JP2019166593A - Device for holding work-piece - Google Patents

Abstract

To provide a device with improved durability for holding a work-piece, even if the work-piece has a high temperature.SOLUTION: A device 100 for holding a work-piece W comprises a pair of hand parts 104 that can be contacted with a side of the work-piece W in accordance with a width of the work-piece W, a parallel clamp mechanism 102 that holds the hand parts 104 movably in a width direction of the work-piece W, and an actuator 101 that drives the parallel clamp mechanism 102. When the actuator 101 drives the parallel clamp mechanism 102, the parallel clamp mechanism 102 moves the pair of hand parts 104, so that the pair of hand parts 104 can hold the work-piece W.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a workpiece gripping device.

  Patent Document 1 discloses a support member attached to a robot arm, a pair of holding members supported by the support member and facing each other, and an actuator that moves at least one of the pair of holding members along the support member. Are described. Further, it is described that each of the pair of holding members includes a plurality of rods provided so as to be able to be inserted and removed from one holding member toward the other holding member, and an actuator group that drives the plurality of rods. Yes. Patent Document 1 describes that the actuator group is a hydraulic cylinder that expands and contracts a rod by hydraulic pressure.

JP 2007-069333 A

  In the robot hand described in Patent Document 1, when the workpiece to be gripped is at a high temperature such as a heated metal or a forged product, the heat of the workpiece is directly transmitted from the rod to the actuator group. Therefore, there is a possibility that the rubber O-ring used for the actuator group and the resin product as its peripheral parts cannot withstand the heat transmitted from the workpiece.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a workpiece gripping device with improved durability even when the workpiece is at a high temperature.

  The workpiece gripping device according to the present invention includes a pair of hand portions that can contact the side surface of the workpiece in accordance with the width of the workpiece, and a holding portion that holds the hand portion movably in the width direction of the workpiece. A driving unit that drives the holding unit, and the driving unit drives the holding unit, so that the holding unit moves the hand unit in the width direction of the workpiece.

  In the workpiece gripping device according to the present invention, the hand portion can contact the side surface of the workpiece in accordance with the width of the workpiece, and therefore, the hand portion is provided with an actuator for moving in accordance with the shape of the workpiece. There is no need. In addition, the driving unit that drives the holding unit is connected to the hand unit that contacts the workpiece and the holding unit that holds the hand unit. Therefore, the heat of the work does not have to be transmitted directly to the drive unit. Thereby, the influence by the heat | fever of the workpiece | work with respect to a drive part can be reduced, and the durability of a drive part is improved. Accordingly, it is possible to provide a workpiece gripping device with improved durability even when the workpiece is hot.

It is a side view explaining the holding | grip apparatus and holding | grip method of the workpiece | work concerning Embodiment 1 of this invention. It is a side view explaining the holding | grip apparatus and holding | grip method of the workpiece | work concerning Embodiment 2 of this invention. It is a perspective view which shows an example of the hand part which concerns on Embodiment 2 of this invention.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view illustrating a workpiece gripping device 100 and a gripping method according to Embodiment 1 of the present invention.

  As shown in FIG. 1, the gripping device 100 according to the first embodiment includes an actuator 101 as a drive unit, a parallel clamp mechanism 102 as a holding unit, a pair of hand units 103, and the like. Further, as shown in FIG. 1, the gripping device 100 is attached to a robot arm or the like (not shown) and grips the workpiece W.

  The actuator 101 is attached to a robot arm or the like (not shown). The actuator 101 is connected to the parallel clamp mechanism 102 and drives the parallel clamp mechanism 102.

  The parallel clamp mechanism 102 holds the pair of hand portions 103 so as to be movable in the width direction of the workpiece W. Further, the parallel clamp mechanism 102 is driven by the actuator 101 to move the pair of hand portions 103 in the width direction of the workpiece W. More specifically, the parallel clamp mechanism 102 moves the pair of hand portions 103 so that the interval between the pair of hand portions 103 narrows or widens along the width direction of the workpiece W.

  The hand portion 103 can be brought into contact with the side surface of the workpiece W in accordance with the width of the workpiece W. Specifically, a surface 103A (hereinafter referred to as “opposing surface 103A”) where one hand portion 103 faces the other hand portion 103 has a stepped shape. Specifically, the distance between the facing surface 103A of one hand portion 103 and the facing surface 103A of the other hand portion 103 becomes gradually smaller as it goes upward (to the parallel clamp mechanism 102 side). . Each step portion formed on the facing surface 103 </ b> A of the hand unit 103 includes a portion that contacts the side surface of the workpiece W and a portion that contacts the upper surface of the workpiece W. In FIG. 1, two steps are formed on the facing surface 103 </ b> A of the hand unit 103. However, the number of steps provided on the facing surface 103 </ b> A is limited to the example shown in FIG. 1. is not.

