JP2523786B2 - Grippa - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a grip of a remote-controlled manipulator, and particularly to a grip suitable for gripping an object in a general purpose.

[Conventional technology]

The end effector attached to the tip of the manipulator has various shapes depending on the object to be grasped, but in the case of the remote-controlled manipulator, since it handles an unspecified object, it has one degree of freedom to open and close two fingers in parallel. In most cases, grippers are used. This is, for example, Typenbuch der Manipulat p. 423 (Typenbuch der Manipulat
oren; Verlag Karl Thiemig. Mnchen PP.423).

[Problems to be Solved by the Invention]

For example, as shown in FIG. 5, a bar-shaped member 1 having a protrusion
Assuming the work of inserting the rod into the hole 2 with the notch, if the rod-shaped member 1 is gripped using the 1-degree-of-freedom gripper 3 which can only open and close as in the conventional case, the rod-shaped member 1 and the gripper 3
Becomes one. Therefore, the arm 4 of the manipulator must be moved largely in order to match the protrusion with the cut, and the angle of the wrist changes greatly. Therefore, when manipulating the manipulator, the operator has to bend his wrist largely and take an unreasonable posture, which causes a decrease in operability.

An object of the present invention is to increase the function of the gripper to reduce the movement of the arm and to reduce the burden on the operator.

[Means for solving the problem]

As shown in FIG. 6, if the posture of the rod-shaped member 1 can be changed without moving the arm 4 of the manipulator while the rod-shaped member 1 is gripped by the gripper 5, the above object can be achieved. For example, when performing a calligraphy, a human holds the brush with three fingers as shown in FIG. 7 and slightly moves the fingers to adjust the tip of the brush. Therefore, it is possible to write with almost no change in the angle of the wrist. If this is replaced with a machine, one of the two fingers of the gripper 5 is divided into two as shown on the left side of FIG. 7, and these fingers open and close together with the other fingers, and the divided fingers 6 By allowing 7 and 7 to move in a direction perpendicular to the opening / closing direction, the posture of the grasped object can be adjusted. Alternatively, only the part of the finger that is in contact with the gripped object may be movable.

Since a relative rotational motion occurs at the contact portion between the finger and the object, it is preferable to form the gripping surfaces of the fingers 6 to 8 in a mountain shape in order to reduce the rotational resistance, as shown in FIG.

[Action]

The movement of the grasped object due to the movement of the divided fingers 6 and 7 will be described with reference to FIG.

When the rod-shaped member 1 is gripped by the three fingers 6 to 8 and the fingers 6 and 7 are moved in the same direction by the same distance, the rod-shaped member 1 can be caused to perform a turning motion around the longitudinal axis. On the other hand, when the fingers 6 and 7 are moved in the opposite directions by the same distance, the rod-shaped member can be swung around the axis perpendicular to the longitudinal axis.

〔Example〕

 Hereinafter, one embodiment of the present invention is shown in FIGS.

In this embodiment, the slider 10 slidably held by the finger 9 is moved instead of the fingers 6 and 7 described above, but the function and effect are the same as those shown in FIG. The finger 8 is connected to the main body 14 via the pin 13 by the drive link 11 and the auxiliary link 12. The drive link 11 and the auxiliary link 12 have the same inter-pin distance, and the inter-pin distance in the main body 14 and the inter-pin distance in the finger 8 are set to be equal.
11 and the auxiliary link 12 constitute a parallel link mechanism,
The finger 8 can swing while maintaining a posture parallel to the main body 14. Similarly, the finger 9 is swingably connected to the main body 14 by a drive link 15 and an auxiliary link 16 which form a parallel link mechanism while keeping the parallel state. The drive link 11 is connected to the first drive gear 17, the drive link 15 is connected to the second drive gear 18, and the first drive gear 17 and the second drive gear 18 are connected to each other. It is intermeshed. A drive pinion 19 is meshed with the first drive gear 17, and the drive pinion 19 is driven by the opening / closing drive motor 20.
Is driven, the drive gear 17 rotates, and the finger 8 is swung via the drive link 11. On the other hand, the drive gear 18 is
The finger 9 is swung via the drive ring 15 by being rotated. The open / closed state of the finger is detected through the pinion 21
It can be detected by rotating 22.

The slider 10 is rotatably coupled to a drive link 23 arranged parallel to the drive link 15 and the drive link 16 via a pin 24, and the other end of the drive link 23 is rotatably coupled to a rack 25 via the pin 24. Has been done. Rack 25 with roller with collar
26, 27 and a pinion 28 with a collar are supported so that they can move parallel to the sliding direction of the slider 10, and the drive gear
It is driven by a finger drive motor 30 via 29. There are two sets of the above slider drive mechanism.

