CN112770877A

CN112770877A - Clamp and system

Info

Publication number: CN112770877A
Application number: CN201980061046.5A
Authority: CN
Inventors: 大塚诚
Original assignee: Kitagawa Iron Works Co Ltd
Current assignee: Kitagawa Iron Works Co Ltd
Priority date: 2018-10-31
Filing date: 2019-10-25
Publication date: 2021-05-07
Also published as: WO2020090655A1; JPWO2020090655A1; TW202023742A; KR20210084435A; JP7349446B2

Abstract

The invention provides a clamp and a system which can save cost and time in the environment of a factory production line and the like. According to an embodiment of the present invention, there is provided a clamp including at least a pair of movable portions that are openable and closable and configured to clamp or release an object to be clamped based on the opening and closing, the pair of movable portions forming at least a part of a sensor housing space therebetween, the sensor housing space being configured to be free from intrusion of the object to be clamped and capable of housing a predetermined sensor that measures a predetermined length based on a distance between the pair of movable portions.

Description

Clamp and system

Technical Field

The invention relates to a clamp and a system.

Background

At present, there is a gripper as disclosed in patent document 1, which is mounted on a distal end of an arm as an arm of an industrial robot and is used to grip a workpiece as an object to be gripped. In such a clamp, the main claw and the top claw connected to the main claw are opened and closed by sliding the main claw and the plunger in conjunction with each other. In this way, the workpiece as the object to be clamped can be clamped or unclamped by opening and closing the top claws. Such jigs are used for handling workpieces in a factory production line or the like.

However, in an environment such as a factory production line, measurement of the outer diameter of a workpiece is essential to maintain quality. If a workpiece that does not conform to the design dimensions is used, product defects can occur. Therefore, in the production line, a measuring process for measuring the outer diameter of the workpiece is required, but the preparation of dedicated equipment for measurement increases the production cost. Moreover, the measurement process itself takes extra time, which causes a problem that the production lead time becomes long.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2016-120532

Disclosure of Invention

The present invention has been made in view of the above circumstances, and an object thereof is to provide a jig and a system that can save cost and time in an environment such as a factory production line.

According to an embodiment of the present invention, there is provided a clamp including at least a pair of movable portions that are openable and closable and configured to clamp or release an object to be clamped based on the opening and closing, the pair of movable portions being configured to form at least a part of a sensor housing space therebetween, the sensor housing space being configured to prevent the object to be clamped from intruding and configured to be capable of housing a predetermined sensor that measures a predetermined length based on a distance between the pair of movable portions.

In the jig provided by the present invention, a sensor housing space is provided between the pair of movable portions, the sensor housing space is configured to be able to house a predetermined sensor that measures a predetermined length based on a distance between the pair of movable portions without an object (workpiece) to be clamped intruding. With this configuration, by introducing the predetermined sensor into the jig, the measurement step can be performed simultaneously even in the step of clamping the workpiece by the jig for conveying the workpiece, and cost and time can be saved.

Drawings

Fig. 1A is an overall perspective view of a jig as an example of a sliding structure according to an embodiment of the present invention, and fig. 1B is an overall perspective view at a different angle from fig. 1A.

Fig. 2 is a plan view of the jig shown in fig. 1A and 1B.

Fig. 3A is a sectional view taken along a-a of fig. 2, showing a state where the plunger is displaced in the-y direction, and fig. 3B is a sectional view taken along a-a of fig. 2, showing a state where the plunger is displaced in the + y direction.

Fig. 4 is a perspective view of the clamp body.

Fig. 5 is a perspective view of a main jaw included in the jig.

Fig. 6 is a perspective view of a plunger included in the jig.

Fig. 7 is a schematic diagram of the sensor, in which the upper portion corresponds to a state in which the main claw is separated, and the lower portion corresponds to a state in which the main claw is close.

Fig. 8 is a sectional view B-B of fig. 2 in a state where the sensor is mounted on the jig.

Detailed Description

Embodiments of the present invention will be described below using the drawings. Various feature items shown in the embodiments shown below can be combined with each other.

1. Integral structure

In section 1, the overall structure of the jig 1 will be explained. Fig. 1A and 1B are overall perspective views of the jig 1, and fig. 2 is a plan view of the jig 1. Fig. 3A and 3B are cross-sectional views a-a of fig. 2. When a workpiece (not shown) is transported using an industrial robot (not shown), the jig 1 is configured to support the workpiece by a top claw (not shown). As shown in fig. 1A and 1B, the clip 1 includes a main body 10, a rear cover 11, a main claw 13, and a cover 14. As shown in fig. 3A and 3B, the jig 1 includes a piston 15 and a plunger 16 inside a body 10.

