Gripping device and method for controlling gripping device

Abstract

The present invention increases the degree of freedom in selecting a control parameter of a gripping device, and suppresses an increase in the size and cost of the gripping device.　This gripping device (100) comprises a gripping unit (50), a plurality of switches (200), and a drive control circuit (10). The drive control circuit (10) includes a drive circuit (11) and a control circuit (12) that generates a drive control signal on the basis of operation conditions. The operation conditions include a first set value group and a second set value group. The control circuit (12) includes: a first operation mode in which the first set value group can be set; and a second operation mode in which the second set value group can be set and driving of the gripping unit (50) is controlled on the basis of the operation conditions. The control circuit (12) operates in the first operation mode when predetermined switches (21, 22) are in a first predetermined state, operates in the second operation mode when the predetermined switches (21, 22) are not in the first predetermined state, sets the first set value group in the first operation mode and sets the second set value group in the second operation mode, and generates a drive control signal on the basis of the first set value group and the second set value group.

Description

Gripping device and control method for gripping device

[0001] The present invention relates to a gripping device and a control method for the gripping device.

[0002] Conventionally, an electric gripper device as shown in Patent Document 1 has been proposed. For example, Patent Document 1 discloses a motor, a detection unit that detects the rotational position of the motor, a gripping unit that can execute a first operation and a second operation according to the rotation of the motor and can grip an object, and a first signal for causing the gripping unit to execute the first operation and a second signal for causing the gripping unit to execute the second operation. An electric gripper device is disclosed that includes a control unit capable of performing a first control for gripping an object by the gripping unit and a second control for positioning the motor.

[0003] Japanese Unexamined Patent Application Publication No. 2022-168498

[0004] Generally, an electric gripper performs an operation of gripping an object based on preset control parameters that specify operation conditions such as gripping force, opening / closing amount, and gripping direction. These control parameters need to be optimized according to the shape and size of the workpiece that is the object of gripping. For this purpose, it is desirable that a plurality of setting values can be selected by the user as control parameters.

[0005] Prior to the present application, the inventor of the present application considered mounting a function on an electric gripper that allows a user to arbitrarily switch a plurality of types of control parameters described above using a physical interface such as a switch. As a result of the study, it became clear that there are the following problems. That is, when simply providing switches according to the types of controllable control parameters and the number of setting values of the control parameters, a large number of switches need to be provided, which causes problems such as an increase in the size and cost of the electric gripper.

[0006] The present invention has been made in view of the above problems, and an object thereof is to increase the degree of freedom in selecting control parameters in a gripping device while suppressing an increase in the size and cost of the gripping device.

[0007] A gripping device according to a typical embodiment of the present invention comprises a gripping unit for gripping an object, a plurality of switches that can be switched between a first state and a second state different from the first state, and a drive control circuit for controlling the driving of the gripping unit, wherein the drive control circuit includes a drive circuit that drives the gripping unit based on a drive control signal, and a control circuit that determines the operating conditions of the gripping unit based on the state of the switches and generates the drive control signal based on the determined operating conditions, wherein the operating conditions include a first set value group and a second set value group different from the first set value group, and the control circuit has an operating mode, which is a first operating mode in which the first set value group can be set based on the state of the switches, and a second operating mode in which the second set value group can be set based on the state of the switches. The control circuit includes a second operating mode which is possible and controls the drive of the gripping part based on the set operating conditions, wherein the control circuit operates in the first operating mode when a predetermined switch among the plurality of switches is in a predetermined state at the start of operation when the drive control circuit starts operating from an initial state, and operates in the second operating mode when a predetermined switch among the plurality of switches is not in the predetermined state at the start of operation, and the control circuit sets a first set value group based on the state of the switch in the first operating mode, sets a second set value group based on the state of the switch in the second operating mode, and generates the drive control signal based on the set first set value group and second set value group.

[0008] According to one aspect of the present invention, it is possible to increase the degree of freedom in setting control parameters in a gripping device while suppressing the increase in size and cost of the gripping device.

[0009] This figure shows the configuration of a gripping system equipped with a gripping device according to the first embodiment. This perspective view shows an example of the external appearance of the gripping device according to the first embodiment. This is a front view showing an example of the external appearance of the gripping device according to the first embodiment. This figure shows an example of the functional blocks of the control circuit according to the first embodiment. This is a table showing an example of the combination of control patterns specified in the gripping device according to the first embodiment. This is a table showing the results of specifying the gripping force of the gripper according to the open / closed state of the first switch and the second switch according to the first embodiment. This is a table showing the results of specifying the open / closed parameters of the gripper according to the open / closed state of the third switch and the fourth switch according to the first embodiment. This is a table showing the open / closed state of the first switch when specifying the change in gripping direction when a setting change mode is specified in the operating mode of the gripping device. This is a table showing the open / closed state of the second switch when specifying the change in the communication interface of the controller when a setting change mode is specified in the operating mode of the gripping device. This is a flowchart showing the processing flow for determining the operating mode of the gripping device according to the first embodiment. This is a flowchart showing the processing flow when a setting change mode is specified in the operating mode of the gripping device. This figure shows the configuration of a gripping system equipped with a gripping device according to the second embodiment. This figure shows an example of a functional block of the control circuit according to the second embodiment. This flowchart shows the processing flow for determining the operating mode of the gripping device according to the second embodiment. This flowchart shows the processing flow when the parameter confirmation mode is specified in the operating mode of the gripping device.

[0010] <<Specific Examples of Embodiments>> Specific examples of embodiments of the present invention will be described below with reference to the drawings. In the following description, common components in each embodiment will be denoted by the same reference numerals, and repeated explanations will be omitted. It should also be noted that the drawings are schematic, and the dimensional relationships and ratios of each element may differ from reality. There may also be parts where the dimensional relationships and ratios differ between drawings.

[0011] <<Configuration of the Gripping Device>> Figure 1 is a diagram showing the configuration of a gripping system equipped with a gripping device according to the first embodiment. Figure 2 is a perspective view showing an example of the external appearance of the gripping device according to the first embodiment. Figure 3 is a front view showing an example of the external appearance of the gripping device according to the first embodiment.

[0012] In Figure 1, a three-dimensional coordinate system (XYZ Cartesian coordinate system) consisting of mutually orthogonal X, Y, and Z axes is set up, and an example is shown in which the gripping part 50 of the gripping device 100 is positioned in this three-dimensional coordinate system. Note that for the Y axis, which is a coordinate axis perpendicular to the plane of the drawing, a black circle inside the circle of the coordinate axis indicates that the direction towards the viewer is the positive direction relative to the plane of the drawing. In Figure 1, the X-axis direction is the direction in which the movable mechanism 53, which will be described later, moves to grip or release the object 70.

[0013] The gripping system 1 shown in Figure 1 comprises a gripping device 100 and a higher-level device 40. The gripping device 100 is a device used to grip workpieces such as machine parts or electronic components as objects, and to transport and install them in a desired position; it is a so-called electric gripper. Specifically, the gripping device 100 performs the operation of gripping the object 70 and the operation of releasing the gripped object 70 in response to instructions from the higher-level device 40. Details of the configuration of the gripping device 100 will be described later.

[0014] The higher-level device 40 is a device that controls the gripping device 100. The higher-level device 40 is, for example, a PLC (Programmable Logic Controller). The higher-level device 40 is connected to the gripping device 100 via a connector 30. The higher-level device 40 controls the gripping device 100 by transmitting drive command signals to the drive control circuit 10 to drive the motor 51. In addition, the higher-level device 40 can receive results indicating the operating status of the gripping device 100 by receiving signals transmitted from the drive control circuit 10 according to the selected communication interface.

[0015] The higher-level device 40 includes a controller 41 and a power supply unit 42. Details of the controller 41 and power supply unit 42 will be described later.