  1A, the gripping device 100 is lowered toward the workpiece W by the operation of a robot arm (not shown), and the facing surface 103A of the hand unit 103 is the upper surface of the workpiece W as shown in FIG. 1B. Abut. In the example shown in FIG. 1B, the lowermost step portion of the facing surface 103 </ b> A of the hand unit 103 is in contact with the upper surface of the workpiece W. Then, as shown in FIG. 1C, the actuator 101 drives the parallel clamping mechanism 102 so that the distance between the pair of hand portions 103 is reduced along the width direction of the workpiece W. Moved. As a result, the facing surfaces 103A of the pair of hand portions 103 come into contact with the side surfaces of the workpiece W, and the gripping device 100 grips the workpiece W.

  When the width of the workpiece W is narrow, the second stepped portion from the bottom of the facing surface 103A of the hand unit 103 may be in contact with the upper surface and the side surface of the workpiece W as shown in FIG. 1D. Therefore, it is not necessary to change the parallel clamp mechanism 102 or extend the stroke of the parallel clamp mechanism 102 in accordance with the width of the workpiece W.

  According to the workpiece W gripping apparatus 100 according to the first embodiment described above, the hand unit 103 can contact the side surface of the workpiece W in accordance with the width of the workpiece W. There is no need to provide an actuator or the like for moving in accordance with the shape of the workpiece W. In addition, the actuator 101 that drives the parallel clamp mechanism 102 is connected via a hand portion 103 that contacts the workpiece W and a parallel clamp mechanism 102 that holds the hand portion 103. Therefore, the heat of the workpiece W is not directly transmitted to the actuator 101. Thereby, the influence by the heat | fever of the workpiece | work W with respect to the actuator 101 can be reduced, and durability of the actuator 101 is improved. Therefore, even when the workpiece W is at a high temperature, it is possible to provide the workpiece W gripping device 100 with improved durability.

  Moreover, since the hand part 103 can contact | abut to the side surface of the workpiece | work W according to the width | variety of the workpiece | work W, even if the shape of the workpiece | work W is a comparatively simple shape which does not have an undercut part etc. Sufficient gripping force can be obtained.

  Further, the facing surface 103A of the hand portion 103 has a stepped shape, and the distance between the facing surface 103A of one hand portion 103 and the facing surface 103A of the other hand portion 103 is the upper side (the parallel clamp mechanism 102 side). ) Is getting narrower step by step. Therefore, even if the width of the workpiece W is changed, the stepped portion of the facing surface 103A that matches the width of each workpiece W can abut on the upper surface and the side surface of the workpiece W. Therefore, even if the width of the workpiece W is changed, it is not necessary to change the parallel clamp mechanism 102 or extend the stroke of the parallel clamp mechanism 102 in accordance with the width of the workpiece W.

Embodiment 2
Next, a workpiece W gripping apparatus 100A according to Embodiment 2 of the present invention will be described with reference to FIGS. FIG. 2 is a side view for explaining a workpiece W gripping apparatus 100A and a gripping method according to Embodiment 2 of the present invention. FIG. 3 is a perspective view showing an example of the hand unit 104 according to the second embodiment. The gripping device 100A according to the second embodiment is different from the gripping device 100 according to the first embodiment in the configuration of the hand unit 104. Therefore, among the configurations of the gripping device 100A according to Embodiment 2, the same reference numerals are used for the same configurations as those of the gripping device 100 according to Embodiment 1, and descriptions thereof are omitted.

  The hand unit 104 can come into contact with the side surface of the workpiece W in accordance with the width of the workpiece W. Specifically, as shown in FIGS. 2 and 3, the hand unit 104 includes a main frame 104A, a plurality of plates 104B, a plurality of shafts 104C, an elastic portion 104D, and the like. Then, the plurality of plates 104B held by the main frame 104A move up and down along the direction of the arrow A1 in accordance with the shape of the workpiece W, so that the hand unit 104 matches the width of the workpiece W with the workpiece W It can contact the side surface of W. Hereinafter, the hand unit 104 will be described in detail.

  The main frame 104A is a long frame body in the width direction of the workpiece W. Specifically, the main frame 104A is a rectangular parallelepiped cylinder. Note that the main frame 104A only needs to have a frame shape or a cylindrical shape, and the shape is not limited to the shape shown in FIG. A plurality of plates 104B are inserted into the holes 104E of the main frame 104A. Specifically, the hole 104E of the main frame 104A is a through hole having a rectangular shape in plan view, and a plurality of plates 104B are inserted so as to be orthogonal to the main frame 104A.

  An elliptical through hole 104F having a long axis along the width direction of the workpiece W is formed on a long side surface along the width direction of the workpiece W of the main frame 104A. In other words, an elliptical through-hole 104F having a long axis along a direction orthogonal to the plate 104B is formed on the long side surface of the main frame 104A. A plurality of shafts 104C and elastic portions 104D are alternately arranged in the through holes 104F. The elastic portion 104D includes an elastic rubber, a spring, and the like. The shaft 104C is disposed at a predetermined position in the through hole 104F by the elastic force of the elastic portion 104D.

