JPS58132484A - Manipulator - Google Patents
ManipulatorInfo
- Publication number
- JPS58132484A JPS58132484A JP1003682A JP1003682A JPS58132484A JP S58132484 A JPS58132484 A JP S58132484A JP 1003682 A JP1003682 A JP 1003682A JP 1003682 A JP1003682 A JP 1003682A JP S58132484 A JPS58132484 A JP S58132484A
- Authority
- JP
- Japan
- Prior art keywords
- force
- manipulator
- gripping
- finger
- lever
- 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.)
- Granted
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】
本発明はロボットを含むマニプレータに係り、％に把持
部（二カ感覚を有するマニプレータに関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a manipulator including a robot, and particularly to a manipulator having a gripping part (two senses).
従来のマニプレータはほとんど力感覚がなく、あるいは
あっても単に把持機構の指部分にストレインゲージを貼
ったものであり力の検出範囲が狭く、また小さな力を検
出しても、指部分に切り欠きを作り指部分に発生する応
力を大きくするなどしていたため、逆（＝大きな把持力
（二対して指の部材の強度が不足するなどの欠点があり
改善が望まれている。Conventional manipulators have almost no force sensation, or even if they do have a strain gauge attached to the finger of the gripping mechanism, the force detection range is narrow, and even if a small force is detected, there is a notch in the finger. As a result, there are disadvantages such as the opposite (= large gripping force) and the lack of strength of the finger parts, and improvements are desired.
本発明は上記事情（＝鑑みなされたもので、マニプレー
タの把持機構の指部分の微小な把持力を検出可能にし、
さらに指本体（二作用する大きな把持力を検出可能（ニ
し、合せて広範囲な力感覚を有するマニプレータを提供
することを目的とする。The present invention was made in view of the above circumstances, and makes it possible to detect the minute gripping force of the finger portion of the gripping mechanism of the manipulator.
Furthermore, it is an object of the present invention to provide a manipulator that is capable of detecting a large gripping force acting on the finger body (two) and has a wide range of force sensations.
以下に本発明の一実施例を図面を用いて説明する。An embodiment of the present invention will be described below with reference to the drawings.
第１図に示すマニプレータ（１）はその先端に取り付け
られた物をつかむための把持機構（２）と、第２図、第
３図のごとく、把持機構（２）の先端を構成する指（３
）と、指（３）の支点（４）と、支点（４）に取り付け
られ一方が指（３）より微小寸法ａだけ突出た梃子（５
）と、梃子（５）の他端（：適度の抵抗を与えるために
設けられたバネ（６）と、バネ（６）の作用力を調整す
るだめの押しネジ（７）と、梃子（５）により増幅され
た力を受けて適当に撓む板バネ（８）と、板バネ（８）
を二取り付けた歪ゲージ（９）と、指（３）ｆ二直接取
り付けられた歪ゲージａ値とから構成される。The manipulator (1) shown in Fig. 1 has a gripping mechanism (2) attached to its tip for grasping an object, and as shown in Figs. 2 and 3, fingers ( 3
), a fulcrum (4) of the finger (3), and a lever (5) attached to the fulcrum (4) with one side protruding from the finger (3) by a minute dimension a.
), the other end of the lever (5) (: a spring (6) provided to provide appropriate resistance, a push screw (7) for adjusting the acting force of the spring (6), and the other end of the lever (5). ) and a leaf spring (8) that bends appropriately in response to the amplified force.
It consists of a strain gauge (9) with two attached fingers (3) and a strain gauge a value directly attached with two fingers (3).