[0016] Next, the specific configuration of the gripping device will be described. The gripping device 100 has a function that allows the user to arbitrarily switch control parameters that specify the operating conditions of the gripping device 100 via a physical interface. Here, the control parameters include at least one of gripping force, opening / closing parameters, gripping direction, and communication interface. In this embodiment, as an example, it will be described that four types of control parameters—gripping force, opening / closing parameters, gripping direction, and communication interface—can be individually set in the gripping device 100.

[0017] Here, the communication interface includes a method in which both of the gripping device 100's two external communication terminals (the first communication terminal 31A and the second communication terminal 31B of the connector 30, described later) function as input terminals for inputting signals to the gripping device 100 (hereinafter referred to as the "two-input interface"), and a method in which the two external communication terminals function as an input terminal and an output terminal for outputting signals from the gripping device 100, respectively (hereinafter referred to as the "one-input, one-output interface"). Details of the two-input interface and the one-input, one-output interface will be described later.

[0018] Specifically, as shown in Figure 1, the gripping device 100 includes a drive control circuit 10, a switch circuit 20, a connector 30, and a gripping section 50.

[0019] The gripping section 50 includes a motor 51, a drive mechanism 52, and a movable mechanism 53.

[0020] The movable mechanism 53 is a mechanism for gripping the object 70. The movable mechanism 53 is configured to operate using the rotational force of the motor 51 as its power source. The movable mechanism 53 has, for example, movable parts 531A and 531B and finger parts 532A and 532B. The movable parts 531A and 531B are connected to a drive mechanism 52, which will be described later, and are configured to be able to move relative to each other in the X-axis direction by the drive mechanism 52. That is, the movable part 531A and the movable part 531B move in opposite directions to each other in the X-axis direction.

[0021] The finger portions 532A and 532B grip or release the object 70 as the movable portions 531A and 531B move. The finger portions 532A and 532B are positioned to protrude from the movable portions 531A and 531B on the positive side in the Z-axis direction. The finger portions 532A and 532B are formed, for example, in a plate shape. One end of the finger portion 532A is fixed to the movable portion 531A by a retaining mechanism (e.g., a screw, etc.) not shown, and one end of the finger portion 532B is fixed to the movable portion 531B by a retaining mechanism (e.g., a screw, etc.) not shown. As will be described in detail later, the finger portions 532A and 532B move in the X direction in conjunction with the movement of the movable portions 531A and 531B in the X direction, thereby gripping or releasing the object 70 at the other end of each finger portion 532A and 532B.

[0022] In Figure 1, the center position P is defined as the reference position when the gripping device 100 grips the object 70.

[0023] The motor 51 is a power source for driving the movable mechanism 53. The motor 51 is, for example, a stepping motor. As will be described later, the motor 51 operates by receiving power from the higher-level device 40. In this embodiment, as an example, the motor 51 is assumed to be a two-phase stepping motor having A-phase and B-phase coils.

[0024] The drive mechanism 52 is a mechanism that drives the movable mechanism 53 by transmitting the rotational force of the motor 51 to the movable mechanism 53. The drive mechanism 52 is composed of a combination of mechanical parts (not shown), such as gears, worm gears, and cams. The drive mechanism 52 is connected between the output shaft of the motor 51 and the movable parts 531A and 531B of the movable mechanism 53. The drive mechanism 52 converts the rotational motion of the motor 51 into linear motion. That is, the drive mechanism 52 moves the movable parts 531A and 531B relative to each other in the X-axis direction according to the rotational force of the motor 51.

[0025] The drive mechanism 52 may have a self-locking function that restricts the movement of the movable mechanism 53 when the motor 51 is de-energized. Specifically, when the motor 51 is de-energized, the drive mechanism 52 restricts movement in the direction that would release the object 70 being gripped by the movable parts 531A and 531B, that is, in the direction that would separate the movable parts 531A and 531B from each other. For example, the drive mechanism 52 may achieve its self-locking function by using a known anti-reversal mechanism with a worm gear.

[0026] As described above, the drive mechanism 52 converts the rotational motion transmitted from the motor 51 into linear motion that moves the movable parts 531A and 531B (finger parts 532A and 532B) of the movable mechanism 53 connected to the drive mechanism 52 in the X-axis direction. For example, when the motor 51 rotates in a predetermined direction, the drive mechanism 52 moves the movable part 531A to the positive side in the X-axis direction and the movable part 531B to the negative side in the X-axis direction. That is, the movable parts 531A and 531B move toward each other towards the center position P. As a result, the distance between the movable parts 531A and 531B is narrowed, making it possible to grip the object 70 by sandwiching it between the finger part 532A fixed to the movable part 531A and the finger part 532B fixed to the movable part 531B.

[0027] Furthermore, for example, when the motor 51 rotates in the opposite direction to a predetermined direction, the drive mechanism 52 moves the movable part 531A to the negative side in the X-axis direction and the movable part 531B to the positive side in the X-axis direction. That is, the movable parts 531A and 531B move away from each other from the center position P. As a result, the distance between the movable parts 531A and 531B widens, making it possible to release the object 70 that was being held between the finger part 532A fixed to the movable part 531A and the finger part 532B fixed to the movable part 531B.

[0028] In the gripping device 100, there are two methods for gripping the object 70 with the movable mechanism 53. The first method is as described above, in which the movable part 531A and the movable part 531B move toward each other toward the center position P, thereby gripping the object 70 between the finger parts 532A and the finger parts 532B (hereinafter also referred to as "outer diameter gripping"). The second method is in which the movable part 531A and the movable part 531B move toward each other toward the center position P, thereby gripping the object 70 between the finger parts 532A and the finger parts 532B (hereinafter also referred to as "inner diameter gripping"). For example, if the object 70 is annular, the finger portions 532A and 532B are inserted into the inner circumference of the annular object 70, and the finger portions 532A and 532B are moved away from each other from the inner circumference to the outer circumference of the object 70, thereby gripping the object 70.

[0029] The drive control circuit 10 is a device that drives the motor 51. The configuration of the drive control circuit 10 will be explained below with reference to the diagram.

[0030] As shown in Figure 1, the drive control circuit 10 communicates with, for example, a higher-level device 40. Based on the drive command signal received from the higher-level device 40, the drive control circuit 10 controls the rotation and stopping of the motor 51 by controlling the energization state of the coils of each phase of the motor 51, thereby controlling the operation of the entire gripping section 50. When the drive control circuit 10 drives the motor 51, as described above, the rotational force of the motor 51 is transmitted to the movable mechanism 53 via the drive mechanism 52 connected to the output shaft of the motor 51. This controls the gripping and release of the object 70 by the movable mechanism 53.

[0031] Furthermore, the drive control circuit 10 confirms the state of the switch circuit 20 using the switch state detection unit 121, which will be described later. Based on the state of the switch circuit 20, the drive control circuit 10 determines the operating conditions for the gripping unit 50. Based on the determined operating conditions, the drive control circuit 10 generates a drive control signal.

[0032] Furthermore, the drive control circuit 10 can transmit the results obtained when controlling the motor 51 based on the drive control signal to the host device 40. The drive control circuit 10 also enters an initial state when it changes from a state of not receiving power to a state of receiving power supplied from the power supply device 42, or when it receives a signal SS2 or SS4, which includes a restart command, transmitted from the controller 41. The initial state of the drive control circuit 10 refers to the state in which the drive control circuit 10 becomes operational after the registers, etc., within the microcontroller as the drive control circuit 10 are initialized and initial values, etc., are set, for example, by powering on the drive control circuit 10 and inputting a reset signal.

[0033] As shown in Figure 1, the drive control circuit 10 includes, for example, a control circuit 12 and a drive circuit 11.

[0034] The drive circuit 11 is a circuit that drives the motor 51 by supplying current to the motor 51 based on the drive control signal.

[0035] The control circuit 12 generates a drive control signal to excite the coils of the motor 51 based on the drive command signal transmitted from the host device 40 and supplies it to the drive circuit 11, thereby rotating the motor 51 to the target rotation position.