  The plate 104B is a substantially rectangular plate-like member that is long in a direction orthogonal to the main frame 104A. In addition, an elliptical through hole 104G having a long axis along a direction orthogonal to the main frame 104A is formed in the plate 104B. Each shaft 104C inserted into the through hole 104F of the main frame 104A is inserted into the through hole 104G of each plate 104B inserted into the hole 104E of the main frame 104A. Thereby, the shaft 104C rotates around the axis of the shaft 104C, so that the plate 104B can move along the direction of the arrow A1. The number of plates 104B inserted through the main frame 104A and the shape of the plates 104B are not limited to those shown in FIG.

  A plurality of fine V-shaped grooves 104H are formed on the contact surfaces of the adjacent plates 104B inserted through the holes 104E of the main frame 104A. Then, the groove 104H of one plate 104B of the adjacent plate 104B and the groove 104H of the other plate 104B are alternately positioned, so that when the plate 104B moves in the direction of the arrow A1, the contact of the adjacent plate 104B. A frictional force is generated on the contact surface. Then, by adjusting the shape and size of the plurality of grooves 104H, it is possible to adjust the slipperiness of the contact surfaces of the adjacent plates 104B.

  Then, as shown in FIG. 2A, the gripping device 100A descends toward the workpiece W by the operation of the robot arm (not shown), and the workpiece among the plurality of plates 104B of the hand unit 104 as shown in FIG. 2B. The plate 104B in contact with the upper surface of W moves toward the upper side (parallel clamp mechanism 102 side) along the direction of the arrow A1. In the example shown in FIG. 2B, five plates 104B are moving upward from the inside of the hand portion 104. Then, as shown in FIG. 2C, the pair of hand portions 104 extends along the width direction of the workpiece W so that the distance between the pair of hand portions 104 is narrowed by the actuator 101 driving the parallel clamp mechanism 102. Moved. Specifically, the main frame 104A of one hand unit 104 is moved in the direction of arrow A2 in FIG. 3, and the main frame 104A of the other hand unit 104 is moved in the direction opposite to arrow A2 in FIG. . As a result, of the plurality of plates 104B of the pair of hand portions 104, the plate 104B that has not contacted the upper surface of the workpiece W and the innermost plate 104B has contacted the side surface of the workpiece W, and the gripping device 100A grips the workpiece W. At this time, since the plurality of grooves 104H are formed on the contact surface of the plate 104B that contacts the side surface of the workpiece W, the gripping device 100A can grip the workpiece W more reliably.

  When the width of the workpiece W is narrow, for example, as shown in FIG. 2D, the two plates 104B from the inside of the hand portion 104 abut against the upper surface of the workpiece W, and the third plate 104B from the inside is the workpiece W. What is necessary is just to contact | abut. Therefore, it is not necessary to change the parallel clamp mechanism 102 or extend the stroke of the parallel clamp mechanism 102 in accordance with the width of the workpiece W.

  According to the workpiece W gripping apparatus 100A according to the second embodiment described above, the same effects as those of the gripping apparatus 100 according to the first embodiment can be obtained, and the mainframe 104A is inserted. By adjusting the number and shape of the plates 104B, the gripping device 100A can respond more finely to workpieces W having different widths and shapes.

  Further, by adjusting the shape and size of the plurality of grooves 104H formed on the contact surfaces of the adjacent plates 104B, it is possible to adjust the slipperiness of the contact surfaces of the adjacent plates 104B. Thereby, the gripping force of the gripping device 100A can be adjusted.

  Further, when the gripping device 100A grips the workpiece W, the surface having the groove 104H of the plate 104B comes into contact with the side surface of the workpiece W, so that the gripping device 100A can grip the workpiece W more reliably.

  In addition, the hand unit 104 can be configured using the main frame 104A, the plate 104B, the shaft 104C, and the elastic unit 104D having a relatively simple shape, and the hand unit 104 can be manufactured more easily.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

100, 100A Gripping device 101 Actuator (drive unit)
102 Parallel clamp mechanism (holding part)
103, 104 Hand part 103A Opposing surface 104A Main frame 104B Plate 104C Shaft 104D Elastic part 104E Hole part 104F Through hole 104G Through hole 104H Groove part W Workpiece

Claims (1)

In accordance with the width of the workpiece, a pair of hand portions that can contact the side surface of the workpiece,
A holding part for holding the hand part movably in the width direction of the workpiece;
A drive unit for driving the holding unit;
With
A workpiece gripping device in which the holding unit moves the hand unit in the width direction of the workpiece by the driving unit driving the holding unit.

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