JP2009297886A - Workpiece gripping device - Google Patents

Workpiece gripping device Download PDF

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JP2009297886A
JP2009297886A JP2008158464A JP2008158464A JP2009297886A JP 2009297886 A JP2009297886 A JP 2009297886A JP 2008158464 A JP2008158464 A JP 2008158464A JP 2008158464 A JP2008158464 A JP 2008158464A JP 2009297886 A JP2009297886 A JP 2009297886A
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workpiece
cylinder
claw
gripping
cylindrical
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JP2008158464A
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Japanese (ja)
Inventor
Manabu Ito
Masatsugu Jinno
学 伊藤
正嗣 神野
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Kitagawa Iron Works Co Ltd
株式会社北川鉄工所
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Priority to JP2008158464A priority Critical patent/JP2009297886A/en
Publication of JP2009297886A publication Critical patent/JP2009297886A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a workpiece gripping device which is provided on a robot hand and grips the workpiece with a plurality of claw parts, and comprises a gripping member that can be moved according to a change in diameter of the workpiece to handle workpieces having a variety of sizes. <P>SOLUTION: The workpiece gripping device comprises: a cylindrical body provided so that the cylindrical body can be reciprocated in a vertical direction of a cylinder axis center by driving a cylinder; a guide shaft that is provided concentrically with the axis of the cylinder and guides the movement of the cylindrical body in the axis direction; a bracket member that is provided outside the body and rotably supports a part of the claw part; and a link member that rotably connects each of the claw part and the cylindrical body. The claw part is rotationally moved with a bracket member supporting site as a rotating center to grip the workpiece. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、ロボットハンドに備えられ、複数の爪部でワークを把持するワーク把持装置に関する。   The present invention relates to a workpiece gripping device that is provided in a robot hand and grips a workpiece with a plurality of claws.
産業用のロボットハンドに備えられ、ロボットハンドがワークを運ぶ際にワークを把持するワーク把持装置として、例えば、引用文献1に記載の装置が従来より知られている。
このワーク把持装置は、他関節ロボットハンドの先端部位に取り付けられ、ワークを把持するための装置である。
このワーク把持装置は、ワークを把持する爪部を有し、ワーク着脱のために縮径状態と拡径状態に切替可能に構成されている。
このワーク把持装置は、爪部を支持する軸部材と、この軸部材に設けられ軸心方向へ伸縮可能なシリンダーと、前記軸部材の先端側部分に移動可能に外嵌され且つシリンダーと一体的に移動する筒体と、前記筒体と複数の爪部を夫々連結する複数の平行リンク機構を備えている。
As a workpiece gripping device that is provided in an industrial robot hand and grips a workpiece when the robot hand carries the workpiece, for example, a device described in the cited document 1 has been conventionally known.
This workpiece gripping device is a device that is attached to the tip portion of the other joint robot hand and grips the workpiece.
This workpiece gripping device has a claw portion for gripping a workpiece, and is configured to be switchable between a reduced diameter state and an enlarged diameter state for attaching and detaching the workpiece.
The workpiece gripping device includes a shaft member that supports the claw portion, a cylinder that is provided on the shaft member and that can be expanded and contracted in the axial direction, and is externally fitted to the tip side portion of the shaft member so as to be movable and integrated with the cylinder. And a plurality of parallel link mechanisms for connecting the cylinder and the plurality of claw portions, respectively.
このワーク把持装置がワークを把持する際には、シリンダーの上方向への短縮により筒体が上方向へ移動し、複数の平行リンク機構のリンク部材を傾動させて、爪部がワークの内方側へ平行移動し、縮径状態となる。すると、複数の爪部でワークの外周部を把持できる。
逆にワーク把持状態を解除する際には、シリンダーを下方向へ伸長させて筒体を下方向へ移動させ、複数の平行リンク機構のリンク部材の傾斜が小さくなるように傾動させて、爪部をワーク外方へ平行移動させて、拡径状態とする。
特開2001−322081号公報
When the workpiece gripping device grips the workpiece, the cylinder moves upward due to the shortening of the cylinder in the upward direction, tilts the link members of a plurality of parallel link mechanisms, and the claw portion is inward of the workpiece. It moves parallel to the side and enters a reduced diameter state. Then, the outer peripheral part of a workpiece | work can be hold | gripped with a some nail | claw part.