Fig. 4 is a perspective view showing the body 10 of the jig 1. In the main body 10, an inverted T-shaped groove 10T having a step 10Ta is formed from the front side to the rear side, i.e., in the x-axis direction. As shown in fig. 1A and 1B, a pair of main claws 13 slidably fitted into the grooves 10T are provided. Further, in the body 10, a cylindrical blind hole 10h is provided so as to be perpendicular to the groove 10T and to be engraved into the surface 10Tb, and as shown in fig. 3A and 3B, the plunger 16 is provided so as to be fitted into the blind hole 10 h.

Fig. 5 is a perspective view of the main claw 13 included in the jig 1. In fig. 5, the right main claw 13r of the pair of main claws 13 is shown. As is apparent from fig. 1A and 1B, the left main claw 13l is configured to be symmetrical with respect to a plane of symmetry parallel to the right main claw 13r and the yz plane. The main claw 13 is configured to have an inverted T shape having a step 130 when viewed in the + x direction so as to be fitted into the groove 10T. The pair of main claws 13 is arranged on a surface 10Tb that is a surface parallel to the xy plane. When the main pawl 13 is fitted to the main body 10, the step 10Ta in the main body 10 and the step 130 in the main pawl 13 are locked to each other, and thus the main pawl 13 is configured to be displaceable only in the x direction without being displaced in the z direction and also displaced in the y direction.

Two parallel grooves 132 are provided on the rectangular back surface 131 of the main claw 13. The parallel groove 132 is formed obliquely so as to penetrate from one long side 131a of the back surface 131 toward the other long side 131b and to form a non-perpendicular angle α (for example, an angle of about 45 degrees) with the

long sides

131a and 131 b. The parallel groove 132 is configured to be capable of fitting with a projection 162 (see fig. 6) in the plunger 16 described later.

Further, through holes 134 (an example of "holes" in the claims) extending in the opening and closing direction (± x direction) of the main claws 13 are provided in the wall surfaces 135 of the left and right main claws 13(13r, 13 l). Note that the jig 1 has a space 104 surrounded by left and right wall surfaces 135. The space 104 and the through-hole 134 correspond to an example of "sensor accommodating space" in the claims. This is described in more detail in section 2.

Fig. 6 is a perspective view showing the plunger 16 included in the jig 1. A pair of plungers 16 is provided so as to correspond to the pair of main claws 13, and a right plunger 16r corresponding to the right main claw 13r is shown in fig. 6. As is clear from fig. 1A and 1B, the left plunger 16l is symmetrical with respect to a plane of symmetry parallel to the yz plane and the right plunger 16 r. The plunger 16 is formed in a cylindrical shape as a whole, and a rectangular flat plate portion 161 is formed by cutting a tip end portion (+ y side) thereof when viewed from the-z direction. The flat plate portion 161 is provided with two convex portions 162. Convex portion 162 is formed obliquely at a non-perpendicular angle β (for example, about 45 degrees) from one long side 161a to the other long side 161b of rectangular flat plate portion 161. With such a configuration, the parallel grooves 132 in the main claw 13 and the projections 162 in the plunger 16 are slidably fitted, and these correspond to an example of the "concave-convex structure" in the claims.

A screw hole 163 is provided at the base end of the root portion (-y side) of the plunger 16. As shown in fig. 3A and 3B, the piston 15 has a mounting hole 15a, and a bolt 15B is inserted into the mounting hole 15a while the shaft portion is screwed into the screw hole 163, whereby the piston 15 and the plunger 16 can be fixed together. The piston 15 is configured to be movable in the ± y directions (sliding operation) by discharging air into a cylinder chamber of the piston 15 inside the main body 10. The plunger 16 is fitted into a blind hole 10h formed perpendicularly to the recess 10T and formed in a cylindrical shape so as to be cut into the surface 10 Tb. With such a configuration, the pair of plungers 16 fixed to the piston 15 is displaced in the y direction along the blind hole 10h in conjunction with the displacement of the piston 15 in the y direction.

It should be noted here that the main claw 13 and the plunger 16 are configured to be vertically displaceable relative to each other by being configured such that the sum of the angle α and the angle β is 90 degrees. As described above, the main claw 13 fitted in the groove 10T of the body 10 is configured to be displaceable only in the x direction in which the groove 10T extends. Therefore, when the plunger 16 is reciprocally displaced in the y direction by displacing the piston 15 in the y direction, the side wall 162a of the projection 162 presses the side wall 132a of the parallel groove 132 (or the side wall 162b of the projection 162 presses the side wall 132b of the parallel groove 132), and the main pawl 13 can be returned in the x direction. In the jig 1, the plunger 16 is configured to be displaceable on a predetermined surface parallel to the surface on which the pair of main claws 13 are arranged (the surface parallel to the xy plane).

