JP2022023736A - Workpiece gripper - Google Patents

Abstract

To provide a workpiece gripper capable of simplifying a device configuration.SOLUTION: In a workpiece gripper 100, a first workpiece gripping portion 31 is equipped with a first rocking member 311 rockably supported by a first supporting portion 21 with respect to a device body 100, and a first roller member 312 arranged to the first rocking member 311 through the first supporting portion 21. A second gripping portion 32 is equipped with a second rocking member 321 rockably supported by a second supporting portion 22 with respect to the device body 100, and a second roller member 322 arranged to the second rocking member 321 through the second supporting portion 22. The workpiece gripper 100 makes a workpiece W enter between the first workpiece gripping portion 31 and the second workpiece gripping portion 32 to grip the workpiece W while the first roller member 312 of the first workpiece gripping portion 31 and the roller member 322 of the second workpiece gripping portion 32 contact a front surface W1 and a back surface W2 of the workpiece W.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work holding device.

Conventionally, in the manufacturing process of a vehicle body, each sub-assy panel member is transported and integrated to an assembly line or area, and the assembly member is assembled by spot welding or the like. Generally, a loader and a material handling (so-called material handling) provided with a clamper and a suction member are used for transporting each panel member (see, for example, Patent Documents 1 and 2).

The above Patent Document 1 discloses a temporarily assembled parts transporting device that transports panel parts in a temporarily assembled state. This Patent Document 1 describes that, as a process of transporting panel parts, the panel parts are transported to the panel component loading stage by a transport device such as a loader, and then the panel components are transported to the assembly stage by a transfer bar. ..

Further, in Patent Document 1, the transfer bar includes a large number of support members, clamp members, holding members, and the like, and by using the members as described above, a plurality of panels mounted on the assembly stage. It is stated that parts can be transported in a temporarily assembled state at one time.

The above-mentioned Patent Document 2 discloses a rocker panel transport device for transporting a rocker panel serially fixed to a chassis structure in a suspended state in order to support a floor at an entrance / exit of an automobile door.

Further, in Patent Document 2, the rocker panel transport device is provided with a transport rail for transporting the rocker panel to the assembly site in the assembly line, and the rocker panel is mounted on the transport rail for transport. It is stated that the frame is movably mounted.

Further, in Patent Document 2, an elevating frame is continuously provided to the transport frame via a spring balancer in the traveling direction, and a separate rocker panel support frame is continuously provided via the elevating frame. It is described that the bevel gear shaft mounted on the rocker panel support frame is interlocked with the suction cup mechanism of the rocker panel suction mechanism, and the rocker panel is rotatably mounted (sucked) via the suction cup mechanism. There is.

Japanese Unexamined Patent Publication No. 5-116657 Japanese Unexamined Patent Publication No. 2020-66105

However, the panel component transport device disclosed in Patent Documents 1 and 2 is provided with a large number of support members, clamp members, holding members, suction mechanism (sucker mechanism), and the like in order to transport the panel members. Therefore, there is a problem that the number of parts of the transport device increases and the device becomes expensive accordingly. For example, taking a clamp member using a clamp cylinder as an example, the above-mentioned problems occur because air power, an electromagnetic valve for operating the cylinder, and the like are required. Furthermore, it is necessary to secure sufficient space so that the mounting side of the clamp (robot, etc.) does not interfere with the jig on which the panel is placed or the stand side. In addition, it is difficult to respond in a short period of time because it takes several weeks to install the above-mentioned transport device.

The present invention has been made from such a background, and by simplifying the device configuration, it is possible to construct the device at low cost, secure the installation place of the device, and shorten the period required for installing the device. A work holding device capable of holding a work is desired.

The present invention has been made to solve the above problems, and an object of the present invention is to simplify the device configuration of the work sandwiching device.

In order to achieve the above object, the present invention is configured as follows.

