor is consumed for the operation of the complicated mechanism, and the torque of the electric motor is lost. It becomes difficult to convey to the finger without. Further, the relationship between the output torque and the gripping force of the electric hand greatly depends on the state of the mechanism.
　このような状況では、電動ハンドの把持力を直接検出しても、その検出値に基づいて電動モータの出力トルクを制御して適切な把持力で対象物体を把持するのが困難になる。また、電動モータの出力トルクを検出し、その検出値で電動モータを制御しても、適切な把持力で対象物体を把持するのが困難になる。上記特許文献１に開示される電動ハンドでは、例えば豆腐のような軟らかいものを、形を保持したまま把持するのは困難である。 In such a situation, even if the gripping force of the electric hand is directly detected, it is difficult to grip the target object with an appropriate gripping force by controlling the output torque of the electric motor based on the detected value. Even if the output torque of the electric motor is detected and the electric motor is controlled with the detected value, it becomes difficult to grip the target object with an appropriate gripping force. In the electric hand disclosed in Patent Document 1, it is difficult to grip a soft object such as tofu while retaining its shape.
　本発明は、上記実情に鑑みてなされたものであり、適切な把持力で対象物体を把持することができる電動ハンド及び対象物体の把持方法を提供することを目的とする。 The present invention has been made in view of the above circumstances, and an object thereof is to provide an electric hand capable of gripping a target object with an appropriate gripping force and a target object gripping method.
　上記目的を達成するために、本発明の第１の観点に係る電動ハンドは、
　回転モータと、
　前記回転モータの回転子に連結された回転運動部材と、
　前記回転運動部材の回転に伴って、前記回転運動部材の回転軸を中心とする円周の接線方向に並進運動して対象物体を把持する複数の並進運動部材と、
　前記回転運動部材及び前記対象物体から力を受けて並進運動以外の運動をしないように前記複数の並進運動部材を保持しつつ、前記複数の並進運動部材をその並進運動の方向に案内する案内部と、
　前記案内部と前記回転モータの固定子との間に設けられ、前記複数の並進運動部材が前記対象物体を把持する把持力の反力と線形関係にあるトルクのみを検出するトルクセンサと、
　を備える。 In order to achieve the above object, an electric hand according to the first aspect of the present invention provides:
A rotary motor;
A rotary motion member coupled to a rotor of the rotary motor;
A plurality of translational motion members that grip a target object by translationally moving in a tangential direction of the circumference around the rotation axis of the rotational motion member as the rotational motion member rotates.
A guide unit that guides the plurality of translational motion members in the direction of the translational motion while holding the plurality of translational motion members so as not to perform a motion other than the translational motion by receiving a force from the rotational motion member and the target object. When,
A torque sensor that is provided between the guide portion and the stator of the rotary motor, and that detects only torque that is linearly related to a reaction force of a gripping force with which the plurality of translational members grip the target object;
Is provided.
　この場合、前記複数の並進運動部材は、
　前記回転運動部材の回転軸を中心に、回転対称に配置されている、
　こととしてもよい。 In this case, the plurality of translational members are
Centered on the rotation axis of the rotary motion member, it is arranged rotationally symmetrically,
It is good as well.
　前記案内部には、直動レールが設けられ、
　前記複数の並進運動部材には、
　前記直動レールに案内されるブロックと、
　並進運動により、対象物体に接近又は離隔する爪部と、
　がそれぞれ設けられている、
　こととしてもよい。 The guide portion is provided with a linear motion rail,
In the plurality of translational movement members,
A block guided by the linear motion rail;
A claw portion that approaches or moves away from the target object by translational motion;
Are provided,
It is good as well.
　同一の前記直動レールが、２つの前記ブロックを案内する、
　こととしてもよい。 The same linear motion rail guides the two blocks;
It is good as well.
　前記回転運動部材には、前記回転モータの回転子が連結されていない端部にピニオンギアが設けられ、
　前記並進運動部材には、前記ピニオンギアと噛み合うラックギアが設けられている、
　こととしてもよい。 The rotary motion member is provided with a pinion gear at an end portion to which the rotor of the rotary motor is not connected,
The translational movement member is provided with a rack gear that meshes with the pinion gear.
It is good as well.
　本発明の第２の観点に係る対象物体の把持方法は、
　回転モータの回転子を駆動して回転運動部材を回転し、
　前記回転運動部材の回転に伴って、前記回転運動部材の回転軸を中心とする円周の接線方向に複数の並進運動部材を並進させて対象物体を把持させ、
　前記回転運動部材及び前記対象物体から力を受けて並進運動以外の運動をしないように前記複数の並進運動部材を保持しつつ、前記複数の並進運動部材をその並進運動の方向に案内する案内部と、前記回転モータの固定子との間に設けられたトルクセンサで、前記複数の並進運動部材が前記対象物体を把持する把持力の反力と線形関係にあるトルクのみを検出し、
　検出されたトルクに基づいて、前記回転モータの回転を調整しつつ、前記複数の並進運動部材により、前記対象物体を把持する。 A target object gripping method according to a second aspect of the present invention includes:
Drive the rotor of the rotary motor to rotate the rotary motion member,
Along with the rotation of the rotational motion member, a plurality of translational motion members are translated in the tangential direction of the circumference around the rotation axis of the rotational motion member, and the target object is gripped,
A guide unit that guides the plurality of translational motion members in the direction of the translational motion while holding the plurality of translational motion members so as not to perform a motion other than the translational motion by receiving a force from the rotational motion member and the target object. And a torque sensor provided between the stator of the rotary motor and only the torque that is linearly related to the reaction force of the gripping force that the plurality of translational members grip the target object,
Based on the detected torque, the target object is gripped by the plurality of translational members while adjusting the rotation of the rotary motor.
　本発明によれば、回転モータの回転子と回転運動部材とが連結され、回転運動部材の回転に伴って並進運動する複数の並進運動部材により、対象物体が把持される。また、トルクセンサは、回転運動部材の回転力を受ける複数の並進運動部材を並進運動の方向に案内する案内部と、回転モータの固定子との間に生じるトルクを検出する。複数の並進運動部材が対象物体を把持すると、その把持力の反力が対象物体から並進運動部材へ加えられ、回転運動部材、回転モータの回転子及び固定子に伝えられる。この反力は、回転モータの固定子と案内部との間に生じるトルクとなってトルクセンサにより検出される。 According to the present invention, the rotor of the rotary motor and the rotary motion member are connected, and the target object is held by the plurality of translational motion members that translate in accordance with the rotation of the rotary motion member. Further, the torque sensor detects torque generated between a guide portion that guides the plurality of translational motion members that receive the rotational force of the rotational motion member in the direction of translational motion, and the stator of the rotary motor. When a plurality of translational motion members grip the target object, a reaction force of the gripping force is applied from the target object to the translational motion member and transmitted to the rotary motion member, the rotor of the rotary motor, and the stator. This reaction force becomes torque generated between the stator of the rotary motor and the guide portion and is detected by the torque sensor.
