JP3122021B2 - Article transfer 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 robot for transferring and supplying precision electronic components by a robot arm or a magic hand when assembling electronic devices by assembling and mounting precision electronic components on a common substrate. The present invention relates to an article transfer gripping device that is attached to the tip of an article transfer hand such as an arm and used to grip, transport, and supply an article such as an electronic component.

[0002]

2. Description of the Related Art Conventionally, when assembling a large number of parts by assembling them as in the above-mentioned electronic equipment, a robot or a magic hand is used, and the parts fixed at a predetermined position must be assembled by a transfer hand. 2. Description of the Related Art An automatic assembling process for automatically supplying and assembling an electronic device body is often employed. An article transfer gripping device having an openable / closable gripping claw is attached to a distal end portion of the transfer hand for repeatedly transferring required parts, and the gripping claw is used to clamp and transfer articles such as required parts. Then, the mounting hands are automatically assembled, the gripping claws are unclamped, the transfer hand is returned to the original position, and the work is repeatedly transferred.

In order to safely and accurately clamp an article by the above-described conventional gripping device, it is necessary to set the open span of the gripping claw to be considerably larger than the size of the article to be clamped. Therefore, in the assembling process of the electronic device in which the electronic components are arranged at a high density, the gripping claws retreating for unclamping interfere with the existing electronic components in the vicinity, and
Since there is a risk that the electronic components may be damaged or the arrangement posture may be lost, there is a performance disadvantage that the electronic components cannot be used.

[0004] Therefore, as a solution to the difficulty,
When releasing the article clamped by the gripping claw, the retracting position of the gripping claw is regulated to a small amount by a stopper, and thereafter,
There is a device having a stopper mechanism for largely retracting a gripping claw to an original position so that an article can be gripped accurately in the next cycle operation.

[0005]

The known gripping device with a stopper mechanism can prevent the gripping claws from retreating excessively when releasing the article, but it is necessary to set the stopper position in accordance with the size of the article to be transferred. Therefore, the setup change operation for changing the size of the transferred articles is complicated, and the productivity of the work is deteriorated. In addition, it becomes impossible to transfer various-size articles mixed with articles of different sizes.

[0006] The present invention provides an article transfer gripping apparatus which solves the above-mentioned disadvantages of the prior art.

[0007]

A gripping device according to the present invention for solving the above-mentioned technical problem is described in an article transfer gripping device in which a pair of opposed gripping claws for clamping and unclamping a transferred article are protruded from a main body . The body is opened and closed with the gripping claws.
A vertically moving piston rod that moves, and the piston rod
Through the center of the lower end portion of the lower-diameter annularly inclined engagement surface
Stroke of a downwardly opening cup-shaped piston body having a
A regulating member, wherein the stroke regulating member includes a spring biased member.
Regulated straw between the top dead center and bottom dead center stopper
Is configured to be able to move up and down, and is spring-biased.
Locking ball between the inclined engagement surface and the piston rod
Compression locking and composes the stroke control mechanism of the wedge mechanism
And, further, without the piston body is internally provided in the cylinder portion of the hollow portion of the stroke limiting member, and provided with a lock release member having a release projection facing the locking balls,
The piston rod and the stroke restricting member are locked and interlocked by the pressure contact locking of the locking ball, and the piston rod and the stroke are released by releasing the pressure contact locking of the locking ball by a release projection of the lock release member. has a configuration which forms a stroke limiting member to unlock not interlock, ankh of the gripping claws by said locking interlocking
A structure that regulates the ramp stroke . "

[0008] That is, the gripping device of the present invention provides the above-described release switch.
The piston rod and the strike
The lock regulation member is linked with the lock, and the stroke regulation
Holds only the regulated small release stroke of the control member
Release the clamped article by retracting the claws and
When the gripper is recycling and gripping the article,
Lock and the stroke regulating member are unlocked.
And a free-acting piston rod for gripping
The nail is restored to a fully released state.