Specifically, when the right plunger 16r is displaced in the + y direction, the right main claw 13r is displaced in the-x direction. When the right plunger 16r is displaced in the-y direction, the right main claw 13r is displaced in the + x direction. When the left plunger 161 is displaced in the + y direction, the left main claw 13l is displaced in the + x direction. When the left plunger 16l is displaced in the-y direction, the left main claw 13l is displaced in the-x direction. That is, when the pair of plungers 16 is displaced in the + y direction, the pair of main claws 13 approach each other, and when the pair of plungers 16 is displaced in the-y direction, the pair of main claws 13 are separated from each other. In this manner, the pair of main claws 13 can be opened and closed.

The main components described above are assembled to the main body 10, and the rear cover 11 and the cover 14 are attached as shown in fig. 1, thereby configuring the jig 1. Since the height of the center side of the main claws 13 is formed low as the low portion 133, even when the cap 14 is in the above state, the low portion 133 sinks below the cap 14 (-z direction), and the pair of main claws 13 can be brought close to each other. Further, an upper claw (not shown) above the main claw 13 (+ z direction) is constituted in a detachable manner, and a desired workpiece can be supported by such an upper claw. At this time, it should be noted that the workpiece supported by the top jaws does not intrude into the space 104 formed between the main jaws 13.

2. Sensor 2 attachable to jig 1

In section 2, a sensor 2 that can be attached to the jig 1 will be described. As described in section 1, the space 104 formed between the main claws 13 and the through hole 134 provided in the main claw 13 constitute a sensor housing space in which the sensor 2 can be mounted. Fig. 7 is a schematic diagram of the sensor 2, and the upper state corresponds to a state in which the main claw 13 is separated, and the lower state corresponds to a state in which the main claw 13 is close. Fig. 8 is a sectional view B-B of fig. 2 in a state where the sensor 2 is attached to the jig 1.

As shown in fig. 7, the sensor 2 includes an elongated scale bar 21 (an example of an "elongated member" in the claims) and a cylindrical (ring-shaped) reading portion 22 (an example of an "ring-shaped member" in the claims). When the scale bar 21 and the reading section 22 are relatively displaced in the longitudinal direction of the scale bar 21 in a state where the scale bar 21 penetrates the reading section 22, a receiver (not shown) provided inside the reading section 22 measures the displacement. It is to be noted that the sensor 2 having such a configuration is merely a preferred example, and is not limited thereto. For example, the sensor 2 may be configured such that the scale bar 21 is displaced in the longitudinal direction on the reading section 22 formed in a flat plate shape instead of a cylindrical shape. Alternatively, the sensor 2 may be configured such that two reading portions 22 formed in a flat plate shape are disposed to face each other, and the scale bar 21 is displaced therebetween in the longitudinal direction. Further, the reading portion 22 formed in a ring shape other than a cylindrical shape may also be employed. In the present embodiment, the system in which the sensor 2 is provided inside the main claw 13 of the jig 1 enables the outer diameter of the workpiece to be accurately measured while the workpiece is conveyed. Embodiments of the system will be described in detail below.

Although the center of the through hole 134l of the left main claw 13l and the center of the through hole 134r of the right main claw 13r are substantially linearly positioned in the x direction, the two through holes 134 are preferably different in shape in the structure of the sensor 2. As shown in fig. 8, the one end 21a of the scale bar 21 is fixed to the inside of the through hole 134r of the right main claw 13 r. On the other hand, the reading unit 22 is fixed to the inside of the through hole 134l of the left main claw 13 l. That is, the scale bar 21 extends from the one end 21a through the through hole 134r and the space 104, enters the through hole 134l provided in the left main claw 13l, and penetrates the reading section 22 fixed therein. The method of fixing the scale bar 21 and the reading section 22 is not particularly limited, and may be a mechanical method such as fitting or may be fixed by using another substance such as an adhesive.