　この構成であれば、回転モータの出力トルクをロスなく並進運動部材に伝えて対象物体を把持することができるうえ、案内部を基準として、並進運動部材が対象物体を把持する把持力の反力に相当するトルクをトルクセンサで検出することができる。これにより、対象物体を把持する把持力に相当するトルクを検出し、そのトルクに基づいて把持力を正確に制御することができる。この結果、適切な把持力で対象物体を把持することができる。 With this configuration, the output torque of the rotary motor can be transmitted to the translation member without loss to grip the target object, and the reaction force of the gripping force with which the translation member grips the target object based on the guide unit. Can be detected by a torque sensor. Thereby, a torque corresponding to the gripping force for gripping the target object can be detected, and the gripping force can be accurately controlled based on the torque. As a result, the target object can be gripped with an appropriate gripping force.
本発明の実施の形態に係る電動ハンドの外観を示す斜視図である。It is a perspective view which shows the external appearance of the electric hand which concerns on embodiment of this invention. 図１Ａの電動ハンドの側面図である。It is a side view of the electric hand of FIG. 1A. 電動ハンドの正面図である。It is a front view of an electric hand. 電動ハンドの内部構造を示す図１ＢのＡ－Ａ線断面図である。FIG. 2 is a cross-sectional view taken along line AA of FIG. 電動ハンドの内部構造を示す図１ＣのＢ－Ｂ線断面図である。It is a BB line sectional view of Drawing 1C showing an internal structure of an electric hand. 回転運動部材と並進運動部材とが係合している部分を示す平面図である。It is a top view which shows the part which the rotational motion member and the translational motion member are engaging. 図１の電動ハンドの制御系を示す模式図である。It is a schematic diagram which shows the control system of the electric hand of FIG. 対象物体を把持していない状態で、回転運動部材と並進運動部材とに生じる力を示す模式図である。It is a schematic diagram which shows the force which arises in a rotational motion member and a translational motion member in the state which is not holding the target object. 対象物体を把持していない状態で、爪部の様子を示す模式図である。It is a schematic diagram which shows the mode of a nail | claw part in the state which is not holding the target object. 対象物体を把持している状態で、爪部に加わる力を示す模式図である。It is a schematic diagram which shows the force added to a nail | claw part in the state holding the target object. 対象物体を把持している状態で、回転運動部材と並進運動部材とに生じる力を示す模式図である。It is a schematic diagram which shows the force which arises in a rotational motion member and a translational movement member in the state holding the target object. トルクセンサで検出されるトルクを示す模式図である。It is a schematic diagram which shows the torque detected with a torque sensor. 把持力の反力と、トルクセンサで検出されるトルクとの関係を示すグラフである。It is a graph which shows the relationship between the reaction force of a gripping force, and the torque detected by a torque sensor. 電動ハンドの並進運動部材の構成の変形例を示す図である。It is a figure which shows the modification of a structure of the translational movement member of an electric hand. 対象物体が保持される様子を示す図である。It is a figure which shows a mode that a target object is hold | maintained.
　以下、本発明の実施の形態について図面を参照して詳細に説明する。全図において、同一又は相当する構成要素には、同一の符号が付されている。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In all drawings, the same or corresponding components are denoted by the same reference numerals.
　図１Ａ、図１Ｂ及び図１Ｃに示すように、本実施の形態に係る電動ハンド１の一部は、外部カバー２で覆われている。外部カバー２の＋ｚ側には、回転モータ１０の固定子１１が露出している。また、外部カバー２の－ｚ側には、一対の把持部３が張り出している。電動ハンド１では、一対の把持部３が対象物体Ｍを挟み込んで、適切な把持力により把持する。ここで、適切な把持力とは、把持部３と対象物体Ｍとの静止摩擦係数と対象物体Ｍとの積の力を上回り、対象物体Ｍを変形させることなく保持できる力のことである。本実施の形態では、把持部３が動く方向をｘ軸方向として説明を行う。 1A, 1B, and 1C, a part of the electric hand 1 according to the present embodiment is covered with an external cover 2. On the + z side of the outer cover 2, the stator 11 of the rotary motor 10 is exposed. In addition, a pair of grip portions 3 protrudes on the −z side of the outer cover 2. In the electric hand 1, the pair of gripping units 3 sandwich the target object M and grip it with an appropriate gripping force. Here, the appropriate gripping force is a force that exceeds the product of the coefficient of static friction between the gripping unit 3 and the target object M and the target object M and can hold the target object M without deforming it. In the present embodiment, the direction in which the grip portion 3 moves is described as the x-axis direction.
　図１ＢのＡ－Ａ断面である図２と、図１ＣのＢ－Ｂ断面である図３に示すように、電動ハンド１は、駆動源である回転モータ１０と、トルクを検出するトルクセンサ２０と、把持部３（図１Ａ）を把持する方向に案内する案内部３０と、回転運動を行う回転運動部材４０と、並進運動を行う一対の並進運動部材５０と、を備える。 As shown in FIG. 2 which is an AA cross section of FIG. 1B and FIG. 3 which is a BB cross section of FIG. 1C, the electric hand 1 includes a rotary motor 10 which is a driving source and a torque sensor 20 which detects torque. And a guide portion 30 for guiding the grip portion 3 (FIG. 1A) in a gripping direction, a rotational motion member 40 that performs a rotational motion, and a pair of translational motion members 50 that perform a translational motion.
　回転モータ１０は、固定子１１と、回転子１２とを備える。固定子１１は、直方体状の筐体を有しており、その内部に回転子１２を回転可能に保持している。なお、固定子１１の筐体は、直方体状でなくてもよい。回転子１２は、固定子１１から－ｚ方向に延びている。図２及び図３では、回転軸ＡＸがｚ軸方向と平行になっている。回転モータ１０には、外部から電力が供給されている。回転子１２は、供給された電力に応じたトルクで、固定子１１に対して回転軸ＡＸを中心に回転する。 The rotary motor 10 includes a stator 11 and a rotor 12. The stator 11 has a rectangular parallelepiped housing, and the rotor 12 is rotatably held therein. In addition, the housing | casing of the stator 11 does not need to be a rectangular parallelepiped shape. The rotor 12 extends from the stator 11 in the −z direction. 2 and 3, the rotation axis AX is parallel to the z-axis direction. Electric power is supplied to the rotary motor 10 from the outside. The rotor 12 rotates about the rotation axis AX with respect to the stator 11 with a torque corresponding to the supplied electric power.
　トルクセンサ２０の＋ｚ側の端部は、回転モータ１０の固定子１１にボルト締めで固定されている。一方、トルクセンサ２０の－ｚ側の端部は、案内部３０を構成するベースプレート３１にボルト締めで固定されている。トルクセンサ２０は、回転モータ１０の固定子１１と、案内部３０（ベースプレート３１）との間に生じる回転軸ＡＸ回りのトルクを検出する。 The end on the + z side of the torque sensor 20 is fixed to the stator 11 of the rotary motor 10 by bolting. On the other hand, the end of the torque sensor 20 on the −z side is fixed to the base plate 31 constituting the guide portion 30 by bolting. The torque sensor 20 detects a torque around the rotation axis AX generated between the stator 11 of the rotary motor 10 and the guide portion 30 (base plate 31).