[0036] The control circuit 12 is a circuit that generates a drive control signal to control the drive of the motor 51 based on a drive command signal from the higher-level device 40. Here, the drive command signal includes information that indicates the target state of the motor 51. For example, the drive command signal includes information that specifies the rotational speed of the motor 51, and information that specifies the target rotation angle (target rotation position) of the motor 51. The information that specifies the target rotation position may, for example, be information that specifies the number of drive steps (number of pulses) of the motor 51 corresponding to the amount of movement to the target rotation position (target amount of movement).

[0037] The control circuit 12 is a program processing unit (e.g., a microcontroller: MCU (Micro Control Unit)) that has components (hardware elements) such as a processor (CPU: Central Processing Unit), various types of memory (ROM: Read Only Memory, RAM: Random Access Memory), timers, counters, A / D conversion circuits, input / output I / F circuits, and clock generation circuits, and each component is connected to the others via a bus or dedicated line. The control circuit 12 has a rewritable non-volatile storage device as memory, such as flash memory or EEPROM (Electrically Erasable Programmable Read-Only Memory).

[0038] In this embodiment, the control circuit 12 is packaged as an IC (integrated circuit), for example, but is not limited to this. The control circuit 12 and the drive circuit 11 may also be packaged together.

[0039] The control circuit 12 has the function of controlling the operation of the movable mechanism 53 to grip the object 70 and the operation to release the object 70 by switching the energization of the coil of the motor 51.

[0040] Furthermore, the control circuit 12 can transmit the results obtained when controlling the motor 51 based on the drive control signal to the host device 40, depending on the selection of the communication interface described later.

[0041] The control circuit 12 detects the state of the switch circuit 20 using the switch state detection unit 121 (described later), determines the operating conditions (set values ​​of control parameters) for the gripping unit 50 based on the state of the switch circuit 20, and generates a drive control signal based on the determined operating conditions. Further details will be described later.

[0042] The switch circuit 20 includes multiple switches. For example, the switch circuit 20 includes a first switch 21, a second switch 22, a third switch 23, and a fourth switch 24. The number of switches in the switch circuit 20 is not limited to the example above.

[0043] For example, as shown in FIGS. 2 and 3, the switch circuit 20 is attached to the outside of the housing 80 of the gripping device 100. The switch circuit 20 is connected to the drive control circuit 10 housed in the housing 80. Note that the drive control circuit 10, the switch circuit 20, and the connector 30 in the housing 80 are not limited to the above-described positions in the housing 80 and can be provided at any position in the housing 80. In FIGS. 2 and 3, illustration of the gripping portion 50 is omitted.

[0044] The switch circuit 20 is, for example, a DIP (Dual Inline Package) switch. Hereinafter, the first switch 21, the second switch 22, the third switch 23, and the fourth switch 24 may be collectively referred to as "switch 200".

[0045] The switch 200 can perform an opening / closing operation. The switch 200 can be switched to either one of a first state and a second state different from the first state. Here, the first state is one of the open / closed states of the switch 200, and the second state is the other state. In the present embodiment, as an example, the first state is an open state (off), and the second state is a closed state (on). Note that the first state may be a closed state (on), and the second state may be an open state (off).

[0046] The open / closed state of the switch 200 is confirmed by a switch state detection unit 121 described later. The switch 200 may be either a contact relay or a non-contact relay. The switch circuit 20 is grounded at the ground point GND.

[0047] The connector 30 is an external terminal for connecting the gripping device 100 and an external device. The connector 30 has a communication terminal 31 and a power supply terminal 32. The connector 30 is used to electrically connect the drive control circuit 10 and the host device 40.

[0048] The communication terminal 31 is a terminal for performing communication between the gripping device 100 and the host device 40 (controller 41) as an external device. Specifically, the communication terminal 31 electrically connects the controller 41 of the host device 40 and the control circuit 12 of the gripping device 100. The communication terminal 31 includes a first communication terminal 31A and a second communication terminal 31B. For example, the first communication terminal 31A functions as an input terminal for inputting a signal to the gripping device 100. Although details will be described later, the second communication terminal 31B functions as an input terminal for inputting a signal to the gripping device 100 or an output terminal for outputting a signal from the gripping device 100.

[0049] The power supply terminal 32 is a terminal for supplying power from the outside to the gripping device 100. The power supply terminal 32 includes a first power supply terminal 32A and a second power supply terminal 32B. For example, the first power supply terminal 32A is a terminal to which a power supply voltage is supplied, and the second power supply terminal 32B is a terminal connected to the ground potential.

[0050] In this embodiment, as an example, it is described that the first power supply terminal 32A and the second power supply terminal 32B are connected to the host device 40 and receive power supply from the host device 40, but it is not limited thereto. For example, the communication terminal 31 and the power supply terminal 32 may be realized by separate connectors 30, the communication terminal 31 may be connected to the host device 40, and the power supply terminal 32 may be connected to an external power supply device different from the host device 40.

[0051] The controller 41 has a control program stored therein in advance and executes the control program according to the operation of the operator.

[0052] The controller 41 can change the input / output of signals according to the communication interface determined based on the combination of the open / closed states of the switches 200 on the gripping device 100 side.

[0053] Specifically, as shown in FIG. 1, when the controller 41 selects a two-input interface as the communication interface, the controller 41 can transmit signals SS2 and SS4 to the control circuit 12 by inputting a signal SS1 to the first communication terminal 31A and inputting a signal SS3 to the second communication terminal 31B.

[0054] Furthermore, as shown in Figure 1, when the controller 41 selects a one-input, one-output interface as the communication interface, it can transmit signal SS3 to the control circuit 12 by inputting signal SS1 to the first communication terminal 31A. In addition, the controller 41 can receive signal SR1 transmitted from the control circuit 12 as signal SR2 via the second communication terminal 31B.

[0055] Details regarding the specific combinations of open / closed states of the switch 200 for specifying the input / output communication interface from among the two-input interface and the one-input / one-output interface will be described later.

[0056] The power supply unit 42 is a device that receives commercial power and supplies power for driving to the drive control circuit 10 via the power terminal 32. The power supply unit 42 is, for example, an AC / DC converter. The type of power supply unit 42 is not particularly limited.

[0057] Next, the control circuit 12 will be described. Before describing the detailed block configuration of the control circuit 12, the control parameters and operating modes of the gripping device 100 will be described. <<Control Parameters>> As described above, the gripping device 100 has a function to set control parameters by the switch 200. Here, the control parameters are values ​​that specify the conditions for the operation of the gripping unit 50. Specifically, the operating conditions include a set value for the gripping force by the gripping unit 50, a set value for the opening and closing parameter of the gripping unit 50, a set value for the gripping direction of the gripping unit 50, and a set value for the communication interface for input and output of signals to the higher-level device 40. The opening and closing parameter includes, for example, one of the opening and closing amount, opening and closing speed, and opening and closing time of the gripping unit 50. In this embodiment, the opening and closing parameter is the opening and closing amount of the gripping unit 50.

[0058] As shown in Figure 5, each control parameter has multiple selectable settings. Specifically, for the gripping force, three selectable settings are, for example, 8N, 12N, and 16N. For the opening / closing parameter (opening / closing amount), four selectable settings are, for example, 1.2 mm, 2.5 mm, 3.8 mm, and 5.0 mm. Here, the setting value for the opening / closing parameter (opening / closing amount) is the travel distance of either finger portion 532A or 532B. For the gripping direction, two selectable settings are, for example, outer diameter gripping and inner diameter gripping. For the communication interface, two selectable settings are, for example, input and input (two-input interface) and input and output (one-input, one-output interface). Note that the setting value for the opening / closing parameter may also be set to the travel distance of both finger portions 532A and 532B.

[0059] In the gripping device 100 according to this embodiment, the control parameters described above are divided into a first set value group and a second set value group. The first set value group is a combination of set values ​​that includes any set value among the control parameters. The second set value group is a combination of set values ​​that includes set values ​​different from those in the first set value group among the control parameters.