(1) The work holding device of the present invention includes a first work holding portion, a second work holding portion, and the first work holding portion arranged so as to form a pair with the main body of the device. A support portion for supporting the second work holding portion with respect to the device main body so as to be able to swing in a direction in which the second work holding portion is close to each other is provided, and the work is provided between the first work holding portion and the second work holding portion. The first work holding portion and the second work holding portion are swingably supported by the support portion with respect to the device main body, respectively. The swing member is provided with a roller member via the support portion, and the work is inserted between the first work holding portion and the second work holding portion. The work can be sandwiched in a state where the roller member included in the first work sandwiching portion and the roller member included in the second work sandwiching portion are in contact with the front surface and the back surface of the work.

According to the above configuration, when the work is inserted between the first work holding portion and the second work holding portion, the work can be sandwiched by the roller members provided in the first work holding portion and the second work holding portion. Thereby, the work can be sandwiched and held without requiring the power for driving the first work sandwiching portion and the second work sandwiching portion in the direction of sandwiching the work. Therefore, the device configuration can be simplified. Further, in the above configuration, the first work holding portion and the second work holding portion can swing according to the shape of the work by the swing member and the roller member provided in the first work holding portion and the second work holding portion. As a result, it becomes difficult for a gap to be formed between the work and the roller member as the work enters.

(2) In the work holding device of the present invention, a concave engagement that engages with the work is performed on an extension of the approach path of the work formed between the first work holding portion and the second work holding portion. It is good that a part is provided. With this configuration, when the work is pinched by the first work pinching portion and the second work pinching portion, the edge portion on the back side in the approach direction of the work engages with the engaging portion, so that the approach direction of the work. The work can be sandwiched in a state where the edge on the back side is suppressed from unstable movement.

(3) In the work holding device of the present invention, it is preferable that a plurality of the roller members provided in the first work holding portion and the second work holding portion are provided in the approach direction of the work. With this configuration, the work can be sandwiched by the roller members at a plurality of locations in the approach direction, so that the work can be stably sandwiched so as not to fall off in the traveling direction.

(4) In the work holding device of the present invention, it is preferable that the clearance between the roller members provided by the first work holding portion and the second work holding portion is smaller than the thickness of the work. With this configuration, when the work is inserted between the roller member of the first work holding portion and the roller member of the second work holding portion, it is possible to allow the work to enter without a gap between the roller members and the work. Therefore, the work can be firmly sandwiched between the roller members.

According to the aspect of the present invention, it is possible to provide a work holding device capable of simplifying the device configuration.

(A) is a schematic perspective view showing a transport device including a work holding device according to the present embodiment, and (b) is a diagram showing a state when a work enters the work holding device. (A) is a diagram showing a state in which the first and second work holding portions of the work holding device hold the work, and (b) shows a state in which the holding portion of the work holding device holds the work. It is a figure. It is a figure which shows the state of holding a work such as a continuous corrugated press product in the work holding device by the modification of this embodiment.

Hereinafter, embodiments of a transport device including a work holding device according to the present invention will be described with reference to the accompanying drawings. These figures are schematic views and do not necessarily show the sizes in accurate ratios. Further, in the figure, similar components are indicated by the same reference numerals.

As shown in FIG. 1A, the work holding device 100 according to the present embodiment includes a driving unit 101 such as a robot arm and a work holding device 102 provided in the driving unit 101. The work pinching device 102 is moved by the drive unit 101 to a line or area on which the work W such as a panel member constituting the vehicle body is placed, and after the work pinching device 102 sandwiches the work W, the next work line or area It is configured to be transportable to. As shown in FIGS. 1 (a) and 1 (b), the work W is a panel member constituting the vehicle body as described above, and is subjected to, for example, press working or welding with respect to the thickness direction. The shape is unevenly deformed.

The work holding device 102 includes a device main body 10, a first support portion 21, a second support portion 22, a first work holding portion 31, a second work holding portion 32, and an engaging portion 40. .. The device main body 10 has a substantially C-shape when viewed from the side. The first support portion 21 and the second support portion 22 are made of a shaft-shaped member. The first work holding portion 31 is supported by the first support portion 21 so as to be swingable in the clockwise direction and the counterclockwise direction with respect to the apparatus main body 10. The second work holding portion 32 is supported by the second support portion 22 so as to be swingable in the clockwise direction and the counterclockwise direction with respect to the apparatus main body 10. The engaging portion 40 is provided on the device main body 10.