　トルクセンサ２０には、回転軸ＡＸを中心軸とする円柱状の貫通孔２０ａが設けられている。回転モータ１０の回転子１２は、この貫通孔２０ａ内に回転可能な状態で挿入される。 The torque sensor 20 is provided with a columnar through hole 20a having the rotation axis AX as a central axis. The rotor 12 of the rotary motor 10 is inserted into the through hole 20a in a rotatable state.
　案内部３０は、並進運動部材５０（図１Ａの把持部３）を、その並進運動の方向、すなわちｘ軸方向に案内する。言い換えると、案内部３０は、ｘ軸方向以外の方向への並進運動部材５０の動きを規制する。案内部３０は、ベースプレート３１と、ハウジング３２と、直動レール３３と、を備える。 The guide unit 30 guides the translational movement member 50 (the gripping unit 3 in FIG. 1A) in the translational movement direction, that is, the x-axis direction. In other words, the guide part 30 regulates the movement of the translational movement member 50 in directions other than the x-axis direction. The guide unit 30 includes a base plate 31, a housing 32, and a linear motion rail 33.
　ベースプレート３１は、金属で形成された平板状の部材である。ベースプレート３１は、図示しない他の部材（例えば建物等に固定されたスタンド）と接続されており、案内部３０の基板となる部材である。ベースプレート３１には、回転軸ＡＸを中心軸とする円柱状の貫通孔３１ａが設けられている。この貫通孔３１ａがトルクセンサ２０の貫通孔２０ａと同軸に配置された状態で、ベースプレート３１がトルクセンサ２０に取り付けられている。トルクセンサ２０で検出されるトルクは、このベースプレート３１を基準として、回転モータ１０の固定子１１に生じるトルクとなる。 The base plate 31 is a flat plate member made of metal. The base plate 31 is connected to other members (not shown) (for example, a stand fixed to a building or the like) and serves as a substrate for the guide unit 30. The base plate 31 is provided with a cylindrical through hole 31a having the rotation axis AX as a central axis. The base plate 31 is attached to the torque sensor 20 in a state where the through hole 31 a is disposed coaxially with the through hole 20 a of the torque sensor 20. Torque detected by the torque sensor 20 is torque generated in the stator 11 of the rotary motor 10 with the base plate 31 as a reference.
　ハウジング３２は、ベースプレート３１の－ｚ側の面に取り付けられている。ベースプレート３１とハウジング３２とで、内部空間３２ａが形成される。 The housing 32 is attached to the −z side surface of the base plate 31. The base plate 31 and the housing 32 form an internal space 32a.
　直動レール３３は、ハウジング３２の－ｚ側の面に取り付けられている。直動レール３３は、回転軸ＡＸに直交するｘ軸方向に延びている。図３に示すように、直動レール３３の側面には、一対の把持部３（並進運動部材５０）と係合し、これを案内するための溝部３３ａがｘ軸方向に延びている。 The linear motion rail 33 is attached to the surface on the −z side of the housing 32. The linear motion rail 33 extends in the x-axis direction orthogonal to the rotation axis AX. As shown in FIG. 3, on the side surface of the linear motion rail 33, a groove portion 33a for engaging with and guiding the pair of gripping portions 3 (translational motion members 50) extends in the x-axis direction.
　回転運動部材４０は、回転モータ１０の回転子１２に連結されている。回転運動部材４０は、回転本体４１と、ピニオンギア４２（図４参照）とを備える。回転本体４１は、金属で形成された円柱状の部材であり、回転モータ１０の回転子１２に連結され、回転軸ＡＸの方向に延びている。回転本体４１は、トルクセンサ２０の貫通孔２０ａ及びベースプレート３１の貫通孔３１ａを通って、ハウジング３２の内部空間３２ａに進入している。 The rotary motion member 40 is connected to the rotor 12 of the rotary motor 10. The rotary motion member 40 includes a rotary body 41 and a pinion gear 42 (see FIG. 4). The rotary body 41 is a columnar member made of metal, is connected to the rotor 12 of the rotary motor 10, and extends in the direction of the rotation axis AX. The rotating body 41 enters the internal space 32 a of the housing 32 through the through hole 20 a of the torque sensor 20 and the through hole 31 a of the base plate 31.
　ハウジング３２には、回転軸ＡＸを中心に凹部３２ｂが設けられており、凹部３２ｂにベアリング３２ｃが挿入されている。回転本体４１の－ｚ側の端部は、ベアリング３２ｃに嵌め込まれている。回転本体４１は、回転子１２の回転に合わせて回転軸ＡＸ回りに回転する。 The housing 32 is provided with a recess 32b around the rotation axis AX, and a bearing 32c is inserted into the recess 32b. The −z side end of the rotary body 41 is fitted into the bearing 32c. The rotating body 41 rotates around the rotation axis AX in accordance with the rotation of the rotor 12.
　ピニオンギア４２は、回転モータ１０の回転子１２が固定されていない端部、すなわちハウジング３２の内部空間３２ａに進入する回転運動部材４０（回転本体４１）の端部に設けられている。図４に示すように、ピニオンギア４２は、回転軸ＡＸを中心に回転する円形歯車である。したがって、回転モータ１０の回転子１２が回転すると、回転本体４１が回転し、ピニオンギア４２が回転する。 The pinion gear 42 is provided at the end of the rotary motor 10 where the rotor 12 is not fixed, that is, at the end of the rotary motion member 40 (rotary body 41) that enters the internal space 32a of the housing 32. As shown in FIG. 4, the pinion gear 42 is a circular gear that rotates about the rotation axis AX. Therefore, when the rotor 12 of the rotary motor 10 rotates, the rotary body 41 rotates and the pinion gear 42 rotates.
　一対の並進運動部材５０は、図１の一対の把持部３に対応する。図４に示すように、並進運動部材５０は、回転運動部材４０の回転軸ＡＸを中心に２回回転対称に配置されている。並進運動部材５０は、回転運動部材４０の回転に伴って、回転運動部材４０の回転軸ＡＸを中心とする円周（図４の仮想円弧Ｃ）の接線方向に並進運動する。 The pair of translational members 50 correspond to the pair of gripping portions 3 in FIG. As shown in FIG. 4, the translational motion member 50 is arranged in two-fold rotational symmetry about the rotational axis AX of the rotational motion member 40. The translation member 50 translates in the tangential direction of the circumference (virtual arc C in FIG. 4) around the rotation axis AX of the rotation member 40 as the rotation member 40 rotates.
　並進運動部材５０は、並進本体５１と、ラックギア５２と、ブロック５３と、爪部５４と、をそれぞれ備える。 The translational movement member 50 includes a translation main body 51, a rack gear 52, a block 53, and a claw portion 54, respectively.
　並進本体５１は、ｘ軸方向に並進運動を行う並進運動部材５０の本体である。図３に示すように、ハウジング３２における直動レール３３のｙ軸方向の両側には、貫通孔３２ｄがそれぞれ設けられている。並進本体５１は、ハウジング３２の内部空間３２ａから貫通孔３２ｄを通って－ｚ方向に張り出している。貫通孔３２ｄは、並進本体５１のｘ軸方向の移動を妨げないように、ｘ軸方向を長手方向としている。 The translation body 51 is the body of the translation member 50 that performs translation in the x-axis direction. As shown in FIG. 3, through holes 32 d are provided on both sides of the linear motion rail 33 in the housing 32 in the y-axis direction. The translation main body 51 protrudes from the internal space 32a of the housing 32 in the −z direction through the through hole 32d. The through-hole 32d has the x-axis direction as the longitudinal direction so as not to prevent the translation body 51 from moving in the x-axis direction.
　より具体的には、並進本体５１は、図４に示すように、ハウジング３２の内部空間３２ａではｘ軸方向に延びており、その延びた部分の端部から図３に示すように－ｚ方向に折れ曲がって貫通孔３２ｄを通ってハウジング３２の外部に張り出している。ハウジング３２の外部に張り出した端部は、図４に示すようにｘｙ平面に平行な平板状の部材となっている。 More specifically, the translation main body 51 extends in the x-axis direction in the internal space 32a of the housing 32 as shown in FIG. 4, and the −z direction as shown in FIG. And is projected to the outside of the housing 32 through the through hole 32d. As shown in FIG. 4, the end portion that protrudes to the outside of the housing 32 is a flat plate-like member that is parallel to the xy plane.
