CN211387902U - Workpiece holding device and loading device - Google Patents
Workpiece holding device and loading device Download PDFInfo
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- CN211387902U CN211387902U CN201921723919.8U CN201921723919U CN211387902U CN 211387902 U CN211387902 U CN 211387902U CN 201921723919 U CN201921723919 U CN 201921723919U CN 211387902 U CN211387902 U CN 211387902U
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- workpiece
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Abstract
An object of the utility model is to provide a holding device and loading attachment of work piece, it can measure the size of gripping of this work piece in the removal step of work piece to can automated inspection go out unusual etc.. The utility model discloses a device for gripping of work piece, its characterized in that possesses: an opening and closing chuck for holding a workpiece; and an operation lever for opening and closing the claw portion provided in the opening and closing chuck, wherein the workpiece holding device includes a measurement unit having an operation unit for making the opening size of the claw portion of the opening and closing chuck correspond to the movement amount of the operation lever, and the operation unit can be used for measuring the size of the workpiece held by the claw portion.
Description
Technical Field
The present invention relates to a loading device for automatically moving a workpiece into and out of a machine tool, or a holding device for a workpiece such as a hand or a robot arm of a robot.
Background
A loader of a loading device used in the field of machine tools and the like, a hand of an industrial robot, and the like are mounted with a gripping device for conveying a workpiece.
For example, patent document 1 discloses an opening/closing chuck including a pair of grip portions that are opened and closed by driving of a cylinder mechanism.
However, the workpiece holding device disclosed in this publication aims to increase the opening/closing stroke of the holding portion, and cannot measure the size of the workpiece or perform self-diagnosis of a defective state.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open No. 2000-343474
SUMMERY OF THE UTILITY MODEL
Problem to be solved by utility model
An object of the utility model is to provide a holding device of work piece, it can measure the size of gripping of this work piece in the removal of work piece step to can automated inspection go out unusual etc..
Means for solving the problems
The utility model discloses a device for gripping of work piece, its characterized in that possesses: an opening and closing chuck for holding a workpiece; and an operation lever for opening and closing the claw portion provided in the opening and closing chuck, wherein the workpiece holding device includes a measurement unit having an operation unit for making the opening size of the claw portion of the opening and closing chuck correspond to the movement amount of the operation lever, and the operation unit can be used for measuring the size of the workpiece held by the claw portion.
The claw portion is not limited in structure as long as it grips the outer peripheral portion or the inner peripheral portion of the workpiece or a part of the workpiece by a plurality of claw portions.
The operation means is a means capable of performing an operation so that the size of an opening formed between the claw portions corresponds to the amount of movement of the operating lever when the workpiece is gripped by the plurality of claw portions.
The present invention is not limited to the above-described structure, as long as the claw portion is connected to the operating lever so that the size of the opening between the claw portions can be increased or decreased.
The movement amount of the operation lever is detected by a stroke sensor with respect to the position of a sensing block attached to the operation lever.
Various methods can be used to detect the amount of movement of the operating lever, but a method of detecting the position of a sensing block (dog) attached to the operating lever using a stroke sensor may be used.
The holding device of the present invention can be used as a loader of a loading device for moving a workpiece into and out of a machine tool, and can also be used by being mounted on a hand of an industrial robot or the like.
The control section for opening and closing the chuck includes a workpiece information storage section in which the type of workpiece and the gripping size of the workpiece are stored in advance.
In this case, a storage unit may be provided in a control unit of a machine tool or the like provided in the loading device or controlling the loading device, or in a control unit of an industrial robot, a robot arm, or the like, and the storage unit may store in advance workpiece information such as the type of a workpiece to be conveyed and the gripping size of the gripping unit.
Further, if the work gripping device is provided with a reading means for reading the matching data from the data group registered in advance at the time of conveyance, and a comparison means for comparing the measured value automatically measured when the work is gripped by the claw portion of the opening/closing gripper portion of the gripping device with the registered value thus read, it is possible to automatically perform the inspection of whether the work is the target correct work or whether the work is correctly placed on the claw portion or the like in the step of the gripping operation of the work.
Further, by setting the processing portion to be held when the machined workpiece is carried out, it is possible to automatically check whether or not the processing dimension is correct.
Further, the present invention can be used as an automatic diagnosis system for diagnosing whether or not there is an abnormality in the chuck or the claw.
In the present invention, it is preferable that the control section for opening and closing the chuck includes: a time-series storage unit that stores the measurement values measured by the measurement unit in time series; and an analysis unit configured to analyze a variation of the measurement value.
The loading device of the utility model is provided with the holding device.
Effects in comparison with the prior art
The utility model discloses a gripping device of work piece can utilize in the portion of gripping of various handling device's work piece to can carry out the size of the portion of gripping of measurement work piece when gripping when handling the work piece.
If there are time-series storage means for storing the measurement values in time series and analysis means for analyzing the variation obtained by the time-series storage means, it is also possible to predict the change in the wear amount of the tool, the correction and change of the NC command coordinate, and the necessity of changing the machining program, based on the change in the grip dimension of the workpiece, such as the machining portion.
The analysis using the measured values of the data such as the opening/closing speed change and the opening/closing time of the claw portion can also be used for early detection or prediction of an abnormality of the grasping apparatus.
Drawings
Fig. 1 shows an example of a loader in which the workpiece holding device of the present invention is applied to a loading device.
Fig. 2 shows the results of examining the relationship between the opening size of the jaw portion of the chuck and the amount of movement of the operating lever.
Description of the reference numerals
1 … … walking track; 2 … … arm; 3 … … a drive part; 11 … … a collet portion; 12 … … jaw portion; 13 … … operating lever; 14 … … a sensing block; 15 … … sensor section; 16 … … a cylinder portion; d … … opening size; a W … … workpiece; wo… … processing section.