[0060] For example, if the second setpoint group includes at least one setpoint from among gripping force, opening / closing parameter, gripping direction, and communication interface, then the first setpoint group will include other setpoints not included in the second setpoint group. Specifically, if the second setpoint group includes the gripping force setpoint, then the first setpoint group will include the opening / closing parameter, gripping direction, and communication interface setpoints. Also, for example, if the second setpoint group includes the gripping force and opening / closing parameter setpoints, then the first setpoint group will include the gripping direction and communication interface setpoints.

[0061] In this embodiment, as an example, the first set value group includes a set value for the gripping direction and a set value for the communication interface, and the second set value group includes a set value for the gripping force and a set value for the opening / closing parameter.

[0062] ≪Operating Modes≫ The gripping device 100 has two operating modes: a setting change mode (first operating mode) and a normal operating mode (second operating mode). The setting change mode is a mode in which control parameters (operating conditions) can be set for the gripping device 100. The setting change mode includes, for example, a setting change mode in which a first set value group (gripping direction and communication interface) can be set based on the state of the switch 200.

[0063] The normal operation mode is a mode in which control parameters can be set and the gripping unit 50 can be driven. Specifically, in the normal operation mode, a second set value group (gripping force and opening / closing parameters) can be set based on the state of the switch 200, and the drive of the gripping unit 50 is controlled based on the set operating conditions. In the normal operation mode, the above-mentioned second set value group (gripping force and opening / closing parameters) can be set. For example, in the normal operation mode, the control circuit 12 generates a drive control signal based on the drive command signal transmitted from the host device 40 and the set first set value group and second set value group, and drives the gripping unit 50.

[0064] ≪Block Configuration of Control Circuit 12≫ Figure 4 is a diagram showing an example of the functional block of the control circuit according to the first embodiment. Figure 5 is a table showing an example of a combination of control patterns specified in the gripping device according to the first embodiment. Figure 6 is a table showing the results of specifying the gripping force of the gripper according to the open / closed state of the first switch and the second switch according to the first embodiment. Figure 7 is a table showing the results of specifying the open / closed parameters of the gripper according to the open / closed state of the third switch and the fourth switch according to the first embodiment. Figure 8 is a table showing the open / closed state of the first switch when specifying the change in gripping direction when the setting change mode is specified in the operating mode of the gripping device. Figure 9 is a table showing the open / closed state of the second switch when specifying the change in the controller's communication interface when the setting change mode is specified in the operating mode of the gripping device.

[0065] The control circuit 12 includes a switch state detection unit 121, an operation mode setting unit 122, an operation condition determination unit 123, a drive signal generation unit 125, and a storage unit 124 as functional blocks for realizing the above-described functions. These functional blocks are realized, for example, by the processor in the MCU executing various calculations according to the program stored in memory, and controlling peripheral circuits such as timers and counters, A / D conversion circuits, and input / output I / F circuits. Some or all of these functional blocks may be realized by dedicated hardware circuits. In addition, the control circuit 12 may have functional blocks for realizing other functions besides those described above.

[0066] The memory unit 124 is a functional unit for storing data and other information necessary for the overall control of the gripping device 100 by the control circuit 12.

[0067] The memory unit 124 stores correspondence information 1241 that shows the correspondence between the open / closed state of the switch 200 and the values ​​of each control parameter. Correspondence information 1241 is lookup information, which is, for example, information that refers to a specific element of a table. Correspondence information 1241 includes, for example, correspondence information 1241A that shows the correspondence between the open / closed state of the first switch and the open / closed state of the second switch and the gripping force value in the normal operation mode (see Figure 6). Correspondence information 1241B that shows the correspondence between the open / closed state of the third switch and the open / closed state of the fourth switch and the values ​​of the open / closed parameter in the normal operation mode (see Figure 7). Correspondence information 1241C that shows the correspondence between the open / closed state of the first switch and the gripping direction in the setting change mode (see Figure 8). The correspondence information 1241 includes correspondence information 1241D that shows the correspondence between the open / closed state of the second switch in the setting change mode and the communication interface (see Figure 9). Hereinafter, "correspondence information" will also be referred to as "table information".

[0068] Furthermore, the memory unit 124 stores information 1242 regarding the operating conditions of the gripping device 100. The operating condition information 1242 includes the setting values ​​of each control parameter determined based on the open / closed state of the switch 200, as will be described later.

[0069] The switch state detection unit 121 is a functional unit that detects the open / closed state of the switch 200. Specifically, the switch state detection unit 121 detects the open / closed state of the first switch, the open / closed state of the second switch, the open / closed state of the third switch, and the open / closed state of the fourth switch, respectively. The switch state detection unit 121 outputs the result of detecting the open / closed state of the switch 200.

[0070] The operation mode setting unit 122 is a functional unit that refers to the detection result of the open / closed state of the switch 200 detected by the switch state detection unit 121 and sets the operation mode based on the detection result. Based on the detection result of the open / closed state of the switch 200, the operation mode setting unit 122 sets either the first operation mode or the second operation mode as the operation mode of the gripping device 100.

[0071] Here, "start of operation" refers to the timing when, for example, power is turned on to the gripping device 100, a reset button (not shown) on the gripping device 100 is pressed, or a reset signal is input to the control circuit 12 from an external source, and the registers and other components within the control circuit 12 are reset, making the control circuit 12 operational.

[0072] The operation mode setting unit 122 operates in setting change mode (first operation mode) when a predetermined switch among the switches 200 is in a first predetermined state at the start of operation. The operation mode setting unit 122 also operates in normal operation mode (second operation mode) when a predetermined switch among the switches 200 is not in the first predetermined state at the start of operation.

[0073] Here, the predetermined switch refers to at least one of the first switch 21, the second switch 22, the third switch 23, and the fourth switch 24. In this embodiment, the predetermined switches are the first switch 21 and the second switch 22.

[0074] A predetermined state means that a predetermined switch is in the first state. In this embodiment, a predetermined state means that the first switch 21 and the second switch 22 are in the open state.

[0075] The operating condition determination unit 123 is a functional unit that sets operating conditions (control parameters) based on the detection result of the open / closed state of the switch 200 detected by the switch state detection unit 121 and the operating mode set by the operating mode setting unit 122.

[0076] The operating condition determination unit 123 selects either a first set value group or a second set value group as the control parameter to be set based on the set operating mode, and determines the specific set values ​​of the selected control parameter based on the detection result of the open / closed state of the switch 200, and stores them in the storage unit 124.

[0077] Specifically, the operating condition determination unit 123 determines the values ​​of the first set value group based on the state of switches 23 and 24 other than the predetermined switches 21 and 22 in the setting change mode, and determines the values ​​of the second set value group based on the state of the predetermined switches 21 and 22 in the normal operating mode.

[0078] In other words, in the setting change mode (first operating mode), the operating condition determination unit 123 determines the setting value for the gripping direction and the setting value for the communication interface as a first set value group based on the combination of the open / closed state of the third switch 23 and the open / closed state of the fourth switch 24. Furthermore, in the normal operating mode (second operating mode), the operating condition determination unit 123 determines the setting value for the gripping force and the setting value for the open / closed parameter as a second set value group based on the combination of the open / closed state of the first switch 21, the open / closed state of the second switch 22, the open / closed state of the third switch 23, and the open / closed state of the fourth switch 24.

[0079] For example, the operating condition determination unit 123 refers to the correspondence relationship information 1241 corresponding to the set operating mode, reads a value from the correspondence relationship information 1241 that corresponds to the detection result of the open / closed state of the switch 200, determines the setting values ​​for the first setting value group and the second setting value group, and stores them in the storage unit 124 as the operating condition 1242.

