JP2007276057A - Workpiece holding device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To hold and convey workpiece in various shapes by one workpiece holding device which is provided with a frame connected to a robot, and with a first to a third clamp devices supported by the frame, and which holds the workpiece by engaging the clamp of the first or the third clamp device with the workpiece. <P>SOLUTION: The second clamp device 9A is supported by the frame 7 movably in the approaching or separating direction relative to the first clamp device 9. The third clamp device 9B is supported by the frame 7 movably in the direction orthogonal to the line L connecting pin clamps 14, 14A of the first and second clamp devices 9, 9A. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention includes a frame connected to an arm of a robot and first to third clamp devices supported by the frame, and grips the workpiece by engaging the clamp of each clamp device with the workpiece. The present invention relates to a workpiece gripping device.

  The workpiece gripping device of the above type is widely used in various factories such as automobile factories or other places. The workpiece gripped by the workpiece gripping device is transported to a predetermined position by the operation of the robot arm.

  By the way, there are various types of workpieces that are gripped and transported by this type of workpiece gripping device, and their sizes and shapes are not constant. On the other hand, in the conventional workpiece gripping device, the first to third clamping devices are fixed so as not to move relative to the frame connected to the arm of the robot, and the interval between the clamping devices is constant. For this reason, it was not possible to grip and carry different forms of workpieces with one workpiece gripping device. Therefore, conventionally, multiple types of workpiece gripping devices with different intervals between the clamping devices are prepared, the workpiece gripping device is selected according to the form of the workpiece to be transported, and the selected workpiece gripping device is used as the robot arm. It was connected and gripped the workpiece of the form. However, in this case, since a plurality of workpiece gripping devices must be prepared, not only a great cost is required, but also a large space for installing the plurality of workpiece gripping devices is required. We cannot avoid the drawbacks that require replacement work.

  There has also been proposed a workpiece gripping device that has two clamping devices and the distance between the two clamping devices can be adjusted (see Patent Document 1). However, this workpiece gripping device has two clamping devices. Therefore, depending on the form of the workpiece, there is a disadvantage that the workpiece cannot be gripped in a stable state.

JP 2000-167771 A

  An object of the present invention is to provide a workpiece gripping device that eliminates the above-mentioned conventional drawbacks.

  In order to achieve the above object, the present invention provides a frame connected to an arm of a robot, a first clamping device supported so as not to move relative to the frame, and an approach or approach to the first clamping device. A second clamping device supported on the frame so as to be movable in a separating direction; and a first drive for moving the second clamping device in a direction approaching or separating from the first clamping device. Movably in a direction substantially perpendicular to a straight line connecting a device and a portion where the first clamping device engages with the workpiece and a portion where the second clamping device engages with the workpiece. A workpiece gripping device is proposed that includes a third clamping device supported in this manner and a second driving device that moves the third clamping device in a direction substantially perpendicular to the straight line (see FIG. Section 1).

  2. The workpiece gripping apparatus according to claim 1, wherein the first and second clamping devices are a pin clamp that can swing between a retracted position and a protruding position, and a clamp that swings the pin clamp. The pin clamp having the retracted position is inserted into the hole formed in the workpiece, and then the pin clamp is swung to the protruding position so that the pin clamp is engaged with the workpiece. It is advantageous if it is configured as (Claim 2).

  Further, in the workpiece gripping device according to claim 1 or 2, the third clamping device has a toothed clamp in which a plurality of teeth are formed, and the teeth of the toothed clamp are edges of the workpiece. It is advantageous if it is configured to engage with (Claim 3).

  According to the present invention, the second clamping device and the third clamping device can be moved in accordance with the shape of the workpiece to be gripped, so that various types of workpieces can be gripped by one workpiece gripping device. Can do.

  Embodiments of the present invention will be described below in detail with reference to the drawings.

  FIG. 1 is a schematic plan view showing a robot 1 and a workpiece gripping device 2 attached to the robot 1. The robot 1 shown here has a robot main body 3 and an arm 4 that protrudes from the main body 3 and rotates in the directions of arrows A and B. The workpiece gripping device 2 can be attached to and detached from the tip of the arm 4. It is attached. The robot 1 and the workpiece gripping device 2 constitute a workpiece conveyance device.

  Various types of workpieces can be gripped by the workpiece gripping device 2. Here, an example is shown in which the workpiece 5 composed of the inner panel of the back door of the automobile is transported to the outer panel 6 of the back door. The arm 4 to which the workpiece gripping device 2 is attached first rotates in the direction indicated by the arrow A in FIG. 1. When the workpiece gripping device 2 reaches the upper position of the workpiece 5, the arm 4 stops, and then The arm 4 is lowered together with the workpiece gripping device 2, and the workpiece gripping device 2 grips the workpiece 5 as described later. Next, the arm 4 is lifted together with the work gripping device 2 and the work 5 gripped by the work gripping device 2, and then rotates in the direction of arrow B. In this way, when the work 5 is transported and the work 5 reaches the upper side of the outer panel 6, the arm 4 stops. Next, the arm 4 is lowered together with the workpiece gripping device 2 and the workpiece 5, and the workpiece 5 made of an inner panel is assembled to the outer panel 6, where gripping of the workpiece 5 by the workpiece gripping device 2 is released. Subsequently, the arm 4 rises together with the workpiece gripping device 2 and rotates in the arrow A direction. On the other hand, the inner panel and the outer panel 6 assembled together are hemmed and integrated.

