JP2570017B2 - Grip 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 workpiece for transporting the workpiece, and to a gripping device capable of gripping the workpiece even if its size or shape is changed.

[0002]

2. Description of the Related Art In a product assembly line or the like, it is necessary to transport parts from the standby position to the assembly line. The transport of the parts is performed by a manipulator when the parts are large or the like. In other words, the parts are gripped by the grip device provided at the tip of the manipulator and transported to a predetermined location on the assembly line.

FIG. 6 shows an example of a conventional grip device. Reference numeral 1 denotes an apparatus main body having a built-in cylinder. A fixed claw 2 is attached to one end of the apparatus main body. A movable claw 3 facing the fixed claw 2 is fixed to a tip of a piston rod 4 of the cylinder. Reference numeral 5 denotes a guide rod for guiding the movement of the movable claw 3.

In this grip device, the work W is brought into contact with the fixed claw 2 and the movable claw 3 is pulled back in this state, whereby the work W is gripped by the movable claw 3 and the fixed claw 2.

[0005] As another type of grip device, there is a grip device in which opposing claws are both opened and closed by a pinion rack mechanism.

[0006]

However, in the apparatus shown in FIG. 6, the work W must be brought into contact with the fixed claw 2, so that when the size of the work W changes, the work of the grip device is changed. You have to change your position to enter W.

Further, in a device in which the claws are both opened and closed, the workpiece W cannot be properly held unless the center of the work W is aligned with the center between the claws. There was a problem that the advance position of the grip device had to be changed.

[0008]

In order to solve the above-mentioned problems, according to the present invention, at least one claw member holding structure constituting a grip device is provided with two rod-like members supported in parallel to the device body. An air cylinder attached to the apparatus main body and operating in a direction parallel to the rod-shaped member, a connecting member connecting the piston rod of the air cylinder and one rod-shaped member, and between the other rod-shaped member and the connecting member. A spring interposed and coupled so that the connecting member and the other rod-shaped member can move together, a slope formed opposite to and parallel to the opposing surfaces of both rod-shaped members, And a claw member provided at an end of the other bar-shaped member.

[0009]

In the above construction, one bar-shaped member and the other bar-shaped member move together by the action of the connecting member and the spring by the operation of the air cylinder. When the claw member integral with the other bar-shaped member hits the work, the other bar-shaped member stops, and the two bar-shaped members are fixed by the key wedge effect between the inclined surfaces of both bar-shaped members. That is, the claw member does not move any more with respect to the work, and is in a state where the work is gripped or a state where it can be gripped with the other claw member. The holding structure of the other claw member that constitutes the grip device is
A similar configuration may be used, or the telescopic movement may be performed by a normal air cylinder or the like.

[0010]

FIG. 1 is a cross-sectional view of a grip device according to an embodiment along a front surface, FIG. 2 is a side view thereof, and FIG. 3 is a plan view thereof.

Reference numeral 11 denotes a main body of the grip device, which is attached to a wrist or the like of the manipulator. The same claw structure is symmetrically attached to the front and rear of the apparatus main body 11. In the description of the structure, one will be described.

The apparatus main body 11 has two shafts 12 and 13 as bar-shaped members which are inserted through the apparatus main body 11 in parallel. The two shafts 12, 13 are movable in the axial direction.

An air cylinder 14 is provided on the front of the main body 11 of the apparatus.
The piston rod 15 is connected to a small-diameter portion at one end (the right end in FIG. 1) of the upper shaft 12 by a connection plate 16 having a substantially triangular shape. A small diameter portion at the end of the other shaft 13 slidably penetrates the connecting plate 16 and a nut 17 attached to the end of the small diameter portion.
A spring 18 is stretched between the spring 16 and the connecting plate 16. Therefore, when the upper shaft 12 moves rightward in FIG. 1 by the operation of the air cylinder 14, the connecting plate 16, the spring 1
By the operation of 8, the lower shaft 13 also moves integrally.

A claw member 19 is integrally connected to the other end (left end in FIG. 1) of the lower shaft 13. A pad 20 made of urethane rubber or the like is attached to a portion of the claw member 19 that contacts the work W. The other end of the upper shaft 12 slidably penetrates the upper portion of the claw member 19.

Slant surfaces 21 and 22 are formed in parallel on surfaces of the upper and lower shafts 12 and 13 facing each other.
A key 23 is provided on the apparatus main body 11 between the inclined surfaces 21 and 22 so as to contact the inclined surfaces 21 and 22.