Conversely, when releasing the workpiece gripping state, the cylinder is extended downward to move the cylinder downward, and tilted so that the inclination of the link members of the plurality of parallel link mechanisms is reduced. Is moved parallel to the outside of the workpiece to obtain an expanded diameter state.
JP 2001-320881 A
しかしながら、前記のワーク把持装置は、シリンダーの駆動により平行リンク機構の作用によりワークを把持する爪部が外方から内方へ向けて平行移動することで、ワークを外方から内方へ向けて把持する構造になされている。
そのため、爪部が平行移動する構成のワーク把持装置は、爪の移動範囲つまりは爪の開きを大きく確保することが難しく、大きさに違いのないワークしか把持することができない。
このようなワーク把持装置では、多種多用な大きさのワークに対して1台では対応できず、ワークの把持を行なうことができない。
したがって、本発明は、ワークの径の変化に合わせて把持部材を移動させて、ワークの多様な大きさに対応できるワーク把持装置を提供することを目的とする。
However, the workpiece gripping device moves the workpiece from the outside to the inside by moving the claw portion that grips the workpiece from the outside toward the inside by the action of the parallel link mechanism by driving the cylinder. It has a structure for gripping.
For this reason, it is difficult for a workpiece gripping device having a configuration in which the claw portion moves in parallel to secure a large claw movement range, that is, a claw opening, and can grip only a workpiece having no difference in size.
With such a workpiece gripping device, a single unit cannot handle a wide variety of workpieces, and the workpiece cannot be gripped.
Therefore, an object of the present invention is to provide a workpiece gripping device that can handle various sizes of workpieces by moving a gripping member in accordance with a change in the diameter of the workpiece.
前記の課題を解決するため、本発明は、ワークを把持する複数の爪部を有し、シリンダーの軸方向の往復移動によって前記爪部を開閉させてワークを把持するワーク把持装置において、前記爪部を支持する本体と、該本体に設けられたシリンダーの駆動によりシリンダー軸心の前後方向へ往復移動可能に設けられた筒体と、前記シリンダーの軸心と同心に設けられ前記筒体の軸心方向の移動をガイドする案内軸と、前記本体の外方に設けられ爪部の一部を回転可能に支持するブラケット部材と、前記爪部と筒体を夫々回転可能に連結するリンク部材を備え、前記爪部がブラケット部材との支持部位を回転中心として回転移動しワークを把持することを特徴とする。   In order to solve the above-described problem, the present invention provides a workpiece gripping device having a plurality of claw portions for gripping a workpiece, and holding the workpiece by opening and closing the claw portion by reciprocating movement in the axial direction of a cylinder. A main body that supports the cylinder, a cylinder that can be reciprocated in the longitudinal direction of the cylinder axis by driving a cylinder provided in the main body, and a shaft of the cylinder that is provided concentrically with the axis of the cylinder A guide shaft that guides movement in the center direction, a bracket member that is provided outside the main body and rotatably supports a part of the claw portion, and a link member that rotatably connects the claw portion and the cylindrical body. And the claw portion rotates and moves around the support portion with the bracket member as a center of rotation to grip the workpiece.
また、前記シリンダーが電動シリンダーであって、前記案内軸がシリンダーの回転軸として構成され、前記筒体が案内軸とボールネジで螺合されており、案内軸の回転により筒体が往復移動することを特徴とする。   Further, the cylinder is an electric cylinder, the guide shaft is configured as a rotation shaft of the cylinder, the cylinder is screwed with the guide shaft by a ball screw, and the cylinder is reciprocated by the rotation of the guide shaft. It is characterized by.
本発明によれば、ワークを把持する爪部の開度が大きくできるので、ワークの径が変更しても、把持装置の交換を行なうことなく多種多様な大きさのワークに対応できる。
また、爪部が回転移動によりワークの把持を行なうので、ワークを下方から上方へ向けて把持でき、把持力を確実にワークへ作用させて強力な把持力でワークを掴むことができる。
According to the present invention, since the opening degree of the claw portion that grips the workpiece can be increased, it is possible to deal with workpieces of various sizes without changing the gripping device even if the diameter of the workpiece is changed.