  FIG. 2 is a perspective view of the workpiece gripping device 2 as viewed obliquely from below. The workpiece gripping device 2 shown here has a frame 7 that is detachably connected to the tip of the arm 4 of the robot 1, and the first to third supports 8, 8 </ b> A, 8 </ b> B are attached to the frame 7. It is fixed integrally. The first to third supports 8, 8A, 8B support the first to third clamp devices 9, 9A, 9B, respectively.

  The first clamping device 9 is supported so as not to move relative to the first support 8. Since the first support 8 is fixed to the frame 7 as described above, the first clamp device 9 is supported by the frame 7 through the first support 8 so as not to be moved.

  On the other hand, the second clamping device 9A is fixedly supported by a base 10A that is slidably assembled in the direction indicated by arrows C and D on the second support 8A, and the base 10A is supported by the second support 8A. The second clamp device 9A moves toward or away from the first clamp device 9 by sliding in the directions of arrows C and D while being guided by the guide. Since the second support 8A is fixed to the frame 7, the second clamping device 9A can move in a direction approaching or separating from the first clamping device 9 via the second support 8A. To the frame 7.

  Further, the first motor 11A is fixedly supported on the second support 8A, and the base 10A is driven in the directions of arrows C and D by the operation of the first motor 11A, and the second clamp device 9A is It moves in a direction approaching or separating from the first clamping device 9. Thus, the first motor 11A constitutes an example of a first driving device that moves the second clamping device 9A in a direction approaching or separating from the first clamping device 9.

  As shown in FIG. 3, the first and second clamp devices 9 and 9A include clamp drive devices 12 and 12A, and hollow reference pins 13 and 13A fixed to the clamp drive devices 12 and 12A, respectively. It has claw-like pin clamps 14 and 14A provided in the respective reference pins 13 and 13A. The clamp driving devices 12 and 12A are composed of, for example, a motor or an air cylinder. The pin clamps 14 and 14A are driven by the reference pins shown in FIG. 13 and 13A is supported so as to be swingable between a retracted position in 13 and 13A and a protruding position shown in FIG. 3B protruding outside through openings 15 and 15A formed in the reference pins 13 and 13A. Yes.

  The clamping device 9, 9A itself provided with the pin clamps 14, 14A as described above is a conventionally known device (see Japanese Patent Laid-Open Nos. 2000-167771 and 2000-176873). The clamp driving device 12 of the clamping device 9 is fixed to the first support 8, whereby the first clamping device 9 is supported in a fixed manner with respect to the first support 8. The clamp driving device 12A of the second clamp device 9A is fixed to the base 10A slidably assembled to the second support 8A, whereby the second clamp device 9A is attached to the base 10A. It is fixedly supported.

  On the other hand, the work 5 shown in FIG. 1 is formed with a pair of holes 16 and 16A that are spaced apart from each other. In order to grip the workpiece 5 by the workpiece gripping device 2, as described above, the arm 4 of the robot 1 is rotated in the direction of arrow A, and the workpiece gripping device 2 supported by the arm 4 is positioned above the workpiece 5. When the position is reached, the arm 4 is stopped, and then the arm 4 is lowered together with the workpiece gripping device 2. As a result, as shown in FIG. 3A, the reference pins 13 and 13A of the first and second clamp devices 9 and 9A that are lowered are moved together with the pin clamps 14 and 14A provided in the workpiece 5 Are respectively inserted into the holes 16 and 16A. At this time, each pin clamp 14, 14A occupies the retracted position. When the reference pins 13 and 13A and the pin clamps 14 and 14A are inserted into the holes 16 and 16A, as shown in FIG. 3B, the pin clamps 14 and 14A are connected to the clamp driving devices 12 and 16A, respectively. 12A moves to the protruding position. As a result, the pin clamps 14 and 14A engage with the work portions around the holes 16 and 16A.

  As described above, the first and second clamping devices 9 and 9A of the workpiece gripping device 2 of this example include the pin clamps 14 and 14A that can swing between the retracted position and the protruding position, and the pin clamp 14 , 14A for oscillating 14A, and after inserting the pin clamps 14 and 14A occupying the retracted positions into the holes 16 and 16A formed in the workpiece 5, the pin clamps 14 and 14A are The pin clamps 14 and 14 </ b> A are engaged with the workpiece 5 by swinging to the protruding position.

  On the other hand, as shown in FIG. 2, a base 10B slidable in the directions of arrows E and F is also assembled to the third support 8B, and the above-described third clamp device 9B is fixed to the base 10B. Has been. The third clamping device 9B illustrated here has a toothed clamp 18 formed with a plurality of teeth 17 arranged in the vertical direction, and the base of the clamp 18 is fixed to the base 10A.

  In addition, the second motor 11B is fixedly supported on the third support 8B, and the base 10B moves in the directions of arrows E and F together with the third clamp device 9B by the operation of the second motor 11B.