　ラックギア５２は、直線方向に歯切りをした直線状の部材である、図４に示すように、ラックギア５２は、並進本体５１のハウジング３２の内部空間３２ａ内のｘ軸方向に延びた部分に取り付けられている。ラックギア５２は、ピニオンギア４２と噛み合っており、ピニオンギア４２の回転により並進本体５１をｘ軸方向に並進運動させる。より具体的には、ピニオンギア４２が回転すると、一対のラックギア５２は、逆方向に駆動され、一対の並進本体５１同士は、接近又は離隔する。 As shown in FIG. 4, the rack gear 52 is attached to a portion extending in the x-axis direction in the internal space 32 a of the housing 32 of the translation main body 51. It has been. The rack gear 52 meshes with the pinion gear 42 and causes the translation main body 51 to translate in the x-axis direction by the rotation of the pinion gear 42. More specifically, when the pinion gear 42 rotates, the pair of rack gears 52 are driven in opposite directions, and the pair of translation bodies 51 approach or separate from each other.
　ブロック５３は、並進本体５１のハウジング３２の外部に張り出した平板状の部分の＋ｚ側の面に接続されている。また、ブロック５３は、図３に示すように、直動レール３３の溝部３３ａに嵌め込まれ、案内部３０の直動レール３３と、ｘ軸方向に摺動可能に連結されている。ブロック５３は、直動レール３３にｘ軸方向に案内される。並進本体５１がｘ軸方向に並進運動すると、ブロック５３も、直動レール３３に案内されたｘ軸方向に並進運動する。本実施の形態では、同一の直動レール３３が、２つのブロック５３を案内する。 The block 53 is connected to the surface on the + z side of the flat plate-like portion projecting outside the housing 32 of the translation main body 51. Further, as shown in FIG. 3, the block 53 is fitted in the groove 33 a of the linear motion rail 33 and is coupled to the linear motion rail 33 of the guide portion 30 so as to be slidable in the x-axis direction. The block 53 is guided by the linear motion rail 33 in the x-axis direction. When the translation body 51 translates in the x-axis direction, the block 53 also translates in the x-axis direction guided by the linear motion rail 33. In the present embodiment, the same linear motion rail 33 guides the two blocks 53.
　爪部５４は、並進本体５１の下方の端部に設けられている。爪部５４は、もう一方の爪部５４と、ｘ軸方向に対向するように配置されている。一対の爪部５４は、並進運動により、対象物体Ｍに接近又は離隔する。 The claw portion 54 is provided at the lower end of the translation main body 51. The claw portion 54 is disposed so as to face the other claw portion 54 in the x-axis direction. A pair of nail | claw part 54 approaches or leaves | separates the target object M by translation.
　上述のような構成を有する本実施の形態に係る電動ハンド１の動作について説明する。図５に示すように、電動ハンド１を実際に使用するには、回転モータ１０を制御する制御装置６０と、回転モータ１０を駆動する駆動装置７０とが必要になる。 The operation of the electric hand 1 according to the present embodiment having the above-described configuration will be described. As shown in FIG. 5, in order to actually use the electric hand 1, a control device 60 that controls the rotary motor 10 and a drive device 70 that drives the rotary motor 10 are required.
　ここで、回転モータ１０がステッピングモータであるものとする。対象物体Ｍを把持する場合には、制御装置６０は、トルクセンサ２０のセンサ検出値をモニタリングしつつ、駆動装置７０にパルス指令を出力する。駆動装置７０は、入力されたパルス指令に従って、回転モータ１０を駆動する。 Here, it is assumed that the rotary motor 10 is a stepping motor. When gripping the target object M, the control device 60 outputs a pulse command to the drive device 70 while monitoring the sensor detection value of the torque sensor 20. The driving device 70 drives the rotary motor 10 in accordance with the input pulse command.
　例えば、図６Ａに示すように、パルス指令に従って回転モータ１０の回転子１２がトルクＴ１で回転駆動すると、回転運動部材４０（ピニオンギア４２）が回転する。回転運動部材４０の回転に伴って、一対の並進運動部材５０（ラックギア５２）は、回転運動部材４０（ピニオンギア４２）から力Ｆ１を受け、回転運動部材４０の回転軸を中心とする円周（図４の仮想円弧Ｃ）の接線方向に並進させる。並進運動部材５０は、互いに接近する方向に移動する。 For example, as shown in FIG. 6A, when the rotor 12 of the rotary motor 10 is rotationally driven with the torque T1 in accordance with the pulse command, the rotary motion member 40 (pinion gear 42) rotates. As the rotary motion member 40 rotates, the pair of translational motion members 50 (rack gears 52) receive a force F1 from the rotary motion member 40 (pinion gear 42), and the circumference around the rotational axis of the rotary motion member 40 The tangential direction of (virtual arc C in FIG. 4) is translated. The translation member 50 moves in a direction approaching each other.
　図６Ｂに示すように、一対の並進運動部材５０の爪部５４の間に対象物体Ｍがない場合には、並進運動部材５０は対象物体Ｍから反力を受けることなく並進運動を行う。トルクセンサ２０は、案内部３０と、回転モータ１０の固定子１１との間に生じるトルクを検出する。ここでは、回転運動部材４０は、並進運動部材５０から反力Ｆ１’を受ける。トルクセンサ２０で検出されるトルクは、回転モータ１０の固定子１１が回転子１２、回転運動部材４０及び並進運動部材５０を駆動するトルクＴ１の反トルクＴ１’となる。 As shown in FIG. 6B, when there is no target object M between the claw portions 54 of the pair of translational members 50, the translational member 50 performs a translational motion without receiving a reaction force from the target object M. The torque sensor 20 detects torque generated between the guide unit 30 and the stator 11 of the rotary motor 10. Here, the rotational movement member 40 receives the reaction force F <b> 1 ′ from the translational movement member 50. The torque detected by the torque sensor 20 is a counter-torque T1 'of the torque T1 that drives the rotor 12, the rotary motion member 40, and the translational motion member 50 by the stator 11 of the rotary motor 10.
　図７Ａに示すように、一対の爪部５４が対象物体Ｍに接触すると、一対の爪部５４は対象物体Ｍから反力Ｆ２’を受け、その把持力は、力Ｆ１よりも大きいＦ２となる（Ｆ２＞Ｆ１）。把持力Ｆ２で対象物体Ｍを把持すると、図７Ｂに示すように、この反力Ｆ２’は、並進運動部材５０から回転運動部材４０に伝えられ、回転運動部材４０は、回転モータ１０の回転子１２の回転方向とは逆向きのトルクＴ２’を並進運動部材５０から受ける。 As shown in FIG. 7A, when the pair of claws 54 contacts the target object M, the pair of claws 54 receives a reaction force F2 ′ from the target object M, and the gripping force is F2 larger than the force F1. (F2> F1). When the target object M is gripped by the gripping force F2, as shown in FIG. 7B, the reaction force F2 ′ is transmitted from the translational motion member 50 to the rotational motion member 40, and the rotational motion member 40 is the rotor of the rotary motor 10. 12 receives a torque T <b> 2 ′ opposite to the rotational direction of 12 from the translation member 50.
　図８Ａに示すように、反力Ｆ２’による回転運動部材４０が受けるトルクＴとは逆向きのトルクＴ２’は、回転運動部材４０、回転モータ１０の回転子１２を介して、回転モータ１０の固定子１１に伝えられる。案内部３０のベースプレート３１は不図示の外部部材に固定されており、その位置及び姿勢は一定である。このため、回転モータ１０の固定子１１と、案内部３０（ベースプレート３１）との間にトルクＴ２’が生じる。トルクセンサ２０は、このトルクＴ２’を検出する。 As shown in FIG. 8A, the torque T2 ′ opposite to the torque T received by the rotary motion member 40 due to the reaction force F2 ′ is applied to the rotary motor 10 via the rotary motion member 40 and the rotor 12 of the rotary motor 10. It is transmitted to the stator 11. The base plate 31 of the guide part 30 is fixed to an external member (not shown), and its position and posture are constant. For this reason, torque T2 'is generated between the stator 11 of the rotary motor 10 and the guide portion 30 (base plate 31). The torque sensor 20 detects this torque T2 '.