In addition, since the claw portion grips the workpiece by rotational movement, the workpiece can be gripped from below to above, and the workpiece can be gripped with a strong gripping force by reliably applying the gripping force to the workpiece.
以下に本発明の実施例について図を用いて説明する。
図1〜3は本発明のワーク把持装置の実施例の断面図を示す。
図1はワークを把持する爪部を開いた状態の断面図である。図2は、爪部を閉じてワークを把持した状態の断面図である。図3は2点鎖線で開いた爪部を示し、実線で完全に閉じた状態を示しており、本発明のワーク把持装置の把持可能範囲を示した断面図である。
Embodiments of the present invention will be described below with reference to the drawings.
1-3 show sectional views of an embodiment of the workpiece gripping device of the present invention.
FIG. 1 is a cross-sectional view of a state in which a claw portion that grips a workpiece is opened. FIG. 2 is a cross-sectional view showing a state in which the claw portion is closed and the workpiece is gripped. FIG. 3 shows a claw portion opened by a two-dot chain line, and shows a completely closed state by a solid line, and is a cross-sectional view showing a grippable range of the workpiece gripping device of the present invention.
図1で示すように、本発明のワーク把持装置は各機構部位を内包する本体1と、ワーク12を把持する爪部3と、本体1に支持されるシリンダー2と、シリンダー2の駆動によりシリンダー2の軸心方向に往復動する筒体4と、筒体4の往復動をガイドする軸心方向に設けられた案内軸5と、筒体4の往復動を爪部3の回転運動に変換するリンク部材8を有する。
ワーク把持部分は周方向120°間隔おきに配置されて3つの爪部3から構成されている。
As shown in FIG. 1, the workpiece gripping device of the present invention includes a main body 1 containing each mechanism part, a claw portion 3 for gripping a workpiece 12, a cylinder 2 supported by the main body 1, and a cylinder driven by the cylinder 2. The cylindrical body 4 reciprocating in the axial direction of 2, the guide shaft 5 provided in the axial direction for guiding the reciprocating movement of the cylindrical body 4, and the reciprocating motion of the cylindrical body 4 are converted into the rotational motion of the claw portion 3. The link member 8 is provided.
The workpiece gripping portion is composed of three claw portions 3 arranged at intervals of 120 ° in the circumferential direction.
本体1は内部に機構部分を収容するように空洞部を有して形成されている。本体1の内部上方にはシリンダー2が組み込まれており、本実施例においてシリンダー2は電動シリンダー11が用いられている。
電動シリンダー11はモーター部を本体1の内部へ固着されて取り付けられ、モーター部の動力により回転部位である回転シャフトが案内軸5として回転可能に本体の下方部位へベアリング9を介して接続されている。
案内軸5の外周には筒体4が外嵌されており、筒体4は案内軸5とボールネジ15で螺合されて設けられている。電動シリンダー11の駆動により案内軸5が回転することで、案内軸5とボールネジ11で螺合している筒体4は軸心方向へ往復動するようになされている。
この筒体4の外周には3つの連結部位7が周方向120°間隔おきに固着されており、連結部位7は各々移動ピン19を介してリンク部材8と連結されている。
The main body 1 is formed with a hollow portion so as to accommodate the mechanism portion therein. A cylinder 2 is incorporated in the upper part of the main body 1, and an electric cylinder 11 is used as the cylinder 2 in this embodiment.
The electric cylinder 11 is attached with a motor part fixed to the inside of the main body 1, and a rotating shaft which is a rotating part is connected to a lower part of the main body via a bearing 9 so as to be rotatable as a guide shaft 5 by the power of the motor part. Yes.
A cylindrical body 4 is fitted on the outer periphery of the guide shaft 5, and the cylindrical body 4 is provided by being screwed with a guide shaft 5 and a ball screw 15. By rotating the guide shaft 5 by driving the electric cylinder 11, the cylindrical body 4 screwed with the guide shaft 5 and the ball screw 11 is reciprocated in the axial direction.
Three connecting portions 7 are fixed to the outer periphery of the cylindrical body 4 at intervals of 120 ° in the circumferential direction, and the connecting portions 7 are connected to the link member 8 via moving pins 19 respectively.