  Here, as shown in FIG. 2, the portion where the pin clamp 14 of the first clamping device 9 is engaged with the workpiece 5 as described above, and the pin clamp 14 </ b> A of the second clamping device 9 </ b> A is engaged with the workpiece 5. When a straight line L connecting the points to be considered is considered, the third clamp device 9B composed of the base 10B and the toothed clamp 18 fixed to the base 10B moves in directions E and F substantially orthogonal to the straight line L. It is supported against the frame 7 as possible. The second motor 11B constitutes an example of a second driving device that moves the third clamping device 9B in directions E and F substantially orthogonal to the straight line L described above.

  As described above, the arm 4 is rotated in the direction indicated by the arrow A in FIG. 1, and when the work gripping device 2 reaches above the work 5, the arm 4 is stopped, and then the arm 4 is moved to the work gripping device. 2, the toothed clamp 18 moves downward in the window hole 19 formed in the workpiece 5 without contacting the workpiece 5 shown in FIG. 1. At this time, the teeth 17 of the toothed clamp 18 face the edge 20 of the workpiece 5 that defines the window hole 19.

  When the arm 4 reaches the lowermost position, the second motor 11B operates, the base 10B and the toothed clamp 18 move in the direction indicated by the arrow E in FIG. Engages with the edge 20 of the workpiece 5. At this time, as described above, since the pin clamps 14 and 14A of the first and second clamping devices 9 and 9A engage with the workpiece 5, the workpiece 5 is in the first to third clamping devices 9, 9A and 9B. Is gripped by. Next, the arm 4 is lifted together with the workpiece gripping device 2 and the workpiece 5 gripped by the workpiece gripping device 2, and the workpiece 5 is transported to the outer panel 6 shown in FIG. Since the work 5 is gripped by the first to third three clamping devices 9, 9A, 9B at the time of transportation, the work 5 is transported in a stable state without being inclined.

  When the workpiece 5 is placed on the outer panel 6 and assembled, the pin clamps 14 and 14A shown in FIG. 3B are operated by the clamp driving devices 12 and 12A, respectively, as shown in FIG. And the engagement between the pin clamps 14 and 14A and the workpiece 5 is released. At the same time, the toothed clamp 18 is moved in the direction of the arrow F by the operation of the second motor 11 </ b> B, and the tooth 17 moves away from the edge 20 of the workpiece 5. In this way, the gripping state of the workpiece 5 by the workpiece gripping device 2 is released. For this reason, by raising the arm 4, the workpiece gripping device can be separated from the workpiece 5 without any trouble.

  When gripping the workpiece 5 having a gap G between the pair of holes 16 and 16A of the workpiece 5 shown in FIG. 1 and a distance H from the holes 16 and 16A to the edge portion 20, the first shown in FIG. The first motor 11A is operated to move the second clamp device 9A in the directions of arrows C and D so that the distance between the pin clamps 14 and 14A matches the distance G of the workpiece 5 to be gripped. At the same time, when the toothed clamp 18 is moved in the direction of arrow E by the operation of the second motor 11B in order to engage the teeth 17 of the toothed clamp 18 with the edge 20 of the workpiece 5, the amount of movement is grasped. Control according to the distance H of the workpiece 5 to be driven. In this way, any type of workpiece can be reliably gripped by one workpiece gripping device 2 and can be transported without hindrance.

It is a top view which shows the outline of the workpiece | work holding apparatus with which the robot and the robot were mounted | worn. It is a perspective view when the workpiece gripping device is viewed obliquely from below. It is a fragmentary sectional view explaining the effect | action of a pink lamp.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot 2 Workpiece gripping device 4 Arm 5 Workpiece 7 Frame 9 1st clamp device 9A 2nd clamp device 9B 3rd clamp device 12, 12A Clamp drive device 14, 14A Pink lamp 16, 16A Hole 17 Teeth 18 With teeth Clamp 20 edge

Claims (3)

A frame connected to an arm of the robot, a first clamp device supported so as not to move relative to the frame, and movable relative to the frame so as to move toward or away from the first clamp device A second clamp device supported by the first drive device, a first drive device for moving the second clamp device in a direction approaching or separating from the first clamp device, and the first clamp device comprising a workpiece A third clamping device supported with respect to the frame so as to be movable in a direction substantially perpendicular to a straight line connecting a portion engaging with the portion where the second clamping device engages with the workpiece; A workpiece gripping device comprising: a second driving device that moves the third clamping device in a direction substantially perpendicular to the straight line. The first and second clamping devices include a pin clamp that can swing between a retracted position and a protruding position, and a clamp driving device that swings the pin clamp, and the pink that occupies the retracted position 2. The workpiece gripping device according to claim 1, wherein after inserting a ramp into a hole formed in the workpiece, the pin clamp is swung to a protruding position to engage the pin clamp with the workpiece. . The said 3rd clamp apparatus has a toothed clamp in which several teeth were formed, The tooth | gear of this toothed clamp is comprised so that the edge part of the said workpiece | work may be engaged. The workpiece gripping device described.

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