　本実施の形態に係る電動ハンド１では、回転モータ１０と、並進運動部材５０との間には、回転運動部材４０が挿入されているだけで、リンク機構のような複雑な機構は設けられていない。したがって、トルクセンサ２０で検出されるトルクＴ２’は、対象物体Ｍを把持する把持力の反力Ｆ２’によるものとなる。図８Ｂに示すように、把持力の反力とトルクセンサ２０で検出されるトルクＴ２’の間には線形の関係がある。例えば、反力がＦ１’であるときには、トルクセンサ２０のトルク検出値はＴ１’となり、反力がＦ２’であるときには、トルクセンサ２０のトルク検出値はＴ２’となる。 In the electric hand 1 according to the present embodiment, a complicated mechanism such as a link mechanism is provided between the rotary motor 10 and the translational motion member 50, with only the rotational motion member 40 being inserted. Absent. Accordingly, the torque T2 'detected by the torque sensor 20 is due to the reaction force F2' of the gripping force for gripping the target object M. As shown in FIG. 8B, there is a linear relationship between the reaction force of the gripping force and the torque T2 'detected by the torque sensor 20. For example, when the reaction force is F1 ', the torque detection value of the torque sensor 20 is T1', and when the reaction force is F2 ', the torque detection value of the torque sensor 20 is T2'.
　制御装置６０は、トルクセンサ２０で検出されるトルクがＴ２’に達すると、駆動装置７０を介して回転モータ１０の回転を停止させる。これにより、一対の把持部３は、把持力Ｆ２を維持した状態で対象物体Ｍを把持する。このように、この電動ハンド１によれば、対象物体Ｍの把持力と線形関係のあるトルクを検出し、そのトルクを制御して、把持力を適切に調整することができる。 The control device 60 stops the rotation of the rotary motor 10 via the drive device 70 when the torque detected by the torque sensor 20 reaches T2 ′. Thereby, the pair of gripping units 3 grips the target object M while maintaining the gripping force F2. Thus, according to this electric hand 1, it is possible to detect the torque having a linear relationship with the gripping force of the target object M, control the torque, and appropriately adjust the gripping force.
　このようにすれば、対象物体Ｍが軟らかくつぶれやすい対象物体Ｍであり、対象物体Ｍをつぶさずに把持する把持力がＦ２である場合でも、対象物体Ｍを把持する把持力はＦ２以上とはならないので、対象物体Ｍをつぶさずに把持することができる。 In this way, even when the target object M is the target object M that is soft and easily crushed, and the gripping force for gripping the target object M without crushing is F2, the gripping force for gripping the target object M is F2 or more. Therefore, the target object M can be gripped without being crushed.
　なお、制御装置６０は、対象物体Ｍを把持する際に、フィードバック制御を行って制御するようにしてもよい。この場合、制御装置６０は、トルクセンサ２０のセンサ検出値をモニタリングしつつ、把持力Ｆ２を目標値としてフィードバック制御を行い、パルス指令を駆動装置７０に出力する。駆動装置７０は、パルス指令に基づいて、駆動電力を回転モータ１０に供給する。回転モータ１０は、供給された駆動電力で回転子１２及び回転運動部材４０を回転させる。これにより一対の並進運動部材５０が並進運動し、一対の爪部５４が互いに接近する方向に移動する。 The control device 60 may perform feedback control when gripping the target object M. In this case, the control device 60 performs feedback control using the gripping force F <b> 2 as a target value while monitoring the sensor detection value of the torque sensor 20, and outputs a pulse command to the drive device 70. The drive device 70 supplies drive power to the rotary motor 10 based on the pulse command. The rotary motor 10 rotates the rotor 12 and the rotary motion member 40 with the supplied driving power. As a result, the pair of translational members 50 translate, and the pair of claws 54 move in a direction approaching each other.
　一対の爪部５４で対象物体Ｍを把持すると、トルクセンサ２０では、その把持力Ｆ２の反力Ｆ２’によるトルクＴ２’が検出される。制御装置６０は、トルクセンサ２０のセンサ検出値をモニタリングしつつ、把持力がＦ２となるような、すなわちトルクセンサ２０のセンサ検出値がＴ２’に維持されるようなパルス指令を駆動装置７０に出力し、駆動装置７０が回転モータ１０を回転駆動する。これにより、対象物体Ｍが軟らかくつぶれやすいものであっても、つぶれないような把持力Ｆ２で、対象物体Ｍを把持することができる。 When the target object M is gripped by the pair of claws 54, the torque sensor 20 detects the torque T2 'due to the reaction force F2' of the gripping force F2. The control device 60 monitors the sensor detection value of the torque sensor 20 and gives a pulse command to the driving device 70 such that the gripping force becomes F2, that is, the sensor detection value of the torque sensor 20 is maintained at T2 ′. The drive device 70 drives the rotary motor 10 to rotate. Thereby, even if the target object M is soft and easily crushed, the target object M can be gripped with a gripping force F2 that does not collapse.
　以上詳細に説明したように、本実施の形態によれば、回転モータ１０の回転子１２と回転運動部材４０とが連結され、回転運動部材４０の回転に伴って並進運動する複数の並進運動部材５０により、対象物体Ｍが把持される。また、トルクセンサ２０は、回転運動部材４０の回転力を受ける複数の並進運動部材５０を並進運動の方向に案内する案内部３０と、回転モータ１０の固定子１１との間に生じるトルクを検出する。 As described above in detail, according to the present embodiment, the rotor 12 of the rotary motor 10 and the rotary motion member 40 are coupled, and a plurality of translational motion members that translate as the rotary motion member 40 rotates. 50, the target object M is gripped. The torque sensor 20 detects torque generated between the guide portion 30 that guides the plurality of translational motion members 50 that receive the rotational force of the rotational motion member 40 in the direction of translational motion and the stator 11 of the rotary motor 10. To do.
　複数の並進運動部材５０が対象物体Ｍを把持すると、その把持力Ｆ２の反力Ｆ２’が対象物体Ｍから並進運動部材５０へ加えられ、回転運動部材４０、回転モータ１０の回転子１２及び固定子１１に伝えられる。この反力Ｆ２’は、回転モータ１０の固定子１１と案内部３０との間に生じるトルクＴ２’となってトルクセンサ２０により検出される。 When the plurality of translational motion members 50 grip the target object M, a reaction force F2 ′ of the gripping force F2 is applied from the target object M to the translational motion member 50, and the rotational motion member 40, the rotor 12 of the rotary motor 10, and the fixed state. It is transmitted to child 11. The reaction force F <b> 2 ′ is detected by the torque sensor 20 as torque T <b> 2 ′ generated between the stator 11 of the rotary motor 10 and the guide portion 30.
　この構成であれば、回転モータ１０の出力トルクをロスなく並進運動部材５０に伝えて対象物体Ｍを把持することができるうえ、案内部３０を基準として、並進運動部材５０が対象物体Ｍを把持する把持力Ｆ２の反力Ｆ２’と線形関係にあるトルクＴ２’のみを検出することができる。これにより、対象物体Ｍを把持する把持力を検出し、そのトルクＴ２’に基づいて把持力を正確に制御することができる。この結果、適切な把持力で対象物体Ｍを把持することができる。 With this configuration, the output torque of the rotary motor 10 can be transmitted to the translational motion member 50 without loss to grip the target object M, and the translational motion member 50 grips the target object M with reference to the guide unit 30. Only the torque T2 ′ having a linear relationship with the reaction force F2 ′ of the gripping force F2 to be detected can be detected. As a result, the gripping force for gripping the target object M can be detected, and the gripping force can be accurately controlled based on the torque T2 '. As a result, the target object M can be gripped with an appropriate gripping force.