本体1の外周外方には爪部3を支持するブラケット部材6が周方向120°間隔おきに備えられており、ブラケット部材6は支点ピン18を介して爪部3を回転自在に支持している。
ブラケット部材6に回転自在に支持される爪部3は一端側に本体のブラケット部材6と連結する固定連結部13と、リンク部材8と連結する自由連結部14を有し、一方の他端側にはワーク12をつかむワーク把持部10を有して構成されている。
この爪部3の固定連結部13と自由連結部14は各々ブラケット部材6とリンク部材8へ回転自在に連結されている。
リンク部材8は筒体4に備えられた連結部位7と、爪部3の自由連結部14とを連結するように設けられている。リンク部材8と筒体4の連結部位7は移動ピン19を介して回転自在に連結されており、さらにリンク部材8と爪部3の自由連結部14は自由ピン20を介して回転自在に連結されている。
前記の構成によって、シリンダー2の駆動による案内軸5の回転動作により、筒体4が軸心方向へ往復移動することで爪部3が回転移動するように設けられている。
Bracket members 6 that support the claw portions 3 are provided outside the outer periphery of the main body 1 at intervals of 120 ° in the circumferential direction, and the bracket members 6 support the claw portions 3 rotatably via fulcrum pins 18. Yes.
The claw portion 3 that is rotatably supported by the bracket member 6 has a fixed connection portion 13 that is connected to the bracket member 6 of the main body and a free connection portion 14 that is connected to the link member 8 on one end side. Is configured to have a workpiece gripping portion 10 for gripping the workpiece 12.
The fixed connecting portion 13 and the free connecting portion 14 of the claw portion 3 are rotatably connected to the bracket member 6 and the link member 8, respectively.
The link member 8 is provided so as to connect the connecting portion 7 provided in the cylindrical body 4 and the free connecting portion 14 of the claw portion 3. The connecting part 7 of the link member 8 and the cylinder 4 is rotatably connected via a moving pin 19, and the free connecting part 14 of the link member 8 and the claw part 3 is rotatably connected via a free pin 20. Has been.
With the above-described configuration, the claw portion 3 is provided to rotate by the cylinder 4 reciprocating in the axial direction by the rotation of the guide shaft 5 driven by the cylinder 2.
次に本発明のワーク把持装置の動作について図面を示して説明する。
図1にはワーク把持装置の爪部3が開いた状態を示し、図2には爪部3が閉じてワーク12の外周部を把持している状態を示している。
図1に示すように爪部3が開いた状態からワーク12を把持する際には、駆動源である電動シリンダー2が作動し、回転シャフトである案内軸5が回転する。案内軸5が回転することにより、案内軸5の外周へボールネジ15で螺合している筒体4が軸心方向の図1における上方向へ移動される。
Next, the operation of the workpiece gripping device of the present invention will be described with reference to the drawings.
FIG. 1 shows a state where the claw portion 3 of the workpiece gripping device is opened, and FIG. 2 shows a state where the claw portion 3 is closed and grips the outer peripheral portion of the workpiece 12.
As shown in FIG. 1, when the workpiece 12 is gripped from the state in which the claw portion 3 is open, the electric cylinder 2 that is a drive source is operated, and the guide shaft 5 that is a rotating shaft rotates. As the guide shaft 5 rotates, the cylindrical body 4 screwed onto the outer periphery of the guide shaft 5 with the ball screw 15 is moved upward in FIG. 1 in the axial direction.
図2に示すように筒体4が軸心方向の上方へ移動すると、筒体4の外周に備えられた連結部位7に移動ピン19を介して回転自在に連結されるリンク部材8の一端側が上方へ引き上げられる。
リンク部材8の他端側に自由ピン20を介して連結される爪部3の自由連結部14は、リンク部材8の上方への移動に伴い同様に上方へ引き上げられる。
爪部3は端部の固定連結部13を本体1に固着されているブラケット部材6へ支点ピン18を介して回転自在に連結されているので、固定連結部13の支持ピン18を中心点として爪部3が回転移動し、爪部3の先端部であるワーク把持部10は内方へ向けて回転移動する。
前述のようなリンク機構の動作によって、電動シリンダー11の駆動力が爪部3の回転方向への作用力に変換され、爪部3は固定連結部13の支持ピン18を中心に内方へ回転移動されて、図2に示すようにワーク12の外周部を把持することができる。
As shown in FIG. 2, when the cylinder 4 moves upward in the axial direction, one end side of the link member 8 that is rotatably connected to the connection portion 7 provided on the outer periphery of the cylinder 4 via the moving pin 19 is Pulled up.