[0080] For example, consider the case where the normal operating mode is set, and the first switch 21 is "closed", the second switch 22 is "closed", the third switch 23 is "open", and the fourth switch 24 is "closed". In this case, the operating condition determination unit 123 selects the table information shown in Figures 6 and 7, which is table information corresponding to the normal operating mode. The operating condition determination unit 123 refers to the selected table information and reads the setting values ​​corresponding to the open / closed states of the switches 200. That is, the operating condition determination unit 123 reads "8N" corresponding to the first switch 21 = closed and the second switch 22 = closed, and uses this as the setting value for the gripping force, and reads "1.2 mm" corresponding to the third switch 23 = open and the fourth switch 24 = closed, and uses this as the setting value for the open / closed parameter.

[0081] For example, consider the case where the setting change mode is set, the third switch 23 is "open", and the fourth switch 24 is "open". In this case, the operation condition determination unit 123 selects the table information shown in Figures 8 and 9, which is the table information corresponding to the setting change mode. The operation condition determination unit 123 refers to the selected table information and reads the setting value corresponding to the open / closed state of the switch 200.

[0082] Furthermore, after the operating mode has been set to the first operating mode, the operating condition determination unit 123 detects that the fourth switch 24 has transitioned from either the first state or the second state to the other state, and sets a value corresponding to the combination of the state of the first switch 21 and the state of the second switch 22 as a value in the first set value group.

[0083] For example, consider the case where the setting change mode is set and the fourth switch 24 transitions from "open" to "closed". In this case, the operation condition determination unit 123 selects the table information shown in Figures 8 and 9, which is table information corresponding to the setting change mode. The operation condition determination unit 123 refers to the selected table information, reads the setting value corresponding to the open / closed state of the switch 200, and sets the read value as the value of the first set value group. That is, the operation condition determination unit 123 reads "outer diameter grip" corresponding to the third switch 23 = open and sets it as the setting value for the gripping direction, and reads "1 input 1 output interface" corresponding to the fourth switch 24 = open and sets the setting value for the communication interface as the value of the first set value group.

[0084] The drive signal generation unit 125 is a functional unit that generates drive control signals. Based on the drive command signal, the operating mode set in the operating mode setting unit 122, and the operating conditions stored in the storage unit 124, the drive signal generation unit 125 is a functional unit that generates drive control signals to switch between the excitation and de-excitation of the A-phase coil and the B-phase coil at predetermined timings based on a predetermined excitation method in order to move the rotor of the motor 51 to a target rotation position (target amount of movement). Here, the predetermined excitation method is, for example, one of the following: a one-phase excitation method, a one-to-two-phase excitation method, a two-phase excitation method, and a microstep method.

[0085] When a drive command signal instructing the gripping unit 50 to be driven is input, the drive signal generation unit 125 generates a drive control signal that drives the gripping unit 50 to grip the object 70. The drive control signal is, for example, a PWM signal.

[0086] <<Determination Method>> Next, we will describe how to set the operating mode of the gripping device 100. Figure 10 is a flowchart showing the process flow for determining the operating mode of the gripping device according to the first embodiment. Figure 11 is a flowchart showing the process flow when a setting change mode is specified in the operating mode of the gripping device.

[0087] First, the switch state detection unit 121 detects the open / closed state of the first switch 21 and the second switch 22 in the switch circuit 20, and provides the detection result of the open / closed state to the operation mode setting unit 122 and the operation condition determination unit 123 (step S101).

[0088] If both the first switch 21 and the second switch 22 are in the open state (step S101: YES), the operation mode setting unit 122 sets the operation mode to the setting change mode (first operation mode) (step S103). In the setting change mode, since both the first switch 21 and the second switch 22 are already in the open state, the operation condition determination unit 123 determines the values ​​of the first set value group based on the combination of the open / closed state of the third switch 23 and the open / closed state of the fourth switch 24 using the method described above (step S103). After determining the first set value group, the control circuit 12 returns to step S101. Details of the specific processing steps in the setting change mode will be described later.

[0089] If neither the first switch 21 nor the second switch 22 is in the open position (step S101: NO), the operation mode setting unit 122 sets the operation mode to the normal operation mode (second operation mode) (step S105).

[0090] In normal operation mode, the operating condition determination unit 123 determines the values ​​of the second set value group using the method described above, based on the combination of the open / closed state of the first switch 21, the open / closed state of the second switch 22, the open / closed state of the third switch 23, and the open / closed state of the fourth switch 24 (step S106).

[0091] Next, the drive signal generation unit 125 generates a drive control signal according to the drive command signal, based on the operating mode and operating conditions set based on the values ​​of the first set value group and the second set value group determined by the operating condition determination unit 123 (step S106).

[0092] Next, we will describe the processing details for the setting change mode. Figure 8 is a table showing the open / closed state of the first switch when specifying the change in gripping direction when the setting change mode is specified in the operating mode of the gripping device. Figure 9 is a table showing the open / closed state of the second switch when specifying the change in the controller's communication interface when the setting change mode is specified in the operating mode of the gripping device.

[0093] The setting change mode is an operation mode in which, in step S101, the first switch 21 and the second switch 22 are detected to be in an open state, and in step S103, the operation mode setting unit 122 sets the system to the setting change mode, after which the operation condition determination unit 123 sets either a first set value group or a second set value group based on the open / closed state of the first switch 21 and the second switch 22.

[0094] Specifically, as shown in Figures 8 and 9, based on the open / closed states of the first switch 21 and the second switch 22, any value (type) can be set from two types of gripping direction and two types of communication interface setting values ​​as the first set value group and the second set value group.

[0095] First, the switch state detection unit 121 detects the open / closed state of the fourth switch 24 (step S201).

[0096] If it is not possible to detect that the fourth switch 24 is in the open state (step S201: NO), the operation condition determination unit 123 terminates the setting change mode processing and issues a command to the switch state detection unit 121 to detect the open / closed state of the first switch 21 and the second switch 22 again (step S101).

[0097] If the fourth switch 24 is in the open state (step S201: YES), the operating condition determination unit 123 initializes the control conditions (step S202). Initialization of the control conditions may be performed, for example, by the operating condition determination unit 123 initializing the operating conditions stored in the storage unit 124. Alternatively, initialization of the control conditions may be performed by the operating condition determination unit 123 commanding the controller 41 to restart the power supply unit 42.

[0098] Next, the switch state detection unit 121 detects the open / closed state of the first switch 21 and the second switch 22 (step S203).

[0099] Next, the operating condition determination unit 123 reads out the setting values ​​of the first set value group corresponding to the open / closed states of the first switch 21 and the second switch 22 (step S204).

[0100] Specifically, the operating condition determination unit 123 reads out the setting values ​​of the first set value group contained in the correspondence relationship information 1241A and 1241B stored in the storage unit 124.

[0101] Next, the switch state detection unit 121 detects the open / closed state of the fourth switch 24 (step S205).

[0102] If the fourth switch 24 has not been detected to have switched from the open state to the closed state (step S205: NO), the switch state detection unit 121 detects the open / closed state of the first switch 21 and the second switch 22 again (step S203).

[0103] If the fourth switch 24 is detected to have switched from the open state to the closed state (step S205: YES), the operation condition determination unit 123 writes the setting values ​​of the first set value group corresponding to the open / closed states of the first switch 21 and the second switch 22 that it has read, to the storage unit 124 as the operation condition 1242 (step S206).

[0104] By following the steps in the flowchart described above, the operating mode of the gripping device 100 can be set, and the control parameters can be set using the setting change mode.