　本実施の形態によれば、例えば、豆腐のような軟らかい対象物体Ｍを持った場合でも、把持力を、対象物体Ｍをつぶさないような値に保つことができる。この結果、対象物体Ｍを変形させずに、把持することができる。 According to this embodiment, for example, even when a soft target object M such as tofu is held, the gripping force can be maintained at a value that does not crush the target object M. As a result, the target object M can be gripped without being deformed.
　なお、上記実施の形態では、回転運動部材４０の回転軸ＡＸを中心に、２回回転対称に並進運動部材５０を配置したが、本発明はこれには限られない。図９Ａに示すように、並進運動部材５０を３回回転対称に配列するようにしてもよい。この場合、図９Ｂに示すように、対象物体Ｍは、３つの爪部５４で把持される。並進運動部材５０は、４回回転対称又はそれ以上に配列することもできる。 In the above-described embodiment, the translational motion member 50 is arranged in two-fold rotational symmetry about the rotational axis AX of the rotational motion member 40, but the present invention is not limited to this. As shown in FIG. 9A, the translational members 50 may be arranged in a three-fold rotational symmetry. In this case, as shown in FIG. 9B, the target object M is gripped by the three claw portions 54. The translational members 50 can also be arranged with four-fold rotational symmetry or more.
　また、上記実施の形態では、１本の直動レール３３に、２つのブロック５３を摺動可能とした。これにより、直動レール３３をブロック５３毎に備える必要がなくなるので、電動ハンド１を小型化することができる。 In the above embodiment, the two blocks 53 are slidable on one linear motion rail 33. Thereby, since it becomes unnecessary to provide the linear motion rail 33 for every block 53, the electric hand 1 can be reduced in size.
　もちろん、２本の直動レール３３を設け、各直動レール３３にブロック５３を１つずつ摺動可能に取り付けるようにしてもよい。また、図９Ａに示すように、３つの並進運動部材５０を３回回転対称に配列する場合には、並進運動部材５０それぞれに、直動レール３３を設けるようになる。 Of course, two linear motion rails 33 may be provided, and one block 53 may be slidably attached to each linear motion rail 33. Further, as shown in FIG. 9A, when the three translational motion members 50 are arranged rotationally symmetrically three times, the translational motion members 50 are provided with linear motion rails 33, respectively.
　また、上記実施の形態では、回転運動部材４０にピニオンギア４２が設けられ、並進運動部材５０にラックギア５２が設けられて、回転モータ１０の回転子１２の回転運動を、並進運動部材５０の並進運動に変換した。しかしながら、本発明はこれには限られない。例えば、他のギア機構、例えば遊星歯車機構で把持部３を駆動するようにしてもよい。溝カム又はヨークカムのようなカム方式で把持部３を駆動するようにしてもよい。ただし、電動ハンド１では、回転モータの回転力の回転運動から対象物体Ｍを把持する直線運動へ１段階で変換するだけのより簡単な機構で構成されるのが望ましい。 In the above embodiment, the rotational motion member 40 is provided with the pinion gear 42, the translational motion member 50 is provided with the rack gear 52, and the rotational motion of the rotor 12 of the rotary motor 10 is translated. Converted to movement. However, the present invention is not limited to this. For example, you may make it drive the holding part 3 with another gear mechanism, for example, a planetary gear mechanism. The grip portion 3 may be driven by a cam system such as a groove cam or a yoke cam. However, it is preferable that the electric hand 1 is configured with a simpler mechanism that converts the rotational movement of the rotational force of the rotary motor into a linear movement that grips the target object M in one step.
　なお、回転モータ１０の種類に特に制限はない。回転モータ１０は、誘導モータであってもよいし、同期モータであってもよい。また、回転モータ１０は、交流モータであってもよいし、直流モータであってもよい。また、回転モータ１０は、単相モータであってもよいし、三相モータであってもよい。上記実施の形態では、回転モータ１０はステッピングモータであったため、回転モータ１０に出力する指令はパルス指令であったが、回転モータ１０に加えられる指令は、電圧指令、電流指令等、回転モータ１０の種類に応じたものとなる。 There are no particular restrictions on the type of rotary motor 10. The rotary motor 10 may be an induction motor or a synchronous motor. Further, the rotary motor 10 may be an AC motor or a DC motor. Further, the rotary motor 10 may be a single-phase motor or a three-phase motor. In the above embodiment, since the rotary motor 10 is a stepping motor, the command output to the rotary motor 10 is a pulse command. However, the command applied to the rotary motor 10 is a voltage command, a current command, or the like. Depending on the type of
　また、ベースプレート３１、ハウジング３２及び直動レール３３は一体の部材から構成されるようにしてもよい。 Further, the base plate 31, the housing 32, and the linear motion rail 33 may be configured as an integral member.
　この発明は、この発明の広義の精神と範囲を逸脱することなく、様々な実施の形態及び変形が可能とされるものである。また、上述した実施の形態は、この発明を説明するためのものであり、この発明の範囲を限定するものではない。すなわち、この発明の範囲は、実施の形態ではなく、特許請求の範囲によって示される。そして、特許請求の範囲内及びそれと同等の発明の意義の範囲内で施される様々な変形が、この発明の範囲内とみなされる。 The present invention is capable of various embodiments and modifications without departing from the broad spirit and scope of the present invention. The above-described embodiments are for explaining the present invention and do not limit the scope of the present invention. In other words, the scope of the present invention is shown not by the embodiments but by the claims. Various modifications within the scope of the claims and within the scope of the equivalent invention are considered to be within the scope of the present invention.
　なお、本願については、２０１８年３月２３日に出願された日本国特許出願２０１８－５５６６５号を基礎とする優先権を主張し、本明細書中に日本国特許出願２０１８－５５６６５号の明細書、特許請求の範囲、図面全体を参照として取り込むものとする。 The present application claims priority based on Japanese Patent Application No. 2018-55665 filed on March 23, 2018, and the specification of Japanese Patent Application No. 2018-55665 is included in this specification. The claims and the entire drawing are incorporated by reference.
　本発明は、電動ハンドに適用することができ、特に、軟らかい対象物体を把持する電動ハンドに適用することができる。 The present invention can be applied to an electric hand, and in particular, can be applied to an electric hand that grips a soft target object.
　１　電動ハンド、２　外部カバー、３　把持部、１０　回転モータ、１１　固定子、１２　回転子、２０　トルクセンサ、２０ａ　貫通孔、３０　案内部、３１　ベースプレート、３１ａ　貫通孔、３２　ハウジング、３２ａ　内部空間、３２ｂ　凹部、３２ｃ　ベアリング、３２ｄ　貫通孔、３３　直動レール、３３ａ　溝部、４０　回転運動部材、４１　回転本体、４２　ピニオンギア、５０　並進運動部材、５１　並進本体、５２　ラックギア、５３　ブロック、５４　爪部、６０　制御装置、７０　駆動装置、ＡＸ　回転軸、Ｃ　仮想円弧、Ｍ　対象物体 1 electric hand, 2 external cover, 3 gripping part, 10 rotary motor, 11 stator, 12 rotor, 20 torque sensor, 20a through hole, 30 guide part, 31 base plate, 31a through hole, 32 housing, 32a internal space, 32b concave part, 32c bearing, 32d through hole, 33 linear motion rail, 33a groove part, 40 rotational motion member, 41 rotational body, 42 pinion gear, 50 translational motion member, 51 translational body, 52 rack gear, 53 block, 54 claw part, 60 control device, 70 drive device, AX rotation axis, C virtual arc, M target object