That is, by opening and closing the main claws 13, the relative position between the scale bar 21 fixed to the right main claw 13r and the reading section 22 fixed to the left main claw 13l changes to the lower state as shown in the upper part of fig. 7, or changes from the lower state to the upper state, and the information is read by a receiver (not shown) provided in the reading section 22, whereby the predetermined length depending on the distance between the main claws 13 can be accurately measured. Fig. 7 shows an embodiment in which the main claws 13 are each displaced by a distance d in the approaching direction. Therefore, the displacement of the main claw 13 in the x direction (i.e., the so-called degree of opening and closing) can be accurately measured, and the displacement of a top claw (not shown) attached to the upper side (+ z direction) of the main claw 13 in the x direction can also be indirectly measured. Thereby, the outer diameter of a workpiece (not shown) held by the top jaw can be further measured. In other words, the sensor 2 measures a predetermined length according to the degree of opening and closing of the main claw 13, and the outer diameter of the workpiece according to the degree of opening and closing of the main claw 13 can be measured in the same manner.

In such a configuration, it is to be noted that since the top jaw is directly attached to the main jaw 13, an error between the degree of opening and closing of the main jaw 13 measured by the sensor 2 and the outer diameter of the workpiece measured based on this is small. In the conventional jigs (not shown), since other members such as the plunger are configured to enter between the main claws, the sensor 2 cannot be attached. In addition, even if it is intended to measure a prescribed length depending on the outer diameter of the workpiece at a position away from the workpiece by a length measuring method, the error is large and is not practical. In the present embodiment, the inventors have devised so that the outer diameter of the workpiece can be measured accurately during the transportation without requiring a separate measurement process.

3. Modification example

Further, the jig 1 according to the present embodiment may be further modified in the following manner.

First, in the present embodiment, the one end 21a of the scale bar 21 is fixed inside the through hole 134r of the right main claw 13r and the reading unit 22 is fixed inside the left main claw 13l, but conversely, the one end 21a of the scale bar 21 may be fixed inside the through hole 134l of the left main claw 13l and the reading unit 22 may be fixed inside the right main claw 13 r. In such a case, it is preferable to appropriately determine the shape of the through-hole 134.

Secondly, instead of the main claw 13, it is also possible to implement a mode in which the sensor 2 is attached to a top claw (not shown) or a pair of movable portions that are interlocked with the top claw. In this case, the pair of movable portions may be configured to form at least a part of the sensor housing space therebetween. Further, if necessary, a hole corresponding to the through hole 134 may be provided in at least one of the movable portions, and at least one of the one end 21a of the scale bar 21 and the reading portion 22 may be fixed inside the hole. In other words, by measuring the predetermined length according to the degree of opening and closing of the movable portion by the sensor 2, the outer diameter of the workpiece according to the degree of opening and closing of the movable portion can be measured similarly.

Third, in the present embodiment, two parallel grooves 132 in the main claw 13 and two convex portions 162 in the plunger 16 are provided, but the number thereof may be appropriately changed, for example, 1 or 3 to 5.

Fourth, the sum of the angles α and β may be 90 degrees instead of, for example, making both the angles α and β 135 degrees, or making the sum of the angles α and β 270 degrees. Note that, in this case, the operation of the main claw 13 interlocked with the plunger 16 is reversed from the foregoing embodiment. That is, when the right plunger 16r is displaced in the + y direction, the right main claw 13r is displaced in the + x direction. When the right plunger 16r is displaced in the-y direction, the right main claw 13r is displaced in the-x direction. When the left plunger 16l is displaced in the + y direction, the left main claw 13l is displaced in the-x direction. When the left plunger 16l is displaced in the-y direction, the left main claw 13l is displaced in the + x direction. That is, the pair of main claws 13 are separated from each other when the pair of plungers 16 is displaced in the + y direction, and the pair of main claws 13 are moved closer to each other when the pair of plungers 16 is displaced in the-y direction. Thereby, the pair of main claws can be opened and closed.

4. Conclusion

As described above, according to the present embodiment, it is possible to implement the jig 1 so as to save cost and time in an environment such as a factory production line.

The clamp 1 includes at least a pair of movable portions (main claws 13) that can be opened and closed, and is configured to clamp or release an object to be clamped based on the opening and closing, the pair of movable portions (main claws 13) is configured to form at least a part (space 104) of a sensor housing space therebetween, the sensor housing space (space 104 and through hole 134) is configured to be free from intrusion of the object to be clamped and is configured to be capable of housing a predetermined sensor 2, and the predetermined sensor 2 measures a predetermined length depending on a distance between the pair of movable portions (main claws 13).

The present invention can also be provided by various embodiments described below.

In the jig, the sensor housing space includes a hole formed in a longitudinal direction of at least one of the pair of movable portions.

The jig further includes a plunger, the movable portion is a main claw to which the top claw is detachably attached, and the plunger is configured to be displaceable on a predetermined surface parallel to a surface on which the main claw is disposed, and to slide along the main claw and the concave-convex structure so as to be interlocked with the main claw, thereby allowing the main claw to be opened and closed.