次に上記のよう（＝構成したマニプレータの作用を説明
する。マニプレータにより対象物を把持する場合、把持
機構（２）の指（３）を閉じると、極子（５）の先端が
対象物Ｃ二接触する。この接触力は極子（５）６：より
増幅され、さらに押しネジ（７）Ｃ二より力を調整され
九バネ（６）で接触力は調整され、板バネ（８）ζ１撓
みを与える。従って板バネ（８）に取り付けられ九歪ゲ
ージ（９）は微小な把持力を検出可能となる。Next, we will explain the operation of the manipulator configured as described above. When gripping an object with the manipulator, when the fingers (3) of the gripping mechanism (2) are closed, the tip of the pole (5) This contact force is amplified by the pole (5) 6, and the force is further adjusted by the push screw (7) C2, the contact force is adjusted by the nine spring (6), and the leaf spring (8) ζ1 deflects. Therefore, the nine strain gauges (9) attached to the leaf springs (8) can detect minute gripping forces.
一方、さらに指（３）を閉じると梃子（５）は第２図の
寸法１だけ移動し、対象物は指（３）Ｃ二直接突轟る。On the other hand, when the finger (3) is further closed, the lever (5) moves by the dimension 1 in FIG.
このときは、極子（５）を移動させているので接触力は
相轟大きくなってお砂、指（３）に取）付は九歪ゲージ
舖口よ）大きな把持力を検出することが可能となる。こ
れら画歪ゲージを用いて把持力を検出することによ）小
さな値から大きな値まで広範囲（二渡って把持力を検出
でき、このため把持力の制御を従来よ参人範囲に行なえ
る。At this time, since the pole (5) is moved, the contact force increases, making it possible to detect a large gripping force (attached to the finger (3) with a nine-strain gauge). becomes. By detecting the gripping force using these image distortion gauges, it is possible to detect the gripping force over a wide range (from small values to large values), and therefore the gripping force can be controlled within a range more than conventional.
崗ｌｌｌ１４図Ｃ二示し九ようＣ＝、指（３） 、 （
３）の先端対向面に例えばカーボンファイバ一式或いは
半導体などの方センナ−（１υを堆付けて本上記実施例
と同様な作用・効果が発揮される。14 Figure C 2 Indicates 9 C = , finger (3) , (
3) By depositing a set of carbon fibers or a semiconductor fiber (1υ) on the opposite surface of the tip, the same functions and effects as in the above-mentioned embodiment can be obtained.
以上説明したように本発明（：よればマニプレータの把
持機構部（：広範囲な力感覚を発揮するよう構成されて
いるので、ロボットあるいは遠隔操作形マニプレータは
軽量な物から重量物まで取扱い可能となり、その作業能
力を著しく向上させる効果がある。As explained above, according to the present invention, the gripping mechanism of the manipulator is configured to exhibit a wide range of force sensations, so a robot or remote-controlled manipulator can handle objects ranging from light to heavy. It has the effect of significantly improving their working ability.
第１図は本発明のマニプレータの一実施例を示す外形図
、第２図はその把持機構を示す拡大構成図、第３図は第
２図のＡ−Ａ矢視の方向から見た正面図、第４図は変形
例を示す構成図である。
（１）・・・マニプレータ （２）・・・把持機構（
３）・・・指 （４）・・・支 点（５）
・・・梃子 （６）・・・バネ（７）・・・押しネジ
（８）・・・板バネ（９）、α１・・・歪ゲー
ジ ａυ・・・力センサ−（７３１７） 代理人
弁理士 則 近憲 佑 （はが１名）第１図
／
第２図
α
第３図Fig. 1 is an external view showing an embodiment of the manipulator of the present invention, Fig. 2 is an enlarged configuration diagram showing its gripping mechanism, and Fig. 3 is a front view seen from the direction of arrow A-A in Fig. 2. , FIG. 4 is a configuration diagram showing a modified example. (1)...Manipulator (2)...Gripping mechanism (
3)...Finger (4)...Fully point (5)
... Lever (6) ... Spring (7) ... Push screw (8) ... Leaf spring (9), α1 ... Strain gauge aυ ... Force sensor (7317) Attorney's attorney Noriyuki Chika (1 person) Figure 1/ Figure 2 α Figure 3
Claims (1)
機構を介して検出する力センサーと、指部材には同時に
大きな把持力を検出する力センサーとを備えたことを特