The first work holding portion 31 and the second work holding portion 32 are located along the thickness direction of the work W at the end portions 10a and the end portions 10b on the front side in the approach direction of the work W in the apparatus main body 10, respectively, at predetermined intervals. They are arranged so as to form a pair. The first work pinching portion 31 and the second work pinching portion 32 are configured so that the work W can be moved back and forth between the first work pinching portion 31 and the second work pinching portion 32 so that the work W can be pinched and released.

The first work holding portion 31 includes one first swing member 311 and four first roller members 312. The first swing member 311 is arranged so as to extend along the approach direction of the work W. The substantially central portion of the first rocking member 311 with respect to the longitudinal direction is supported by the first support portion 21 from the side (width direction of the work W) with respect to the apparatus main body 10.

The first support portion 21 supports the first work sandwiching portion 31 with respect to the device main body 10 so that the first work sandwiching portion 31 and the second work sandwiching portion 32 can swing in directions in which they are close to each other and separated from each other. Is. The first support portion 21 is attached to the apparatus main body 10 from the side (in the width direction of the work W) via the first rocking member 311.

Two first roller members 312 are arranged at the end 311a on the front side in the approach direction of the work W with respect to the first support portion 21 of the first swing member 311 via the shaft portion 313. These two first roller members 312 are arranged one by one in the width direction of the work W with respect to the first rocking member 311.

Similarly, two first roller members 312 are arranged at the end 311b on the back side of the work W with respect to the first support portion 21 in the first swing member 311 via the shaft portion 313. These two first roller members 312 are arranged one by one in the width direction of the work W with respect to the first rocking member 311.

The first roller member 312 is configured to be rotatable with respect to the approach direction of the work. Further, as the first roller member 312, a friction roller having friction durability is used, and the first roller member 312 is mainly made of a material such as rubber.

The second work holding portion 32 includes one second swing member 321 and four second roller members 322. The second swing member 321 is arranged so as to extend along the approach direction of the work W. The substantially central portion of the second rocking member 321 with respect to the longitudinal direction is supported by the second support portion 22 from the side (width direction of the work W) with respect to the apparatus main body 10.

The second support portion 22 supports the second work holding portion 32 with respect to the device main body 10 so that the first work holding portion 31 and the second work holding portion 32 can swing in a direction in which they are close to each other and separated from each other. Is. The second support portion 22 is attached to the apparatus main body 10 from the side (in the width direction of the work W) via the second swing member 321.

Two second roller members 322 are arranged at the end portion 321a of the second rocking member 321 on the front side in the approach direction of the work W with respect to the second support portion 22 via the shaft portion 323. These two second roller members 322 are arranged one by one in the width direction of the work W with respect to the second rocking member 321.

Similarly, two second roller members 322 are arranged at the end portion 321b of the second rocking member 321 on the back side in the approach direction of the work W with respect to the second support portion 22 via the shaft portion 323. These two second roller members 322 are arranged one by one in the width direction of the work W with respect to the second rocking member 321.

The second roller member 322 is rotatably arranged with respect to the approach direction of the work. Further, as the second roller member 322, a friction roller having friction durability is used, and the second roller member 322 is mainly made of a material such as rubber.

With the above configuration, the first roller member 312 of the first rocking member 311 and the second roller member 322 of the second rocking member 321 are centered on the first support portion 21 and the second support portion 22, respectively. It is possible to swing within the movable range until they come into contact with each other.

As shown in FIG. 1 (b), the clearance D between the first roller member 312 of the first work holding portion 31 and the second roller member 322 of the second work holding portion 32 is larger than the thickness of the work W. It is set small. For example, the clearance D is set to be about 1 mm smaller than the thickness of the work W.

The engaging portion 40 is provided at the end portion 10c and the end portion 10d on the back side of the work W in the approach direction in the apparatus main body 10. Further, the engaging portion 40 is provided on the extension line L of the approach path of the work W formed between the first work holding portion 31 and the second work holding portion 32. The engaging portion 40 is formed in a V shape so as to engage with the edge portion W3 of the work W when viewed from the width direction of the work W. The V-shaped groove portion 40a of the engaging portion 40 is formed so as to extend along the width direction of the work W.