[0105] The gripping device 100 according to this embodiment includes, as described above, a gripping unit 50 for gripping an object 70, a plurality of switches 200 that can be switched between a first state and a second state different from the first state, and a drive control circuit 10 that controls the driving of the gripping unit 50. The drive control circuit 10 includes a drive circuit 11 that drives the gripping unit 50 based on a drive control signal, and a control circuit 12 that determines the operating conditions of the gripping unit 50 based on the state of the switches 200 and generates a drive control signal based on the determined operating conditions. The operating conditions include a first set value group and a second set value group different from the first set value group. The control circuit 12 has an operating mode, which is a first operating mode in which the first set value group can be set based on the state of the switches 200, and an operating mode in which the second set value group can be set based on the state of the switches 200. The control circuit 12 includes a second operating mode which is possible and controls the driving of the gripping part 50 based on set operating conditions, and operates in the first operating mode when predetermined switches 21 and 22 among the plurality of switches 200 are in a predetermined state at the start of operation when the drive control circuit 10 starts operating from an initial state, and operates in the second operating mode when predetermined switches 21 and 22 among the plurality of switches 200 are not in a predetermined state at the start of operation, and in the first operating mode the control circuit 12 sets a first set value group based on the state of the other switches 23 and 24 excluding the predetermined switches 21 and 22, and sets a second set value group based on the state of the switches 200 in the second operating mode, and generates a drive control signal based on the set first set value group and second set value group.

[0106] According to this, the operating mode is determined based on the open / closed state of predetermined switches 21 and 22 at the start of operation, and settable control parameters are assigned to each operating mode. Therefore, in each operating mode, the number of combinations of open / closed states of switch 200 that can be assigned as a setting value for one control parameter can be increased. Consequently, it is possible to increase the degree of freedom in setting the control parameters in the gripping device 100 while suppressing the increase in size and cost of the gripping device 100.

[0107] Furthermore, in the gripping device 100 according to this embodiment, the operating conditions include the gripping force by the gripping part 50, the opening and closing parameters of the gripping part 50, and the gripping direction of the gripping part 50; the second set value group includes the gripping force and at least one set value from the opening and closing parameters; and the first set value group includes other set values ​​not included in the second set value group.

[0108] Since the number of configurable settings for the gripping force and opening / closing parameters, which are essential parameters for more precise control of the gripping device 100, can be increased, users can operate the gripping device 100 appropriately according to the operating environment.

[0109] Furthermore, in the gripping device 100 according to this embodiment, the opening / closing parameter is one of the opening / closing amount, opening / closing speed, and opening / closing time of the gripping portion 50.

[0110] According to this, the opening and closing parameters of the gripping portion 50 can be flexibly selected according to the operating conditions of the gripping device 100.

[0111] Furthermore, in the gripping device 100 according to this embodiment, the operating conditions further include setting values ​​for the communication interface related to the input / output 31 of signals to and from the outside (higher-level device 40), and the first set value group further includes setting values ​​for the communication interface.

[0112] According to this, two types of communication interfaces can be set based on the open / closed state of one switch 22, and then set based on the gripping force of multiple types of gripping parts 50, the open / closed parameters of multiple types of gripping parts 50, the gripping direction of multiple types of gripping parts 50, and the open / closed states of other switches 21, 23, and 24.

[0113] Furthermore, in the gripping device 100 according to this embodiment, the plurality of switches 200 include a first switch 21, a second switch 22, a third switch 23, and a fourth switch 24, the predetermined switches 21 and 22 are the first switch 21 and the second switch 22, the first predetermined state is the first state, and the control circuit 12 determines the values ​​of the first set value group in the first operating mode based on the combination of the state of the first switch 21 and the state of the second switch 22, and determines the values ​​of the second set value group in the second operating mode based on the combination of the state of the first switch 21, the state of the second switch 22, the state of the third switch 23, and the state of the fourth switch 24.

[0114] According to this, at least four switches can be used to switch between two operating modes and to switch the settings for gripping force, opening / closing parameters, gripping direction, and communication interface, thereby further reducing the size and cost of the gripping device 100.

[0115] Furthermore, in the gripping device 100 according to this embodiment, the control circuit 12, after the operating mode has been set to the first operating mode, detects that the fourth switch 24 has transitioned from either the first state or the second state to the other state, and sets a value corresponding to the combination of the state of the first switch 21 and the state of the second switch 22 as a value in the first set value group.

[0116] According to this, based on the open / closed state of the fourth switch 24, which is not used to determine the operating mode, a value corresponding to the combination of the state of the first switch 21 and the open / closed state of the second switch 22 can be set as the value of the first set value group. In other words, selecting a first operating mode based on the combination of the state of the first switch 21 and the open / closed state of the second switch 22, and setting the value of the first set value group based on the combination of the state of the first switch 21 and the open / closed state of the second switch 22 can be achieved simultaneously by detecting the open / closed state of the fourth switch 24.

[0117] Furthermore, the control method for the gripping device 100 according to this embodiment comprises a gripping unit 50 for gripping an object, a plurality of switches 200 that can be switched between a first state and a second state different from the first state, and a drive control circuit 10 for controlling the driving of the gripping unit 50, wherein the drive control circuit 10 includes a drive circuit 11 that drives the gripping unit 50 based on a drive control signal, and a control circuit 12 that determines the operating conditions of the gripping unit 50 based on the state of the switches 200 and generates a drive control signal based on the determined operating conditions, wherein the operating conditions include a first set value group and a second set value group different from the first set value group, and the control circuit 12 includes, as an operating mode, a first operating mode in which the first set value group can be set based on the state of the switches 200, and a second operating mode in which the second set value group can be set based on the state of the switches 200 and the driving of the gripping unit 50 is controlled based on the set operating conditions, wherein the control circuit 12 However, the operation starts from an initial state and includes a first step S101 which determines whether a predetermined switch 21, 22 among a plurality of switches 200 is in a predetermined state, a second step S103 which, if the predetermined switch 21, 22 is in a predetermined state, the control circuit 12 operates in a first operation mode, and a third step S105, S106 which, if the predetermined switch 21, 22 is not in a predetermined state, the control circuit 12 operates in a second operation mode. The second step S103 includes a fourth step S201 to S206 which sets a first set value group based on the state of the plurality of switches 200, and the third step S105, S106 which includes a fifth step S105 which sets a second set value group based on the state of the plurality of switches 200, and a sixth step S106 which generates a drive control signal based on the first set value group set in the fourth step S201 to S206 and the second set value group set in the fifth step S105.

[0118] As described above, this makes it possible to increase the degree of freedom in setting the control parameters of the gripping device 100 while suppressing the increase in size and cost of the gripping device 100.

[0119] <Second Embodiment> Next, the configuration of the gripping device 100A according to the second embodiment will be described. Figure 12 is a diagram showing the configuration of a gripping system equipped with the gripping device according to the second embodiment. Figure 13 is a diagram showing an example of the functional block of the control circuit according to the second embodiment.

[0120] The gripping system 1A according to the second embodiment shown in Figure 12 comprises a gripping device 100A and a higher-level device 40. The gripping device 100A according to the second embodiment has an output unit 60 in addition to the functional unit of the gripping device 100 according to the first embodiment.

[0121] The output unit 60 outputs information indicating the setting status of the first set value group. The output unit 60 has a light-emitting element 61 whose light-emitting state, including off, on, and blinking, is controlled. The light-emitting element 61 is, for example, an LED (Light Emitting Diode). The light-emitting element 61 may be a single element or a group of elements.

[0122] The control circuit 12A outputs first information by controlling the light-emitting element 61 so that it is in one of the light-emitting states. The control circuit 12A also outputs second information by controlling the light-emitting element 61 so that it is in a state different from the light-emitting state when the first information is output.

[0123] For example, the control circuit 12A can blink the light-emitting element 61 as an output of first information when the switch 200 is in a desired state. Also, for example, the control circuit 12A can light up the light-emitting element 61 as an output of second information when the switch 200 is not in a desired state.

[0124] However, the output unit 60 may include a display for displaying information in addition to the light-emitting element 61. Alternatively, the output unit 60 may have a display for displaying information instead of the light-emitting element 61. In this case, the control circuit 12A causes the display to show first information when the switch 200 is in a desired state. The control circuit 12A also causes the display to show second information when the switch 200 is not in a desired state.

[0125] For example, the first piece of information indicates that the values ​​of the first setpoint group set in the gripping device 100A at that time are set to values ​​corresponding to the current state of the switch 200. The second piece of information indicates that the values ​​of the first setpoint group set in the gripping device 100A at that time do not match the values ​​corresponding to the current state of the switch 200.