The free connecting portion 14 of the claw portion 3 connected to the other end side of the link member 8 via the free pin 20 is similarly lifted upward as the link member 8 moves upward.
Since the claw portion 3 is rotatably connected to the bracket member 6 fixed to the main body 1 via the fulcrum pin 18, the claw portion 3 is centered on the support pin 18 of the fixed connection portion 13. The claw part 3 rotates and the workpiece gripping part 10 which is the tip part of the claw part 3 rotates and moves inward.
By the operation of the link mechanism as described above, the driving force of the electric cylinder 11 is converted into the acting force in the rotation direction of the claw portion 3, and the claw portion 3 rotates inward about the support pin 18 of the fixed connection portion 13. The outer periphery of the workpiece 12 can be gripped as shown in FIG.
図3には、本発明のワーク把持装置におけるワーク把持可能範囲を図示している。図3において、2点鎖線で開いた状態の爪部3aを表しており、実線で最も閉じた状態の爪部3bを表している。
図3中で示している把持可能範囲の間で爪部3が可動できるので、その範囲内での大きさのワーク12を把持することが可能となり、多種多様な大きさのワーク12を把持することができる。
これにより、製造現場などで発生する大きさの混在するワーク12の搬送を産業用ロボットで行なう際には、ワーク把持装置をワーク12の大きさ毎に交換することなく、ひとつのワーク把持装置で連続的に搬送作業を行なうことができ、交換作業時間の削減や、作業者の作業負荷の低減など多大な効果が得られる。
FIG. 3 shows a work grippable range in the work gripping apparatus of the present invention. In FIG. 3, the claw part 3a in the open state is represented by a two-dot chain line, and the claw part 3b in the most closed state is represented by a solid line.
Since the nail | claw part 3 can move within the grippable range shown in FIG. 3, it becomes possible to hold | grip the workpiece | work 12 of the magnitude | size in the range, and hold | grips the workpiece | work 12 of various sizes. be able to.
As a result, when an industrial robot transports a workpiece 12 having mixed sizes generated at a manufacturing site or the like, the workpiece gripping device is replaced by one workpiece gripping device without changing the workpiece 12 for each size. Conveying work can be performed continuously, and great effects such as reduction in replacement work time and reduction in worker workload can be obtained.
図4には本発明の第2の実施例を示している。
図4に示すワーク把持装置は、爪部3の駆動源としてシリンダーロッド16が伸縮自在なシリンダー2を備えている。このシリンダー2は油圧シリンダーやエアシリンダーなどのピストンを有してシリンダーロッド16が軸心方向に伸縮するものであり、シリンダーロッド16は本体1に固着されている案内軸5の外周に外嵌されている。
第2の実施例の案内軸5は先端部位が本体1に固着されて設けられ、回転しない固定軸17に構成されており、固定軸17に案内されてシリンダーロッド16が軸心方向へ伸縮される。ジリンダーロッド16の先端部位には筒体4が固着されており、筒体4もシリンダーロッド16と同様に固定軸17の外周へ外嵌されている。
筒体4には前述の実施例と同様にリンク部材8を介して爪部3が備えられ、筒体4の軸心方向の移動により爪部3が回転移動するように設けられている。
FIG. 4 shows a second embodiment of the present invention.
The work gripping apparatus shown in FIG. 4 includes a cylinder 2 in which a cylinder rod 16 can be expanded and contracted as a drive source for the claw portion 3. The cylinder 2 has a piston such as a hydraulic cylinder or an air cylinder, and a cylinder rod 16 expands and contracts in the axial direction. The cylinder rod 16 is fitted on the outer periphery of the guide shaft 5 fixed to the main body 1. ing.