Next, the operation of the work holding device according to the present embodiment will be described with reference to FIGS. 1 (b), 2 (a), and 2 (b).

As shown in FIG. 1 (b), the work sandwiching device 102 is driven by the drive unit 101 to move to the place where the work W is placed. Then, the work holding device 102 moves toward the work W. Then, the work W enters between the first roller member 312 of the first work holding portion 31 and the second roller member 322 of the second work holding portion 32.

Next, as shown in FIG. 2A, when the work W further enters the work holding device 102, the first swing member 311 causes the first support portion 21 to follow the shape of the work W. The second swing member 321 swings around the second support portion 22 while swinging around the center.

After that, as shown in FIG. 2B, when the work W further enters the work holding device 102, the edge portion W3 of the work W engages with the V-shaped groove portion 40a formed in the engaging portion 40. (Abutment). As a result, the approach of the work W to the inner side in the work approach direction is stopped. At this time, the work W is held by the grip force of the first roller member 312 of the first work holding portion 31 and the second roller member 322 of the second work holding portion 32.

According to the embodiment described above, the following effects (1) to (4) can be obtained.

(1) The work pinching device 100 according to the present embodiment is a first roller member provided in the first work pinching portion 31 when the work W is inserted between the first work pinching portion 31 and the second work pinching portion 32. The work W can be sandwiched by the second roller member 322 included in the 312 and the second work sandwiching portion 32. As a result, the work W can be sandwiched and held without requiring power for driving the first work sandwiching portion 31 and the second work sandwiching portion 32 in the direction of sandwiching the work W. Therefore, the device configuration can be simplified. This makes it possible to configure the device at low cost. In addition, since the device configuration is simplified and the device is miniaturized, it is possible to secure a sufficient installation place for the device, so that the period required for installing the device can be shortened. Further, in the above embodiment, the first swing member 311 and the first roller member 312 included in the first work holding portion 31, and the second swing member 321 and the second roller member 322 included in the second work holding portion 32 are used. , The first work holding portion 31 and the second work holding portion 32 can be swung following the shape of the work W. As a result, as the work W enters, it becomes difficult to form a gap between the work W and the first roller member 312 and between the work W and the second roller member 322.

(2) In the work pinching device 102 according to the present embodiment, a concave shape that engages with the work W on the extension line L of the work approach path formed between the first work pinching portion 31 and the second work pinching portion 32. The engaging portion 40 of the above is provided. As a result, when the work W is sandwiched between the first work holding portion 31 and the second work holding portion 32, the edge portion W3 on the inner side in the approach direction of the work W engages with the engaging portion 40. The work W can be sandwiched in a state where the edge portion W3 on the inner side in the approach direction of the work W is suppressed from unstable movement.

(3) In the work pinching device 102 according to the present embodiment, the first roller member 312 included in the first work pinching portion 31 and the second roller member 322 included in the second work pinching portion 32 are placed on the front side in the approach direction of the work W. A plurality of members (in this embodiment, four first roller members and four second roller members are provided) along the back side. As a result, the work W can be sandwiched by a plurality of roller members along the front side and the back side in the approach direction, so that the work W can be stably sandwiched so as not to fall off in the traveling direction.

(4) In the work holding device 102 according to the present embodiment, the clearance D between the first roller member 312 and the second roller member 322 provided by the first work holding portion 31 and the second work holding portion 32 is determined by the thickness of the work. Also made smaller. As a result, when the work W is inserted between the first roller member 312 of the first work holding portion 31 and the second roller member 322 of the second work holding portion 32, the work W and the first roller member 312 are brought into contact with each other. It can be inserted without a gap between the space and the work W and the second roller member 322. Therefore, the work W can be firmly sandwiched between the first roller member 312 and the second roller member 322.

The above embodiment may have a configuration modified as follows.

In the above embodiment, the panel member constituting the vehicle body is shown as an example of the work held by the work holding device, but the present invention is not limited to this. In the present invention, as long as the work holding device can hold the work, members other than the panel members constituting the vehicle body can be applied.