The movement of the slider 10 should not interfere with the movement of opening and closing the fingers. The function of the slider drive link 23 will be described with reference to FIGS. FIG. 10 schematically shows the link system of the finger 9, in which the drive link 15 and the auxiliary link 16 have end portions of the main body 14
And is rotatably connected to the finger 9 to form a parallel link system. It is assumed that the drive link 23 of the slider can move while maintaining a parallel relationship with other links. If the link lengths of all links are equal and parallel, the members of the links
Triangle 31 formed by connecting points for 14 and finger 9 of the link
It is congruent and parallel to the triangle 32 formed by the connecting points with respect to each other because the length of each side becomes equal due to the property of the parallel link. Even if the finger 9 moves as shown by the broken line, a triangle is formed by the action of the parallel link composed of two links.
Each side of 32 moves in parallel and the relative positional relationship within the finger 9 does not change. If the drive link 23 moves its position while maintaining the parallel state with the drive link 15 and the auxiliary link 16, a triangle
Although the 31 and the triangle 32 change from the original shape, the triangle 31 and the triangle 32 are always congruent and parallel as long as the parallel relationship of the links is maintained. Therefore, as shown in FIG. 11, the slider drive link 23, which is supported by the rack 25 and the sliding groove of the slider 10 so as to move in parallel, prevents the fingers 8 and 9 from being opened or closed at any position. In addition, the position of the slider 10 can be changed by the rack 25 independently of the opening / closing operation of the finger.

A second embodiment is shown in FIGS. 12 and 13. In this embodiment, the slider 33 is driven by the wire 33. Auxiliary link
Pulleys 35 and 35 'having the same diameter are rotatably attached to pins 34 at both ends of 16, and a pulley 37 is rotatably attached to a pin 36 provided on the finger 9. Shaft 38 is provided on the main body 14, and pulley 39
Install. The wire 33 has one end fixed to the end of the slider 10, is wound around the pulley 37, the pulleys 35, 35 ', and the pulley 39 and returns to the pulleys 35, 35' and the pulley 37 again, and the other end of the slider 10 It is fixed to the end. Drive motor 30
When the pulley 39 is driven by the pinion 40, the pinion 41, and the shaft 38, the slider 10 is pulled by the wire 33 and slides.

By making the pulleys 35 and 35 'have the same diameter, the slider 10 does not move with respect to the finger 9 because the pulleys 35 and 35' do not rotate relative to each other even when the fingers are opened and closed. Also,
The drive motor 30 makes the slider independent of the opening / closing movement of the finger 9.
You can move 10 positions.

A third embodiment is shown in FIGS. 14 and 15. In this embodiment, as shown in FIG. 8, one finger is divided into two parts so that they can move independently. The finger 41 is connected to the ends of the links 42, 43, and the other end of the link 42 has the links 44, 45.
Is attached to the end of. The other end of the link 45 is connected to the main body 14. In the link 43, a link 46 having the same length as the link 44 and the link 45 is connected to a point P extending from the connection point with the finger 41 to the same length as the link 42, and the other end of the link 46 is connected to the main body 14. Has been done. The other end of the link 43 is connected to the link 47, and at the link 47, the point Q having the same length as the link 46 and the point Q having the same length as the link 46 has a length equal to the distance from the point P to the connection point with the link 47. Sano link 48 is combined. The other end R of the link 47 is connected to the motors 51 and 52 by the linear drive mechanisms 49 and 50 vertically combined.
It is connected to a crosshead 53 that can be moved vertically and horizontally. The distance between the connecting points of the links 42 and 43 and the finger 41,
The distance between the connecting points of the link 45 and the link 46 with the main body 14 is equal to that of the link 44. Therefore, with links 42 and 43
48, links 45 and 46 and 47 remain parallel, respectively. The length of the link 47 is such that the connecting point T between the link 43 and the finger 41, the connecting point S between the link 46 and the main body 14, and the connecting point R between the link 47 and the crosshead 53 are on a straight line. Establish.

The operation of the link mechanism is shown in FIG. In FIG. 16, since the links 43 and 48 and the links 46 and 47 are parallel to each other, the triangles TPS and SQR have similar angles and corresponding shapes. Therefore, the length ratio between the line segment TS and the line segment SR is equal to the ratio between the link 46 and the line segment QR, and is always constant. Now, assume that the point R is moved and moved to a point R'on a straight line l ₁ passing through the point R. At this time, it is assumed that the point T has moved to T'on the straight line l ₂ passing through the point T. Due to the parallel relationship of the links, the angle TPS and the angle SQR are always equal even if the links move,
Since the ratio of the lengths of the side TP and the side SQ is always equal to the side PS and the side QR, the similarity relationship between the triangle TPS and the triangle SQR is maintained regardless of the movement of the link. Therefore, the sum of the angle TSP, the angle PSQ, and the angle QSR is equal to the sum of the angle SQR, the angle QSR, and the angle PSQ, and further equal to the sum of the angle SQU and the angle PSQ. Due to the parallel relationship of the links, this value is equal to 2 right angles. Therefore, the points T, S, R are always on a straight line regardless of the movement of the link, and the point T'SR 'is therefore also on a straight line. Therefore, the angle TST ′ and the angle R
It is equal to SR '. Further, as described above, from the similarity relationship between the triangle TPS and the triangle SQR, the length ratio between the side T'S and the side SR 'is equal to the length ratio between the side TS and the side RS, and the triangle TST' and the triangle TST ' Similar to RSR '. Therefore, since the angle ST'T and the angle SR'R are equal, the straight line l ₁ and the straight line l ₂ are kept parallel regardless of the movement of the link, and the line segment TT 'and the line segment R
The length ratio of R ′ is equal to the length ratio of line segment TP and line segment SQ,
It is constant.