Claims (6)

  1. 　回転モータと、
    　前記回転モータの回転子に連結された回転運動部材と、
    　前記回転運動部材の回転に伴って、前記回転運動部材の回転軸を中心とする円周の接線方向に並進運動して対象物体を把持する複数の並進運動部材と、
    　前記回転運動部材及び前記対象物体から力を受けて並進運動以外の運動をしないように前記複数の並進運動部材を保持しつつ、前記複数の並進運動部材をその並進運動の方向に案内する案内部と、
    　前記案内部と前記回転モータの固定子との間に設けられ、前記複数の並進運動部材が前記対象物体を把持する把持力の反力と線形関係にあるトルクのみを検出するトルクセンサと、
    　を備える電動ハンド。     A rotary motor;
    A rotary motion member coupled to a rotor of the rotary motor;
    A plurality of translational motion members that grip a target object by translationally moving in a tangential direction of the circumference around the rotation axis of the rotational motion member as the rotational motion member rotates.
    A guide unit that guides the plurality of translational motion members in the direction of the translational motion while holding the plurality of translational motion members so as not to perform a motion other than the translational motion by receiving a force from the rotational motion member and the target object. When,
    A torque sensor that is provided between the guide portion and the stator of the rotary motor, and that detects only torque that is linearly related to a reaction force of a gripping force with which the plurality of translational members grip the target object;
    Electric hand equipped with.
  2. 　前記複数の並進運動部材は、
    　前記回転運動部材の回転軸を中心に、回転対称に配置されている、
    　請求項１に記載の電動ハンド。     The plurality of translational members are:
    Centered on the rotation axis of the rotary motion member, it is arranged rotationally symmetrically,
    The electric hand according to claim 1.
  3. 　前記案内部には、直動レールが設けられ、
    　前記複数の並進運動部材には、
    　前記直動レールに案内されるブロックと、
    　並進運動により、対象物体に接近又は離隔する爪部と、
    　がそれぞれ設けられている、
    　請求項１に記載の電動ハンド。     The guide portion is provided with a linear motion rail,
    In the plurality of translational movement members,
    A block guided by the linear motion rail;
    A claw portion that approaches or moves away from the target object by translational motion;
    Are provided,
    The electric hand according to claim 1.
  4. 　同一の前記直動レールが、２つの前記ブロックを案内する、
    　請求項３に記載の電動ハンド。     The same linear motion rail guides the two blocks;
    The electric hand according to claim 3.
  5. 　前記回転運動部材には、前記回転モータの回転子が連結されていない端部にピニオンギアが設けられ、
    　前記並進運動部材には、前記ピニオンギアと噛み合うラックギアが設けられている、
    　請求項１から４のいずれか一項に記載の電動ハンド。     The rotary motion member is provided with a pinion gear at an end portion to which the rotor of the rotary motor is not connected,
    The translational movement member is provided with a rack gear that meshes with the pinion gear.
    The electric hand according to any one of claims 1 to 4.
  6. 　回転モータの回転子を駆動して回転運動部材を回転し、
    　前記回転運動部材の回転に伴って、前記回転運動部材の回転軸を中心とする円周の接線方向に複数の並進運動部材を並進させて対象物体を把持させ、
    　前記回転運動部材及び前記対象物体から力を受けて並進運動以外の運動をしないように前記複数の並進運動部材を保持しつつ、前記複数の並進運動部材をその並進運動の方向に案内する案内部と、前記回転モータの固定子との間に設けられたトルクセンサで、前記複数の並進運動部材が前記対象物体を把持する把持力の反力と線形関係にあるトルクのみを検出し、
    　検出されたトルクに基づいて、前記回転モータの回転を調整しつつ、前記複数の並進運動部材により、前記対象物体を把持する、
    　対象物体の把持方法。     Drive the rotor of the rotary motor to rotate the rotary motion member,
    Along with the rotation of the rotational motion member, a plurality of translational motion members are translated in the tangential direction of the circumference around the rotation axis of the rotational motion member, and the target object is gripped,
    A guide unit that guides the plurality of translational motion members in the direction of the translational motion while holding the plurality of translational motion members so as not to perform a motion other than the translational motion by receiving a force from the rotational motion member and the target object. And a torque sensor provided between the stator of the rotary motor and only the torque that is linearly related to the reaction force of the gripping force that the plurality of translational members grip the target object,
    The target object is gripped by the plurality of translational motion members while adjusting the rotation of the rotary motor based on the detected torque.
    A method for gripping a target object.
PCT/JP2019/011595 2018-03-23 2019-03-19 Electric hand and method for grasping target object WO2019181985A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201980021248.7A CN111902247A (en) 2018-03-23 2019-03-19 Electric manipulator and method for gripping object