The guide shaft 5 of the second embodiment is provided with a tip portion fixed to the main body 1 and is configured as a fixed shaft 17 that does not rotate, and is guided by the fixed shaft 17 so that the cylinder rod 16 is expanded and contracted in the axial direction. The The cylindrical body 4 is fixed to the distal end portion of the girder rod 16, and the cylindrical body 4 is also fitted on the outer periphery of the fixed shaft 17 in the same manner as the cylinder rod 16.
The cylindrical body 4 is provided with the claw portion 3 via the link member 8 in the same manner as in the above-described embodiment, and is provided so that the claw portion 3 rotates by the movement of the cylindrical body 4 in the axial direction.
以下に第2の実施例の動作について説明する。
シリンダー2が駆動すると、シリンダーロッド16が短縮し、シリンダーロッド16の先端部位に接続された筒体4が案内軸5である固定軸17にガイドされて軸心方向の上方へ移動される。
筒体4が軸心方向の上方へ移動すると、筒体4の外周に備えられた連結部位7に移動ピン19を介して回転自在に連結されるリンク部材8の一端側が上方へ引き上げられる。
リンク部材8の他端側に自由ピン20を介して連結される爪部3の自由連結部14は、リンク部材8の上方への移動に伴い同様に上方へ引き上げられる。
爪部3は端部の固定連結部13を本体1に固着されているブラケット部材6へ支点ピン18を介して回転自在に連結されているので、固定連結部13の支持ピン18を中心点として爪部3が回転移動し、爪部3の先端部であるワーク把持部10は内方へ向けて回転移動する。
前述のようなリンク機構の動作によって、シリンダー2の駆動力が爪部3の回転方向への作用力に変換され、爪部3は固定連結部13の支持ピン18を中心に内方へ回転移動されて、ワークの外周部を把持することができる。
The operation of the second embodiment will be described below.
When the cylinder 2 is driven, the cylinder rod 16 is shortened, and the cylindrical body 4 connected to the tip portion of the cylinder rod 16 is guided by the fixed shaft 17 that is the guide shaft 5 and moved upward in the axial direction.
When the cylindrical body 4 moves upward in the axial direction, one end side of the link member 8 that is rotatably connected to the connecting portion 7 provided on the outer periphery of the cylindrical body 4 via the moving pin 19 is pulled upward.
The free connecting portion 14 of the claw portion 3 connected to the other end side of the link member 8 via the free pin 20 is similarly lifted upward as the link member 8 moves upward.
Since the claw portion 3 is rotatably connected to the bracket member 6 fixed to the main body 1 via the fulcrum pin 18, the claw portion 3 is centered on the support pin 18 of the fixed connection portion 13. The claw part 3 rotates and the workpiece gripping part 10 which is the tip part of the claw part 3 rotates and moves inward.
By the operation of the link mechanism as described above, the driving force of the cylinder 2 is converted into an acting force in the rotation direction of the claw portion 3, and the claw portion 3 rotates inwardly around the support pin 18 of the fixed connection portion 13. Thus, the outer periphery of the workpiece can be gripped.
前記2つの実施例において、爪部3の移動が内方へ向けて回転移動されて、ワーク12の外周部を掴んで把持する構成でなされている。しかしながら、ワーク12の把持は外周把握のみではなく、例えば円筒形状のワーク12を掴む際には円筒内周面を爪部3が外方へ向けて回転移動して掴んで把持する内周把握を行なうこともある。本発明においてもシリンダー2の駆動によって爪部3を外方へ回転移動させてワーク12の内周部を掴んで把持することもでき、ワーク12の形状に限定されることなく多種多様なワーク12の把持を行なうことができる。
In the two embodiments, the movement of the claw portion 3 is rotationally moved inward so that the outer peripheral portion of the workpiece 12 is grasped and grasped. However, gripping the workpiece 12 is not only grasping the outer periphery, but when grasping the cylindrical workpiece 12, for example, grasping and grasping the inner periphery of the cylindrical inner peripheral surface by the claw portion 3 rotating and moving outward. Sometimes done. Also in the present invention, the claw portion 3 can be rotated outward by driving the cylinder 2 to grip and grip the inner peripheral portion of the workpiece 12, and the workpiece 12 is not limited to the shape of the workpiece 12. Can be held.