Detailed Description
Hereinafter, a structural example of the workpiece holding device according to the present invention will be described with reference to the drawings, but the present invention is not limited thereto.
Fig. 1 shows an example of a loader applied to a loading device that performs NC control by an NC control unit of a machine tool.
The gripping device has a chuck portion and a claw portion 12 openably and closably attached to the chuck portion.
The claw portions 12 have differences in outer claws, inner claws, and the like depending on whether the outer peripheral portion or the inner peripheral portion of the workpiece is gripped, and the size of the opening portion of the workpiece gripped by the plurality of claw portions 12 is expressed as an opening size D.
The claw portion 12 expands and contracts the opening dimension D by the forward and backward movement of the operating lever 13.
The movement amount of the operating lever 13 is controlled by controlling a cylinder portion such as a pneumatic cylinder or a hydraulic cylinder, and the like, of the operating lever 13.
A sensing piece 14 is attached to the operating lever 13, and the position of the sensing piece 14 is detected by a sensor unit 15 such as an electromagnetic stroke sensor.
The electromagnetic stroke sensor is not limited as long as the movement amount of the operating lever 13 can be detected.
In the present embodiment, a gripping device is attached to the lower end of an arm 2 that is vertically moved and controlled by a driving unit 3, and the arm 2 is moved and controlled along a travel rail 1.
Fig. 2 shows a graph in which the vertical axis represents the amount of movement of the operating lever 13 from the reference position in the negative direction under the control of the cylinder portion 16, and the horizontal axis represents the change in the chuck opening dimension D measured by the arithmetic unit using the value detected by the sensor.
Changes in the NC data are also shown.
From this figure, it is found that a system is constructed in which the opening size of the claw portion is measured by a predetermined arithmetic unit using the amount of movement of the operation lever.
Further, although a slight fluctuation in the wave state is observed in the change of the value measured based on the value obtained by the sensor unit, an error can be reduced by using a correction method such as an approximate straight line method such as a least squares method.
As shown in fig. 1, the gripping device of the present invention grips a processing portion W of a workpiece W to be processedoWhen the workpiece W is carried out from the machine tool, only the measured value is registered in the control unit or the like in advanceThe data of (2) can be compared to determine whether the size of the processed portion is good or not.
Further, when workpieces of various sizes are loaded, it is also possible to automatically determine whether or not the workpieces are correct.
The utility model discloses because can carry out automatic measurement in sending the step, consequently can not need to carry out the survey and calculate outside the line.
Further, if the machining coordinate correction device includes a storage means for storing time series data of the measured value and an analysis means for analyzing a change amount thereof, the machining coordinate correction device may correct the machining coordinate or predict the tool life based on the change amount of the machining dimension.
Claims (5)
1. A workpiece holding device is characterized by comprising:
an opening and closing chuck for holding a workpiece; and
an operating lever for opening and closing a claw portion provided in the opening and closing chuck,
the workpiece gripping device includes a measurement unit having an operation unit for making the opening size of the claw portion of the open-close chuck correspond to the movement amount of the operating lever, and the measurement unit is capable of measuring the size of the workpiece gripped by the claw portion.
2. The workpiece holding apparatus according to claim 1,
the movement amount of the operating lever is detected by a stroke sensor with respect to the position of a sensing block attached to the operating lever.
3. The workpiece holding apparatus according to claim 2,
the control unit for opening and closing the chuck includes a workpiece information storage unit in which the type of workpiece and the gripping size of the workpiece are stored in advance.
4. The workpiece holding apparatus according to claim 3,
the control part for opening and closing the chuck comprises:
a time-series storage unit that stores the measurement values measured by the measurement unit in time series; and
and an analysis unit configured to analyze a variation of the measurement value.
5. A loading device comprising the holding device according to claim 4.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018196259A JP7178022B2 (en) | 2018-10-18 | 2018-10-18 | Work gripping device |
| JP2018-196259 | 2018-10-18 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211387902U true CN211387902U (en) | 2020-09-01 |
Family
ID=70386540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921723919.8U Active CN211387902U (en) | 2018-10-18 | 2019-10-14 | Workpiece holding device and loading device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP7178022B2 (en) |
| CN (1) | CN211387902U (en) |
| TW (1) | TWM595028U (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102021132054A1 (en) * | 2021-12-06 | 2023-06-07 | König Automatisierungstechnik GmbH | Process for controlling a system for machining a workpiece |
| CN117445019A (en) * | 2023-12-26 | 2024-01-26 | 江苏汉峰智慧工业装备有限公司 | Grabbing device of industrial robot convenient to adjust |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06143182A (en) * | 1992-10-27 | 1994-05-24 | Sony Magnescale Inc | Robot hand with measuring function |
| JP3293799B2 (en) * | 1999-06-08 | 2002-06-17 | エスエムシー株式会社 | Opening and closing chuck |
| JP5024227B2 (en) * | 2008-08-07 | 2012-09-12 | トヨタ自動車株式会社 | Robot hand |
| JP6700050B2 (en) * | 2016-01-26 | 2020-05-27 | 中村留精密工業株式会社 | Chuck opening/closing control device |
-
2018
- 2018-10-18 JP JP2018196259A patent/JP7178022B2/en active Active
-
2019
- 2019-10-14 TW TW108213517U patent/TWM595028U/en unknown
- 2019-10-14 CN CN201921723919.8U patent/CN211387902U/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| TWM595028U (en) | 2020-05-11 |
| JP7178022B2 (en) | 2022-11-25 |
| JP2020062724A (en) | 2020-04-23 |
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