The above structure is also symmetrically formed on the back side of the apparatus main body 11. In the figure, the same members as the front claw structure constituent members are indicated by the same reference numerals with "a" attached thereto.

Next, the operation of gripping a workpiece by the grip device will be described. The grip device attached to the tip of the manipulator or the like is moved to a predetermined position with respect to the workpiece W by the operation of the manipulator or the like. For example,
The state shown in FIG. 1 is the state. The work W is held by the locator 41 provided on the table by the claw member 1.
It is supported so that it does not move even if it hits 9 and 19a.

Next, the air cylinder 14 is extended, and the shafts 12, 13 are both moved rightward by the action of the connecting plate 16 and the spring 18.

When the pad 20 inside the claw member 19 integral with the shaft 13 hits the work W, the rightward movement of the shaft 13 is stopped by the reaction force from the work W supported by the locator 41.

After the shaft 13 stops, the air cylinder 14
The shaft 12 tends to move to the right due to the action of, but since the shaft 13 stops, the slopes 21 and
The key 23 acts like a wedge on the
2 and 13 are fixed, that is, the claw member 19 is held at that position.

Similarly, the other claw member 19a is held in contact with the work W. The air cylinder 14a on the claw member 19a side is
It is activated simultaneously or before and after.

As described above, since the claw members 19 and 19a are held at the respective positions while the claw members 19 and 19a are in contact with the work W, even if the shape and size of the work W are changed, the claw members 19 and 19a can be handled without any trouble. be able to.

As in the above embodiment, both claw members 19, 1
9a may be operated and held by the same claw holding structure. However, as shown in FIGS.
And the other claw member 1 employs the above-described claw holding structure.
The structure 9a may be operated by a normal air cylinder.

4 and 5, the apparatus main body 11 is attached to a distal end portion of a manipulator or the like by an attachment member 31.
The above-mentioned claw holding structure such as the shafts 12 and 13 is assembled to the main body 11. On the other hand, an air cylinder 32 is attached to the lower surface of the apparatus main body 11 and its piston rod 33
A claw member 34 facing the claw member 19 is attached to the tip of the. A pad 35 made of urethane rubber or the like is provided on the inner surface of the claw member 34. The work W is held by the locator 41 provided on the table 42 by the claw member 1.
It is supported so that it does not move even if it hits 9, 24.

In gripping the work W by the grip device, the claw member 19 is first applied to the work W in the same manner as described above, and is held at that position. Thereafter, the air cylinder 32 is shortened and the claw member 34 is moved. This is performed by being pressed against the work W.

As another embodiment, it is conceivable that the claw members face each other not in the horizontal direction but in the vertical direction. Also in this case, the claw holding structure may be adopted for both claw members, or only one of them may be adopted.

Further, the nail holding structures may not be combined in front and rear, but may be combined up and down. When combined vertically, there is an advantage that it is easy to arrange the right and left claw members on the same line.

[0028]

According to the grip device of the present invention, the claw member stops when it hits the work, and the work is elastically held, so that it is possible to cope with a change in the size or shape of the work. For example, sheet metal products of automobiles can be used for various types of vehicles.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view along the front of a grip device according to one embodiment.

FIG. 2 is a sectional view taken along the line AA of FIG.

FIG. 3 is a plan view of FIG. 1;

FIG. 4 is a front view of a grip device according to another embodiment.

FIG. 5 is a side view of FIG. 4;

FIG. 6 is a front view of an example of a conventional grip device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Apparatus main body 12, 13, 12a, 13a Shaft 14, 14a Air cylinder 16 Connecting plate 18 Spring 19, 19a Claw member 20, 20a Pad 21, 22, Slope surface 23 Key

Claims (1)

(57) [Claims] 1. A grip device for gripping a work by sandwiching a work between opposing claw members, wherein at least one claw member holding structure includes two rod-shaped members supported in parallel with the apparatus main body; An air cylinder that is attached to the rod-shaped member and that operates in a direction parallel to the rod-shaped member, a connecting member that couples a piston rod of the air cylinder and one rod-shaped member, and is interposed between the other rod-shaped member and the connecting member, A spring for connecting the connecting member and the other bar member so that they can move together; a slope surface formed in opposite directions to the opposite surfaces of the two bar members so as to be parallel to each other; and a fit between the two slope surfaces. And a claw member provided at an end of the other bar-shaped member.