本発明のワーク把持装置の爪を開いた状態の断面図。Sectional drawing of the state which opened the nail | claw of the workpiece holding apparatus of this invention. ワーク把持装置のワークを把持した状態の断面図。Sectional drawing of the state which hold | gripped the workpiece | work of the workpiece | work holding device. ワーク把持装置におけるワーク把持可能範囲を示した断面図。Sectional drawing which showed the workpiece | work graspable range in a workpiece | work grasping apparatus. 第2実施例のワーク把持装置の断面図。Sectional drawing of the workpiece holding apparatus of 2nd Example.
符号の説明Explanation of symbols
1 本体
2 シリンダー
3 爪部
4 筒体
5 案内軸
6 ブラケット部材
7 連結部位
8 リンク部材
12 ワーク
15 ボールネジ
DESCRIPTION OF SYMBOLS 1 Main body 2 Cylinder 3 Claw part 4 Cylinder 5 Guide shaft 6 Bracket member 7 Connection part 8 Link member 12 Work 15 Ball screw

Claims (2)

  1. ワークを把持する複数の爪部を有し、シリンダーの軸方向の往復移動によって前記爪部を開閉させてワークを把持するワーク把持装置において、前記爪部を支持する本体と、該本体に設けられたシリンダーの駆動によりシリンダー軸心の上下方向へ往復移動可能に設けられた筒体と、前記シリンダーの軸心と同心に設けられ前記筒体の軸心方向の移動をガイドする案内軸と、前記本体の外方に設けられ爪部の一部を回転可能に支持するブラケット部材と、前記爪部と筒体を夫々回転可能に連結するリンク部材を備え、前記爪部がブラケット部材との支持部位を回転中心として回転移動しワークを把持することを特徴とするワーク把持装置。
    In a workpiece gripping device having a plurality of claw portions for gripping a workpiece and holding the workpiece by opening and closing the claw portion by reciprocating movement in the axial direction of a cylinder, a main body for supporting the claw portion, and a main body provided on the main body A cylinder that is reciprocally movable in the vertical direction of the cylinder axis by driving the cylinder, a guide shaft that is provided concentrically with the axis of the cylinder and guides the movement of the cylinder in the axis direction, A bracket member provided on the outside of the main body for rotatably supporting a part of the claw portion; and a link member for rotatably connecting the claw portion and the cylindrical body, wherein the claw portion is a support site for the bracket member. A workpiece gripping device characterized by gripping a workpiece by rotating and moving around the center of rotation.
  2. 前記シリンダーが電動シリンダーであって、前記案内軸がシリンダーの回転軸として構成され、前記筒体が案内軸とボールネジで螺合されており案内軸の回転により筒体が往復移動することを特徴とする請求項1に記載のワーク把持装置。 The cylinder is an electric cylinder, the guide shaft is configured as a rotation shaft of the cylinder, the cylinder is screwed with a guide shaft by a ball screw, and the cylinder is reciprocated by rotation of the guide shaft. The workpiece gripping apparatus according to claim 1.
JP2008158464A 2008-06-17 2008-06-17 Workpiece gripping device Pending JP2009297886A (en)

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Cited By (18)

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Publication number Priority date Publication date Assignee Title
CN101863031A (en) * 2010-05-25 2010-10-20 中国电子科技集团公司第四十五研究所 Multi-dimensional manipulator driving device for special equipment of semiconductor
CN102189541A (en) * 2010-03-10 2011-09-21 山东中际电工装备股份有限公司 Stator clamp manipulator
KR101193841B1 (en) * 2010-05-28 2012-10-23 현대제철 주식회사 Measuring device for slab
CN103507078A (en) * 2013-10-10 2014-01-15 哈尔滨工业大学 Mechanical gripper with three-finger structure
CN104326263A (en) * 2013-07-22 2015-02-04 海安县荣海机械制造有限公司 Clamping device
CN105196028A (en) * 2015-11-11 2015-12-30 无锡清杨机械制造有限公司 Pneumatic positioning mechanism
CN105619437A (en) * 2014-10-31 2016-06-01 中国科学院沈阳自动化研究所 Modular two-degree-of-freedom gripper
