JP2567858Y2 - Gripping device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping device for gripping a work by opening and closing opposing gripping claws.

[0002]

2. Description of the Related Art Conventionally, a gripping device as shown in FIG. 5 has been known as a device for taking out individual works superposed on a work magazine. More specifically, a tool shaft 101 that can move up and down is attached to the final arm of the robot. A well-known suction pad 102 is attached to a lower end of the tool shaft 101.

Next, the operation will be described. First, the arm of the robot is operated to position the suction pad 102 above the work magazine 103. Next, the tool axis 10
1 is lowered to bring the suction pad 102 into contact with the work.
Suction starts at the same time as the contact operation, and the uppermost work 10
Adsorb 4. Next, the tool shaft 101 is raised to transport the work 104 to a predetermined position. Thus, one process is completed.

[0004]

However, according to the above-mentioned prior art, if the work is bent or deformed as shown in FIG. 5, the suction force is weakened, and the work may be slightly vibrated during transportation. There was a case that it was dropped. Even if the workpiece is normal without bending or deformation, if moisture such as oil adheres between the workpieces or if a vacuum is formed, even if only the uppermost workpiece is adsorbed, In some cases, the next work and the third work may be transported at the same time.

[0006] As shown in FIG. 6, it was conceivable to take out each work piece by opening and closing two opposing gripping claws. However, the former problem was solved, but the latter problem was not solved. In addition, new problems have arisen. That is, since the deformed work is gripped so as to be sandwiched between the gripping claws from both sides, there is a problem that the work is further deformed and is not positioned when it is transported to a predetermined position.

[0006]

SUMMARY OF THE INVENTION An object of the present invention is to provide a gripping device for gripping a mountain-shaped work that is overlapped by opening and closing opposing gripping claws.
A guide member for positioning a workpiece to be gripped is disposed substantially at the center of the opposing gripping claws, and an engaging step for engaging the workpiece is provided at an intermediate portion of the gripping claws. The lower part is fitted into the gap between the top end of the work and the end of the next work to form a contact part that contacts the next work, and the gripping claw is floated so that it can move up and down. It is assumed that.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A tool shaft 1 is disposed on a final arm (not shown) of a robot or the like so as to be vertically movable. A base 2 is fixed to the lower end of the tool shaft 1. The base 2 slides around the tool shaft 1 via bushes 3 and 4 on both sides of which a slide bearing is provided. Bars 5, 6 are arranged. A gripping plate 7 is fixed to the lower ends of the sliding rods 5, 6, and elastic members 8, 9 stretched between the gripping plate 7 and the bushes 3, 4.
Thus, the gripping plate 7 is urged downward. Although the spring members 8 and 9 are coil springs in the present embodiment, they may be leaf springs or pneumatic spring members. In short, when external force acts,
It is sufficient that the pneumatic chuck 12 (and the gripping plate 7 and the like) described below can escape upward. Therefore, when the gripping device is used as in the present embodiment (the gripping device is set in the vertical direction), it is not always necessary although the reliability is low in accuracy.

A pneumatic chuck 12 having two opposing gripping claws 10 and 11 which can be opened and closed is fixed to the lower surface of the gripping plate 7. A guide member 14 for positioning the work 13 is provided on a side surface of the pneumatic chuck 12.
15 is fixed. In addition, 16 is a plurality of works 13
Is a work magazine for storing about 20 to 30 works in the vertical direction.

Next, the gripping claws 10, 11 will be described in detail with reference to FIG. An engaging step 17 which can be fitted and engaged with the corner of the uppermost work 13 in the shape of a pile of piles is provided in the middle of the gripping claw 10.
Are formed. Further, a contact portion which fits into the gap 20 between the end of the uppermost work and the end of the next work below the engagement step 17 and comes into contact with the next work immediately before gripping the uppermost work. 18 and 19 are formed. In the present invention, the contact portions 18 and 19 are formed to be curved, but are devised in order to prevent a flaw or the like on the work surface.
Various shapes can be applied.

Next, the operation will be described. Tool axis 1
When the (gripping device) is positioned above the work magazine 16, the tool shaft 1 descends, and the guide members 14 and 15 abut on the uppermost part of the work 13. The work that is slightly bent or deformed by the contact operation is corrected by the guide members 14 and 15. Next, the pneumatic chuck 12 is operated to close the gripping claws 10, 11. During the closing operation of the gripping claws 10, 11, the contact portions 18, 19 of the gripping claws 10, 11 are moved to the uppermost work and the next work. It fits into the gap with the end, abuts on the next second work 13 ′, and the entire gripping device slightly rises against the resilience of the repelling members 8 and 9, and at the same time, the uppermost work 13 is gripped. Claws 10, 11
Is engaged with the engaging step 17. That is, in this operation, the gripping device is raised by the contact operation with the second work 13 ', so that the uppermost work 13 is also raised. As a result, the uppermost work 13 and the second work 13' are raised. A gap is created between the gap 13 '. After the above operation is completed,
The tool shaft 1 is raised to transport the work 13 to a predetermined position.

[0011]

According to the present invention, there is provided a gripping device for gripping a mountain-shaped work overlapped by opening and closing opposing gripping claws, and a guide for positioning the workpiece to be gripped substantially at the center of the opposing gripping claws. A member is arranged, and an engagement step portion with which the workpiece is engaged is provided at an intermediate portion of the gripping claw,
Below the engagement step, the upper end of the work is inserted into the gap between the end of the next work and the end of the next work to form a contact portion that comes into contact with the next work. As a result, the top workpiece can be reliably separated.
, And can be transported in a state where a normal form is maintained.

[Brief description of the drawings]

FIG. 1 is a front view of one embodiment of the present invention.

FIG. 2 is a right side view of FIG.

FIG. 3 is a perspective view of a work used in the present invention.

FIG. 4 is an enlarged view of a work holding portion of FIG. 2;

FIG. 5 is a front view of a conventional first comparative example.

FIG. 6 is a front view of a conventional second comparative example.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 tool shaft 2 base 3, 4 bush 5, 6 sliding rod 7 gripping plate 8, 9 repellent member 10, 11 gripping claw 12 pneumatic chuck 13 work 14, 15 guide member 16 work magazine 17 engaging step 18 , 19 Contact part 20 Clearance

Claims (1)

(57) [Scope of request for utility model registration] 1. A gripping device for gripping a mountain-shaped work overlapped by opening and closing opposing gripping claws, wherein a guide member for positioning the gripping work is disposed at a substantially central portion of the opposing gripping claws. Further, an engaging step for engaging the work is provided at an intermediate portion of the gripping claw, and is further inserted into a gap between the uppermost work end and the next work end below the engaging step. A gripping device that forms a contact portion that abuts on a next workpiece and floats a gripping claw so as to be vertically movable.