[0126] The control circuit 12A according to the second embodiment includes an output control unit 126 in addition to the functional blocks of the control circuit 12 according to the first embodiment. Similar to the control circuit 12 according to the first embodiment, these functional blocks are realized by a processor in the MCU executing various calculations according to a program stored in memory, and controlling peripheral circuits such as timers and counters, A / D conversion circuits and input / output I / F circuits. Also, similar to the control circuit 12 according to the first embodiment, some or all of these functional blocks may be realized by dedicated hardware circuits.

[0127] The output control unit 126 is a functional unit that controls the output unit 60 based on the detection result of the open / closed state of the switch 200 detected by the switch state detection unit 121. For example, the output control unit 126 controls the light emission state of the light-emitting element 61, including turning it off, turning it on, and blinking it, based on the open / closed state of the switch 200.

[0128] Furthermore, the gripping device 100A has a third operating mode in addition to the setting change mode (first operating mode) and the normal operating mode (second operating mode). The third operating mode is an operating mode that outputs the setting status of the first set value group. The third operating mode is an operating mode that checks whether the values ​​of the first set value group corresponding to the open / closed state of the switch 200 match the values ​​of the first set value group set in the first operating mode. Hereinafter, the third operating mode will be referred to as the "parameter confirmation mode".

[0129] The operation mode setting unit 122 determines one of the first operation mode, second operation mode, and third operation mode based on the open / closed state of the switch 200, and stores (sets) the information of the determined operation mode.

[0130] The operation mode setting unit 122 sets the system to the first operation mode if a predetermined switch is in a first predetermined state and the third switch 23 is in a first state at the start of operation. The operation mode setting unit 122 sets the system to the third operation mode if a predetermined switch is in a first predetermined state and the third switch 23 is in a second state at the start of operation.

[0131] The third predetermined state refers to a state in which a predetermined switch is in the first state and the third switch is in the second state. In this embodiment, the third predetermined state refers to a state in which the first switch 21 and the second switch 22 are in the first state and the third switch 23 is in the second state.

[0132] In other words, in this embodiment, the third predetermined state is a state in which the first switch 21 and the second switch 22 are open, and the third switch 23 is not open. Specifically, in this embodiment, the third predetermined state is a state in which the first switch 21 and the second switch 22 are open, and the third switch 23 is closed.

[0133] The output control unit 126 controls the output unit 60 to output either first information or second information based on the detection result of the open / closed state of the switch 200 by the switch state detection unit 121. Specifically, in the third operation mode (parameter confirmation mode), the output control unit 126 reads the values ​​of the first set value group corresponding to the open / closed state of the switch 200 detected by the switch state detection unit 121 from the correspondence relationship information 1241A, 1241B, 1241C, and 1241D. The output control unit 126 also reads the set values ​​of the first set value group determined in the first operation mode, which are stored in the storage unit 124, from the operation condition information 1242. The output control unit 126 compares the values ​​of the first set value group corresponding to the open / closed state of the switch 200 with the set values ​​of the first set value group determined in the first operation mode. The output control unit 126 outputs first information to the output unit 60 when the values ​​of the first set value group corresponding to the open / closed state of the switch 200 match the set values ​​of the first set value group determined in the first operating mode. On the other hand, the output control unit 126 outputs second information to the output unit 60 when the values ​​of the first set value group corresponding to the open / closed state of the switch 200 match the set values ​​of the first set value group determined in the first operating mode.

[0134] The output unit 60 outputs either first information or second information based on a command from the output control unit 126. For example, the light-emitting element 61 lights up as the output of first information and blinks as the output of second information based on a command from the output control unit 126.

[0135] Next, we will describe the method for setting the operating mode of the gripping device 100A and the processing details of the parameter confirmation mode. Figure 14 is a flowchart showing the processing flow for determining the operating mode of the gripping device according to the second embodiment.

[0136] First, the switch state detection unit 121 detects the open / closed state of the first switch 21 and the second switch 22 in the switch circuit 20, and provides the detection result of the open / closed state to the operation mode setting unit 122 and the operation condition determination unit 123 (step S101).

[0137] If neither the first switch 21 nor the second switch 22 is in the open state (step S101: NO), the operation mode setting unit 122 sets the operation mode to the normal operation mode (second operation mode), similar to the gripping device 100 in the first embodiment (step S105).

[0138] If both the first switch 21 and the second switch 22 are in the open state (step S101: YES), unlike the gripping device 100 in the first embodiment, the switch state detection unit 121 detects the open / closed state of the third switch 23 (step S102).

[0139] If the third switch 23 is in the closed position (step S102: YES), the operation mode setting unit 122 sets the operation mode to the setting change mode (step S103).

[0140] If the third switch 23 is in the open state (step S102: NO), the operation mode setting unit 122 sets the operation mode to parameter confirmation mode (step S104).

[0141] Next, we will describe the processing details in parameter confirmation mode. Figure 15 is a flowchart showing the processing flow when parameter confirmation mode is specified in the operating mode of the gripping device.

[0142] First, the switch state detection unit 121 detects the open / closed state of the first switch 21 and the second switch 22, and provides the detection result of the open / closed state to the output control unit 126 (step S301).

[0143] Next, the output control unit 126 reads out the setting values ​​from the first set value group stored in the storage unit 124 (step S302).

[0144] Next, the output control unit 126 checks whether the setting values ​​of the first set value group corresponding to the open / closed states of the first switch 21 and the second switch 22 detected in step S301 match the setting values ​​of the first set value group read in step S302 (step S303).

[0145] If the setting values ​​of the first set value group corresponding to the open / closed states of the first switch 21 and the second switch 22 detected in step S301 match the setting values ​​of the first set value group read in step S302 (step S303: YES), the output control unit 126 outputs a command to the output unit 60 to output the first information (step S304). Specifically, the output control unit 126 outputs a command to light up the light-emitting element 61. In this case, the light-emitting element 61 is set to illuminated.

[0146] If the setting values ​​of the first set value group corresponding to the open / closed states of the first switch 21 and the second switch 22 detected in step S301 do not match the setting values ​​of the first set value group read in step S302 (step S303: NO), the output control unit 126 outputs a command to the output unit 60 to output second information (step S305). Specifically, the output control unit 126 outputs a command to make the light-emitting element 61 blink. In this case, the light-emitting element 61 blinks.

[0147] Following the steps in the flowchart described above, the parameter confirmation mode can be executed as the operating mode of the gripping device 100A.

[0148] In the gripping device 100A according to this embodiment, the operating mode further includes a third operating mode (parameter confirmation mode) that outputs the setting status of the first set value group, and the control circuit 12A operates in the first operating mode when the first switch 21 and the second switch 22 are in a predetermined state and the third switch 23 is in a first state at the start of operation, and operates in the third operating mode when the first switch 21 and the second switch 22 are in a predetermined state and the third switch 23 is in a state different from the second state at the start of operation.

[0149] According to this, the user of the gripping device 100A can determine in parameter confirmation mode whether the open / closed state of the switch 200, which was set in normal operation mode or setting change mode, is in the desired state.

[0150] Furthermore, the gripping device 100A according to this embodiment further includes an output unit 60 that outputs information indicating the setting status of a first set value group. The control circuit 12A, in the third operating mode, outputs first information to the output unit 60 when it matches the values ​​of the first set value group corresponding to the states of the multiple switches 200, and outputs second information different from the first information to the output unit 60 when it does not match the values ​​of the first set value group set in the first operating mode when it does not match the values ​​of the first set value group corresponding to the states of the multiple switches 200.

[0151] According to this, the user of the gripping device 100A can easily determine, in parameter confirmation mode, whether the state of the multiple switches 200 matches the state of the switches 200 set in normal operation mode or setting change mode, based on the information output from the output unit 60.