CN106112453A (en) * 2016-08-30 2016-11-16 吴中区横泾嘉运模具厂 Valve body and the valve body feeding jaw unit of rubber ring assemble mechanism
CN106182062A (en) * 2016-08-08 2016-12-07 苏州亘富机械科技有限公司 A kind of mechanical hand component of Pneumatic replaceable gripper
CN106272405A (en) * 2016-10-31 2017-01-04 哈尔滨理工大学 A kind of based on paint can conveying robot
CN106272396A (en) * 2016-10-31 2017-01-04 哈尔滨理工大学 A kind of electric grasping manipulator
CN106426259A (en) * 2016-10-09 2017-02-22 宜昌长机科技有限责任公司 Paw structure and grabbing method for automatic grabbing of engine shell
WO2017028508A1 (en) * 2015-08-16 2017-02-23 深圳市越疆科技有限公司 Grasping mechanism and robot
CN106584498A (en) * 2016-11-23 2017-04-26 西北工业大学 Grapping mechanism and method for spatial targets
JP2018065885A (en) * 2016-10-17 2018-04-26 株式会社メガテック Brick conveyor for repairing brick in combustion chamber of coke oven
CN108656146A (en) * 2018-05-29 2018-10-16 北京航空航天大学 A kind of multi-functional three fingers mechanical paw of continuous rotation
CN110353941A (en) * 2019-07-26 2019-10-22 梅宇波 A kind of fully-automatic intelligent adductor straddle device
CN111113474A (en) * 2019-12-25 2020-05-08 浙江省北大信息技术高等研究院 Be applied to small-size triangle mechanical claw and robot that piece snatched

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102189541A (en) * 2010-03-10 2011-09-21 山东中际电工装备股份有限公司 Stator clamp manipulator
CN101863031A (en) * 2010-05-25 2010-10-20 中国电子科技集团公司第四十五研究所 Multi-dimensional manipulator driving device for special equipment of semiconductor
KR101193841B1 (en) * 2010-05-28 2012-10-23 현대제철 주식회사 Measuring device for slab
CN104326263A (en) * 2013-07-22 2015-02-04 海安县荣海机械制造有限公司 Clamping device
CN103507078A (en) * 2013-10-10 2014-01-15 哈尔滨工业大学 Mechanical gripper with three-finger structure
CN105619437A (en) * 2014-10-31 2016-06-01 中国科学院沈阳自动化研究所 Modular two-degree-of-freedom gripper
WO2017028508A1 (en) * 2015-08-16 2017-02-23 深圳市越疆科技有限公司 Grasping mechanism and robot
CN105196028A (en) * 2015-11-11 2015-12-30 无锡清杨机械制造有限公司 Pneumatic positioning mechanism
CN106182062A (en) * 2016-08-08 2016-12-07 苏州亘富机械科技有限公司 A kind of mechanical hand component of Pneumatic replaceable gripper
CN106112453A (en) * 2016-08-30 2016-11-16 吴中区横泾嘉运模具厂 Valve body and the valve body feeding jaw unit of rubber ring assemble mechanism
CN106426259A (en) * 2016-10-09 2017-02-22 宜昌长机科技有限责任公司 Paw structure and grabbing method for automatic grabbing of engine shell
JP2018065885A (en) * 2016-10-17 2018-04-26 株式会社メガテック Brick conveyor for repairing brick in combustion chamber of coke oven
CN106272396A (en) * 2016-10-31 2017-01-04 哈尔滨理工大学 A kind of electric grasping manipulator
CN106272405A (en) * 2016-10-31 2017-01-04 哈尔滨理工大学 A kind of based on paint can conveying robot
CN106584498A (en) * 2016-11-23 2017-04-26 西北工业大学 Grapping mechanism and method for spatial targets
CN108656146A (en) * 2018-05-29 2018-10-16 北京航空航天大学 A kind of multi-functional three fingers mechanical paw of continuous rotation
CN108656146B (en) * 2018-05-29 2020-11-10 北京航空航天大学 Continuous-rotation multifunctional three-finger mechanical gripper
CN110353941A (en) * 2019-07-26 2019-10-22 梅宇波 A kind of fully-automatic intelligent adductor straddle device
CN111113474A (en) * 2019-12-25 2020-05-08 浙江省北大信息技术高等研究院 Be applied to small-size triangle mechanical claw and robot that piece snatched

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