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-055665 2018-03-23
JP2018055665A JP6481791B1 (en) 2018-03-23 2018-03-23 Electric hand and target object gripping method

Publications (1)

Publication Number Publication Date
WO2019181985A1 true WO2019181985A1 (en) 2019-09-26

Family

ID=65718326

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/011595 WO2019181985A1 (en) 2018-03-23 2019-03-19 Electric hand and method for grasping target object

Country Status (4)

Country Link
JP (1) JP6481791B1 (en)
CN (1) CN111902247A (en)
TW (1) TWI791798B (en)
WO (1) WO2019181985A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114800596A (en) * 2022-04-18 2022-07-29 中国科学院深圳先进技术研究院 Clamp and robot hand
WO2023201463A1 (en) * 2022-04-18 2023-10-26 中国科学院深圳先进技术研究院 Clamp and robotic arm

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102188322B1 (en) * 2019-10-31 2020-12-11 주식회사 나우테크닉스 Gripper for Robot arm
CN112025753A (en) * 2020-09-18 2020-12-04 清华大学 Compact clamping end effector
KR102594150B1 (en) * 2021-10-14 2023-10-25 경희대학교 산학협력단 Mobile manipulator and service robot including the same
CN115781713B (en) * 2022-12-09 2023-05-30 青岛拓普斯智能科技有限公司 Mechanical arm for transplanting upright posts

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0315088U (en) * 1989-06-26 1991-02-15
JP2003083824A (en) * 2001-09-12 2003-03-19 Kawatetsu Advantech Co Ltd Torquemeter
JP2009058388A (en) * 2007-08-31 2009-03-19 Tetsuya Mori Torque sensor and motor with torque sensor
JP2015085390A (en) * 2013-10-28 2015-05-07 株式会社アイエイアイ Actuator device

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3968415B2 (en) * 2001-11-30 2007-08-29 独立行政法人産業技術総合研究所 Gripping device
JP5834478B2 (en) * 2011-05-10 2015-12-24 セイコーエプソン株式会社 robot
JP6141289B2 (en) * 2011-10-21 2017-06-07 インテュイティブ サージカル オペレーションズ， インコーポレイテッド Gripping force control for robotic surgical instrument end effector
JP5543539B2 (en) * 2012-07-25 2014-07-09 ファナック株式会社 Force control electric hand
DE102013110216A1 (en) * 2013-09-17 2015-03-19 gomtec GmbH End effector for a surgical instrument and surgical instrument with an end effector

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0315088U (en) * 1989-06-26 1991-02-15
JP2003083824A (en) * 2001-09-12 2003-03-19 Kawatetsu Advantech Co Ltd Torquemeter
JP2009058388A (en) * 2007-08-31 2009-03-19 Tetsuya Mori Torque sensor and motor with torque sensor
JP2015085390A (en) * 2013-10-28 2015-05-07 株式会社アイエイアイ Actuator device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114800596A (en) * 2022-04-18 2022-07-29 中国科学院深圳先进技术研究院 Clamp and robot hand
CN114800596B (en) * 2022-04-18 2023-04-11 中国科学院深圳先进技术研究院 Clamp and robot hand
WO2023201463A1 (en) * 2022-04-18 2023-10-26 中国科学院深圳先进技术研究院 Clamp and robotic arm

Also Published As

Publication number Publication date
JP6481791B1 (en) 2019-03-13
CN111902247A (en) 2020-11-06
TW201940297A (en) 2019-10-16
JP2019166596A (en) 2019-10-03
TWI791798B (en) 2023-02-11

Similar Documents

Publication Publication Date Title
WO2019181985A1 (en) Electric hand and method for grasping target object
EP1894683A1 (en) Industrial robot
US9924954B2 (en) Handheld power machine for orthopaedic drill and saw and orthopaedic drill and saw power system with same
US9126333B2 (en) Robot joint and robot arm using the same
JP2019063934A (en) robot
CN107553467B (en) Multifunctional master hand device with low gravity center
US10035265B2 (en) Manipulator
EP2374580B1 (en) Electric gripper drive with a torsional compliance device
JP2006315117A (en) Cordless power tool
CN108189071A (en) A kind of electronic clamping jaw
JP2012196760A (en) Electric hand
JP2008528307A (en) 5-bar mechanism with dynamic balancing means and method for dynamically balancing a 5-bar mechanism
JP5035216B2 (en) Electric hand
US20190145504A1 (en) Linear series elastic actuator
CN108161973A (en) A kind of Multi-shaft mechanical arm of the electronic clamping jaw of band
JP2011104673A (en) Driving device
JP2009061581A (en) Screw fastening device
JP6365214B2 (en) Gripping device
JP4939673B2 (en) Trigger switch and motor drive circuit using the same
JP2002172580A (en) Electric actuator
US7874227B2 (en) Teleoperable electromechanical device
JP2021053786A (en) Electric gripper
JP2016078221A (en) Horizontal articulated robot
JP2000271891A (en) Grasping device for robot
KR20180138259A (en) Integral joint drive module

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19772231

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19772231

Country of ref document: EP

Kind code of ref document: A1