In the above embodiment, an example is shown in which four first roller members of the first work holding portion and four second roller members of the second work holding portion are arranged, but the present invention is not limited to this. In the present invention, if the work can be sandwiched, the number of roller members may be other than four. In the above embodiment, a configuration in which a plurality of roller members (in this embodiment, four first roller members and four second roller members are provided) is exemplified, but the present invention is not limited thereto. .. For example, if the work can be stably held even if one or both of the first roller member and the second roller member are single, either the first roller member or the second roller member. One or both may be single.

Further, in the above embodiment, there are a plurality of workpieces in the first work sandwiching portion and the second work sandwiching portion in the direction from the front side to the back side in the approach direction of the work (longitudinal direction of the first work sandwiching portion and the second work sandwiching portion). Although the configuration in which the roller member is provided is shown, the present invention is not limited to this. In the work holding device of the present invention, for example, when it is not necessary to hold (support) the work holding device with roller members at a plurality of places, the front side, the back side, or the middle of the first work holding portion and the second work holding portion. It is preferable to have a configuration provided only in one of the parts.

In the above embodiment, an example is shown in which the clearance between the roller members provided in the first work holding portion and the second work holding portion is smaller than the thickness of the work, but the present invention is not limited thereto. For example, as in the modified example shown in FIG. 3, when a continuous wavy pressed product or a work W having a predetermined thickness other than the pressed product is sandwiched, the first work sandwiching portion and the second workpiece sandwiching portion are respectively. It is preferable that the clearance D between the provided roller members is smaller than the displacement amount (deformation amount) T of the work W in the thickness direction. Further, when the thickness of the work or the amount of displacement in the thickness direction of the work is not so large, if it is possible to hold the work by the roller members provided in the first work holding portion and the second work holding portion, respectively. The clearance between the roller members may be equal to or greater than the thickness of the work or the amount of displacement in the thickness direction of the work.

In the above embodiment, an example in which the first roller member of the first work holding portion and the second roller member of the second work holding portion are formed of a rubber material is shown, but the present invention is not limited to this. In the present invention, the roller member may be formed of a material other than the rubber material as long as the work can be sandwiched.

In the above embodiment, a configuration in which a concave engaging portion that engages with the work is provided on an extension of the approach path of the work formed between the first work holding portion and the second work holding portion is exemplified. The present invention is not limited to this. For example, there is a case where the work that has entered along the approach path can be stably sandwiched without providing a concave engaging portion, or another configuration for stably holding the work that has entered along the approach path. If it is provided, the configuration may be such that the engaging portion as described above is not provided, or another configuration may be added in addition to the engaging portion described above.

In the above embodiment, an example in which the shape of the engaging portion with which the work is engaged is formed into a V shape is shown, but the present invention is not limited to this. In the present invention, if the shape is such that the work can be engaged with the engaging portion, a concave shape such as a U-shape or a U-shape may be used in addition to the V-shape.

All of the above embodiments are examples of the indications of the present invention, and it is natural that any other embodiment within the scope of the claims is included in the technical scope of the invention.

21: First support part 22: Second support part 31: First work holding part 32: Second work holding part 40: Engaging part 100: Device main body 102: Work holding device 311: First swing member 312: First One roller member 321: Second rocking member 322: Second roller member W: Work

Claims (2)

With the main body of the device
The first work holding portion and the second work holding portion arranged so as to form a pair through a predetermined interval,
It is provided with a support portion for supporting the first work holding portion and the second work holding portion with respect to the main body of the apparatus so as to be able to swing in directions in which they are close to each other and separated from each other.
The work can be moved back and forth between the first work pinching portion and the second work pinching portion to pinch and release the pinching.
A swinging member in which the first work holding portion and the second work holding portion are swingably supported by the support portion with respect to the device main body, respectively.
It is provided with a roller member arranged with respect to the swinging member via the support portion.
By inserting the work between the first work holding portion and the second work holding portion, the roller member provided in the first work holding portion and the second work holding portion are held against the front surface and the back surface of the work. A work holding device characterized in that the work can be held in a state where the roller member provided in the portion is in contact with the work. It is characterized in that a concave engaging portion that engages with the work is provided on an extension of the approach path of the work formed between the first work holding portion and the second work holding portion. The work holding device according to claim 1.

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