A system comprising a clamp and a sensor, wherein the clamp comprises at least a pair of movable parts which can be opened and closed and is configured to clamp or release an object to be clamped based on the opening and closing, the pair of movable parts forms at least a part of a sensor accommodating space between the movable parts, the object to be clamped does not invade in the sensor accommodating space and is configured to be capable of accommodating the sensor, the sensor is configured to measure the size of the object to be clamped by measuring a predetermined length according to the distance between the pair of movable parts, and the clamp can carry out the object to be clamped and measure the size of the object to be clamped by clamping the object to be clamped.

In the system, the sensor includes an elongated member and a ring member configured to be able to penetrate the elongated member, and the receiver provided in the ring member is configured to be able to read a displacement in a longitudinal direction of the elongated member penetrating the ring member, and one end of the elongated member is fixed to one of the pair of movable portions and the ring member is fixed to the other of the pair of movable portions.

In the system, the sensor housing space includes a hole formed in a longitudinal direction of at least one of the pair of movable portions, and at least one of the one end of the elongated member and the annular member is fixed inside the hole.

In the system, the movable portion is a main claw, and the jig further includes a plunger configured to be displaceable on a predetermined surface parallel to a surface on which the main claw is disposed and to slide along the main claw and the concave-convex structure so as to be interlocked with the main claw, thereby enabling the main claw to be opened and closed, and a top claw configured to be detachable from the main claw and configured to be capable of gripping the object to be gripped in a state of being attached to the main claw.

Of course, it is not limited thereto.

Finally, while various embodiments of the present invention have been described, these embodiments are presented by way of example only, and are not intended to limit the scope of the invention. The present invention may be realized in various other embodiments, and any omissions, modifications, substitutions of equivalents, improvements, and the like, which are within the spirit and scope of the present invention, are intended to be included therein. The embodiments and modifications are intended to be included within the scope and spirit of the present invention, and also within the scope of the invention described in the claims and the equivalent scope thereof.

Brief description of the symbols

1: clamp apparatus

104: space(s)

13: main claw

134: through hole

15: piston

16: plunger piston

2: sensor with a sensor element

21: scale ruler

22: reading unit

Claims

1. A clamp, characterized by:

at least a pair of movable parts capable of opening and closing, which are configured to clamp or release the clamped object based on the opening and closing,

the pair of movable portions are configured to form at least a part of a sensor housing space therebetween,

the sensor housing space is configured to prevent the object to be clamped from intruding,

and is configured to be able to accommodate a predetermined sensor that measures a predetermined length based on a distance between the pair of movable portions.

2. The fixture of claim 1, wherein:

the sensor housing space includes a hole formed in a longitudinal direction of at least one of the pair of movable portions.

3. The jig of claim 1 or 2, wherein:

the utility model is also provided with a plunger piston,

the movable part is a main claw capable of assembling and disassembling the top claw,

the plunger is configured to be displaceable on a predetermined surface parallel to a surface on which the main claw is disposed,

the main claw is configured to slide in conjunction with the main claw by being engaged with the main claw along a concave-convex structure, thereby enabling the main claw to open and close.

4. A system, characterized by:

comprises a clamp and a sensor, wherein the clamp is arranged on the clamp,

the clamp is provided with at least one pair of movable parts capable of opening and closing, and is configured to clamp or release the clamped object based on the opening and closing,

the sensor housing space is configured to accommodate the sensor without allowing the object to be clamped to intrude,

the sensor is configured to measure the size of the object to be clamped by measuring a predetermined length based on the distance between the pair of movable parts,

the jig can carry out conveyance of the object to be held and measurement of the size of the object by holding the object to be held.

5. The system of claim 4, wherein:

the sensor has an elongated member and a ring-shaped member configured to be capable of penetrating the elongated member,

a receiver provided in the annular member is configured to be able to read a displacement in a longitudinal direction of the elongated member that penetrates the annular member,

one end of the elongated member is fixed to one of the pair of movable portions, and the annular member is fixed to the other of the pair of movable portions.

6. The system of claim 5, wherein:

the sensor housing space includes a hole formed in a longitudinal direction of at least one of the pair of movable portions,

at least one of one end of the elongated member and the annular member is fixed inside the hole.

7. The system of any one of claims 4 to 6, wherein:

the movable part is a main claw,

the clamp is also provided with a plunger and a top jaw,

sliding in conjunction with the main claw by being engaged with the main claw along a concave-convex structure, thereby enabling the main claw to be opened and closed,

the top claw is configured to be detachable from the main claw, and configured to be capable of clamping the object to be clamped in a state of being attached to the main claw.