As described above, the link mechanism shown in FIG. 16 has a function of transmitting the movement of the point R by expanding or contracting at a fixed ratio which is symmetrical with respect to the point S and which determines the link length. The functions of the links 42, 44, 45 in FIG. 14 have a function of keeping the finger 41 in a constant posture relative to the main body 14 by utilizing the property of the parallel link.

In FIG. 14, since the end point R of the link 47 is moved up and down by the linear drive mechanism 49 and moved left and right by the linear drive mechanism 50, the finger 41 is moved up and down and left and right while maintaining a constant posture with respect to the main body 14. Be done. Therefore, the finger 41 is driven by the motor 52.
Is moved to the left as shown by the solid line to grip the rod-shaped member 1, and the motor 51 allows the finger 41 to move up and down as shown by the broken line to move the rod-shaped member 1. If two sets of this mechanism are used, the function shown in FIG. 7 can be realized.

Although the finger 54 on the opposite side is fixed to the main body 14 in FIG. 14, the interlocking mechanism using a link and a gear as shown in FIG. 1 may be used to interlock with the link 45. good.

〔The invention's effect〕

According to the present invention, since the posture of a grasped object can be adjusted in the palm, it is not necessary to move the manipulator arm largely, and the operability of the manipulator is improved.

[Brief description of drawings]

1 is a longitudinal sectional view of an embodiment of the present invention, FIG. 2 is a longitudinal sectional view of an embodiment of the present invention, FIG. 3 is a transverse sectional view of an embodiment of the present invention, and FIG. 4 is a book. FIG. 5 is a vertical cross-sectional view of an embodiment of the invention, FIG. 5 is a sketch showing the problems of the prior art, FIG. 6 is a sketch for explaining the present invention, FIG. 7 is an explanatory view showing the principle of the present invention, FIG. FIG. 8 is an explanatory diagram of the present invention, FIG. 9 is a sketch showing the operation of the present invention, FIG. 10 is an operation explanatory view of an embodiment of the present invention, FIG. 11 is an operation explanatory view of the present invention, and a twelfth embodiment. FIG. 13 is a vertical sectional view showing another embodiment of the present invention, FIG. 13 is a vertical sectional view of another embodiment of the present invention, and FIG. 14 is an explanatory view showing a structure of a third embodiment of the present invention. FIG. 15 is a top view of the third embodiment of the present invention,
FIG. 16 is an operation explanatory view showing the operation of the third embodiment of the present invention. 6,7,8,9 …… Finger, 10 …… Slider, 11,15 …… Drive link, 12,16 …… Auxiliary link, 17,18 …… Drive gear, 19 ……
Drive pinion, 20,30 …… Drive motor, 23 …… Slider drive link, 25 …… Luck, 26,27 …… Brim roller, 2
8 …… Geared gear, 29 …… Drive pinion, 33 …… Wire, 35,35 ′, 37,39 …… Pulley, 40 …… Drive pinion, 4
1 …… Gear, 42 ～ 48 …… Link, 49,50 …… Linear drive mechanism, 51,52 …… Drive motor.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tachi Aoki 502 Jinrachi-cho, Tsuchiura-shi, Ibaraki Mechanical Research Laboratory, Hitachi, Ltd. (56) Reference JP-A-1-274987 (JP, A) JP-A-62- 140788 (JP, A)

Claims (4)

(57) [Claims] 1. A gripper in which a pair of fingers for holding a held body are provided in a main body so as to be openable and closable, and one of the pair of fingers is provided in the main body so as to be openable and closable via a link mechanism. Connecting the drive means of the link mechanism to the main body side of the link mechanism, and moving two slides from the base end of the finger to the tip side or this side to the surface side of the one finger that holds the held body. And a link for moving each slide between each slide and the main body, and a drive unit for driving slides provided on the main body side of the link for moving the slide. A gripper characterized by that. 2. The gripper according to claim 1, wherein the link mechanism is a parallel link mechanism. 3. The gripper according to claim 1, wherein the link mechanism is a linear drive mechanism. 4. The gripper according to claim 1, wherein the slide and the gripping surface of the finger facing the slide are formed in a small size.