徴とするマニプレータ〇A manipulator characterized in that the finger portion of the gripping mechanism is equipped with a force sensor that detects a small gripping force through a force amplification mechanism using a lever, and the finger member is equipped with a force sensor that simultaneously detects a large gripping force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1003682A JPS58132484A (en) | 1982-01-27 | 1982-01-27 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1003682A JPS58132484A (en) | 1982-01-27 | 1982-01-27 | Manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58132484A true JPS58132484A (en) | 1983-08-06 |
| JPH0321316B2 JPH0321316B2 (en) | 1991-03-22 |
Family
ID=11739160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1003682A Granted JPS58132484A (en) | 1982-01-27 | 1982-01-27 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58132484A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6095U (en) * | 1983-06-15 | 1985-01-05 | 豊田工機株式会社 | Article gripping device equipped with a gripping force detector |
| JPS6056887A (en) * | 1983-09-05 | 1985-04-02 | 株式会社日立製作所 | robot hand |
| JPS6084284U (en) * | 1983-11-18 | 1985-06-11 | 三菱電機株式会社 | Hand for assembly work |
| JPS60190592U (en) * | 1984-05-25 | 1985-12-17 | シ−ケ−デイコントロ−ルズ株式会社 | Soft hand for robots |
| JPS63136889U (en) * | 1987-02-27 | 1988-09-08 | ||
| JPS63189586U (en) * | 1987-05-26 | 1988-12-06 | ||
| JPH01103281A (en) * | 1987-10-13 | 1989-04-20 | Nippon Hoso Kyokai <Nhk> | Joint sensor |
| JPH03281188A (en) * | 1990-03-28 | 1991-12-11 | Agency Of Ind Science & Technol | Grasping device for robot having finger having rotation body |
| JP2011134923A (en) * | 2009-12-25 | 2011-07-07 | Tdk Corp | Electronic component |
| JP2014076524A (en) * | 2012-10-11 | 2014-05-01 | Seiko Epson Corp | Robot hand, robot device and method of manufacturing robot hand |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE602008002909D1 (en) * | 2007-03-08 | 2010-11-18 | Smv S R L | METHOD AND DEVICE FOR DETECTING, COLLECTING AND REPOSITING OBJECTS |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS493351A (en) * | 1972-04-28 | 1974-01-12 |
-
1982
- 1982-01-27 JP JP1003682A patent/JPS58132484A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS493351A (en) * | 1972-04-28 | 1974-01-12 |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6095U (en) * | 1983-06-15 | 1985-01-05 | 豊田工機株式会社 | Article gripping device equipped with a gripping force detector |
| JPS6056887A (en) * | 1983-09-05 | 1985-04-02 | 株式会社日立製作所 | robot hand |
| JPS6084284U (en) * | 1983-11-18 | 1985-06-11 | 三菱電機株式会社 | Hand for assembly work |
| JPS60190592U (en) * | 1984-05-25 | 1985-12-17 | シ−ケ−デイコントロ−ルズ株式会社 | Soft hand for robots |
| JPS63136889U (en) * | 1987-02-27 | 1988-09-08 | ||
| JPS63189586U (en) * | 1987-05-26 | 1988-12-06 | ||
| JPH01103281A (en) * | 1987-10-13 | 1989-04-20 | Nippon Hoso Kyokai <Nhk> | Joint sensor |
| JPH03281188A (en) * | 1990-03-28 | 1991-12-11 | Agency Of Ind Science & Technol | Grasping device for robot having finger having rotation body |
| JP2011134923A (en) * | 2009-12-25 | 2011-07-07 | Tdk Corp | Electronic component |
| JP2014076524A (en) * | 2012-10-11 | 2014-05-01 | Seiko Epson Corp | Robot hand, robot device and method of manufacturing robot hand |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0321316B2 (en) | 1991-03-22 |
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