[0152] Furthermore, in the gripping device 100A according to this embodiment, the output unit 60 has a light-emitting element 61 whose light-emitting state, including off, on, and blinking, is controlled, and the control circuit 12A outputs first information by controlling the light-emitting element 61 so that it is in one of the light-emitting states, and outputs second information by controlling the light-emitting element 61 so that it is in one of the other light-emitting states.

[0153] According to this, in parameter confirmation mode, the user of the gripping device 100A can visually check whether the state of the multiple switches 200 matches the state of the switches 200 set in normal operation mode or setting change mode by observing the light emission state of the light-emitting element 61.

[0154] Furthermore, in the gripping device 100A according to this embodiment, the output unit 60 includes a display for displaying information, and the control circuit 12A causes the display to show first information and second information.

[0155] According to this, in parameter confirmation mode, the user of the gripping device 100A can visually confirm whether the state of the multiple switches 200 matches the state of the switches 200 set in normal operation mode or setting change mode by looking at the first and second information displayed on the display.

[0156] <<Expansion of Embodiments>> The present inventors have described the invention as described above based on embodiments, but it goes without saying that the present invention is not limited thereto and can be modified in various ways without departing from its essence.

[0157] In the processing steps of the gripping device 100A, the light-emitting element 61 is turned on (step S304) or blinked (step S304) based on the operating condition determination unit 123 in step S303, but is not limited to this.

[0158] For example, by keeping the light-emitting element 61 blinking from the point where the system transitions to parameter confirmation mode in step S104, and changing the light-emitting element 61 to a lit state when the setting values ​​of the first set value group corresponding to the open / closed states of the first switch 21 and the second switch 22 detected in step S301 match the setting values ​​of the first set value group read in step S302, it becomes easier for the user to determine whether the setting values ​​of the first set value group in step S301 match the setting values ​​of the first set value group in step S302.

[0159] Furthermore, the flowchart described above is merely an example and is not limited to these steps. For example, other processes may be inserted between each step, or the processes may be parallelized.

[0160] 1...Gripping system, 10...Drive control circuit, 11...Drive circuit, 12...Control circuit, 20...Switch circuit, 21...First switch, 22...Second switch, 23...Third switch, 24...Fourth switch, 30...Connector, 31...Communication terminal, 32...Power terminal, 40...Host device, 41...Controller, 42...Power supply device, 50...Gripping part, 51...Motor, 52...Drive mechanism, 53...Movable mechanism 60...Output unit, 61...Light-emitting element, 70...Object, 100...Gripping device, 111...Mounting unit, 121...Switch state detection unit, 122...Operation mode setting unit, 123...Operation condition determination unit, 124...Storage unit, 125...Drive signal generation unit, 126...Output control unit, 531...Movement unit, 532...Finger unit, GND...Grounding point, P...Center position, SR1, SR2, SS1, SS2, SS3, SS4...Signal

Claims

1. The device comprises: a gripping unit for gripping an object; a plurality of switches that can be switched between a first state and a second state different from the first state; and a drive control circuit for controlling the driving of the gripping unit, wherein the drive control circuit includes: a drive circuit for driving the gripping unit based on a drive control signal; and a control circuit for determining the operating conditions of the gripping unit based on the state of the switches and generating the drive control signal based on the determined operating conditions, wherein the operating conditions include a first set value group and a second set value group different from the first set value group, and the control circuit includes, as an operating mode, a first operating mode in which the first set value group can be set based on the state of the switches, and a second operating mode in which the second set value group can be set based on the state of the switches and the driving of the gripping unit is controlled based on the set operating conditions, The gripping device wherein the control circuit operates in a first operating mode when a predetermined switch among the plurality of switches is in a predetermined state at the start of operation when the drive control circuit starts operating from an initial state, and operates in a second operating mode when a predetermined switch among the plurality of switches is not in the predetermined state at the start of operation, and the control circuit sets a first set value group based on the state of the switches in the first operating mode, sets a second set value group based on the state of the switches in the second operating mode, and generates the drive control signal based on the set first set value group and second set value group.

2. A gripping device according to claim 1, wherein the operating conditions include a gripping force by the gripping part, an opening / closing parameter of the gripping part, and a gripping direction of the gripping part, the second set value group includes at least one set value from the gripping force and the opening / closing parameter, and the first set value group includes other set values ​​not included in the second set value group.

3. A gripping device according to claim 2, wherein the second set value group includes set values ​​for the gripping force and the opening / closing parameter, and the first set value group includes set values ​​for the gripping direction.

4. A gripping device according to claim 3, wherein the opening / closing parameter is one of the opening / closing amount, opening / closing speed, and opening / closing time of the gripping portion.

5. A gripping device according to claim 4, wherein the operating conditions further include setting values ​​for a communication interface relating to the input and output of signals to the outside, and the first set value group further includes setting values ​​for the communication interface.

6. A gripping device according to claim 1, wherein the plurality of switches include a first switch, a second switch, a third switch, and a fourth switch, the predetermined switch is the first switch and the second switch, the predetermined state is the first state, and the control circuit determines the value of the first set value group based on a combination of the state of the first switch and the state of the second switch in the first operating mode, and determines the value of the second set value group based on a combination of the state of the first switch, the state of the second switch, the state of the third switch, and the state of the fourth switch in the second operating mode.

7. A gripping device according to claim 6, wherein the control circuit detects that the fourth switch has transitioned from either the first state or the second state to the other state after the operating mode has been set to the first operating mode, and sets a value corresponding to the combination of the state of the first switch and the state of the second switch as a value in the first set value group.

8. A gripping device according to claim 7, wherein the operating mode further comprises a third operating mode that outputs the setting state of the first set value group, and the control circuit operates in the first operating mode when the first switch and the second switch are in the predetermined state and the third switch is in the first state at the start of operation, and operates in the third operating mode when the first switch and the second switch are in the predetermined state and the third switch is in the second state at the start of operation.

9. A gripping device according to claim 8, further comprising an output unit that outputs information indicating the setting state of the first set value group, wherein the control circuit causes the output unit to output first information when the values ​​of the first set value group corresponding to the states of the plurality of switches in the third operating mode match the values ​​of the first set value group set in the first operating mode, and causes the output unit to output second information different from the first information when the values ​​of the first set value group corresponding to the states of the plurality of switches do not match the values ​​of the first set value group set in the first operating mode.

10. A gripping device according to claim 9, wherein the output unit has a light-emitting element whose light-emitting state is controlled to include off, on, and blinking, and the control circuit outputs first information by controlling the light-emitting element so that it is in one of the light-emitting states, and outputs second information by controlling the light-emitting element so that it is in one of the other light-emitting states.

11. A gripping device according to claim 9, wherein the output unit includes a display for displaying information, and the control circuit causes the display to display the first information and the second information.

12. A method for controlling a gripping device comprising: a gripping unit for gripping an object; a plurality of switches that can be switched between a first state and a second state different from the first state; and a drive control circuit for controlling the driving of the gripping unit, wherein the drive control circuit includes a drive circuit for driving the gripping unit based on a drive control signal; and a control circuit for determining the operating conditions of the gripping unit based on the state of the switches and generating the drive control signal based on the determined operating conditions, wherein the operating conditions include a first set value group and a second set value group different from the first set value group; and the control circuit includes, as an operating mode, a first operating mode in which the first set value group can be set based on the state of the switches; and a second operating mode in which the second set value group can be set based on the state of the switches and the driving of the gripping unit is controlled based on the set operating conditions, wherein the control circuit determines whether a predetermined switch among the plurality of switches is in a predetermined state at the start of operation when starting operation from an initial state; A control method comprising: a second step in which the control circuit operates in the first operating mode when the predetermined switch is in the predetermined state; a third step in which the control circuit operates in the second operating mode when the predetermined switch is not in the predetermined state; the second step includes a fourth step of setting the first set value group based on the states of the plurality of switches; the third step includes a fifth step of setting the second set value group based on the states of the plurality of switches; and a sixth step of generating the drive control signal based on the first set value group set in the fourth step and the second set value group set in the fifth step.

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