[0009]

The gripping device of the present invention having the above-described configuration grips an article.
Immediately before the released piston rod is released,
When the release stroke regulating mechanism of
The lock and the stroke regulating member are locked
Since only a small release stroke is activated, the product is held
Gripping claw is a small amount of
Release the gripped object by performing only the fixed stroke
Can be. And its piston rod and stroke
The locking member is unlocked so that
Allows the free operation of the ton rod and the gripping claws
To be released enough for safe and secure grip
You can go back.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention is implemented as follows.
You.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description will be given based on embodiments. This
The gripping device 1 of this embodiment has a cylindrical block-shaped main body 2 and a lower end.
A pair of gripping claws 3 that open and close in opposition to
The upper end of the main body 2 is the robot arm of the electronic assembly robot.
Having a structure attached to the tip of the
Inserts the piston 5 into the first cylinder part 4 near the upper end
And a piston rod 6 disposed in the longitudinal direction of the main body 2.
The piston rod 6 and the gripping claw 3 are provided on both sides.
A pinion 8 is interposed between the rack portions 7 and a cylinder
Up and down of piston rod 6 due to air inflow and outflow
In conjunction with the operation in the direction, the gripping claws 3 advance and retreat in the opposite direction,
Perform the required opening and closing operations.

Then, at the intermediate portion of the piston rod 6,
Is a lower opening cup penetrating through the piston rod 6 as a center.
Stroke regulating member 10 (hereinafter simply referred to as regulating member 1).
0), and the restricting member 10
The piston body inserted in the second cylinder portion 17 between
Then, the first cylinder portion 4 is moved by the coil spring 11.
The coil spring 1 is elastically urged in the
1 to lower the bottom dead center
Only the small stroke L up to the par 13 can be lowered.

The lower end of the regulating member 10
Donut shape, the inside of which inclines downward in diameter
An annular inclined engaging surface 14 is formed.
Insert the locking balls 15 between the stone rod 6 and
The locking ball 15 is attached upward by a coil spring 16.
Urged between the outer periphery of the piston rod 6 and the inclined engagement surface 14
Is pressed and locked.

Further, the hollow portion 9 of the regulating member 10 has a third shell.
A piston-shaped lock release member 18 which becomes a cylinder part
The lock release member 18 is provided at the lower end with a release projection.
19 is loosely fitted into the inclined engagement surface 14 of the regulating member 10.
Air input to the third cylinder part
When the disengagement projection 19 is moved downward by the
5 is forcibly pushed down, and the inclined engagement surface 1 of the locking ball 15 is
Releases the pressure contact lock to No. 4 and frees the locking ball 15
I do.

That is, the inclined engaging surface 14 of the regulating member 10
And the locking ball 15 regulate the stroke of the article gripping device 1.
Configure the mechanism and set the lock release member 18 to the upper position
Then, as shown in FIG.
The locking ball 15 urged upward is brought into the above-mentioned pressed state.
Therefore, the piston rod 6 and the regulating member 10 are
The piston rod 6 and the regulating member 10
Are interlocked, and the descending stroke of the piston rod 6, that is,
The opening stroke of the holding claws 3 is restricted to a small amount of L.

Then, the lock release member 18 is
When the forcible lowering is performed as shown in FIG.
The pressure contact state is released by being pushed down and the piston
The rod 6 is unlocked and interlocked with the regulating member 10,
The stone rod 6 operates freely, and the gripping claw 3 is freely opened.
Can be closed.

That is, the locking ball 1 in the press-contact locked state described above.
5 is an inclined engagement surface which receives the urging force of the coil spring 16.
14 and the outer periphery of the piston rod 6
The locking ball 15 is biased.
The force is greatly amplified and the piston rod is pressed very strongly,
6 and the regulating member 10 are locked as a substantially integral body,
Working stroke of the piston rod 6, that is, opening of the gripper 3
The release stroke can be restricted to the above L.

The article gripping device 1 has a structure shown in FIG.
As shown in (A), the locking ball 15 is forcibly pushed down.
State and unlock piston rod 6 and regulating member 10
In the state, the gripper 3 is moved from the maximum release span D2 to the article 2.
2 to a clamp span D1 for clamping
After the article 22 is transferred and the article 22 is transferred, FIG.
As shown in (D), the locking ball 15 is brought into the above-mentioned pressed state.
The lower stroke of the piston rod 6
Anchor L with a small amount of gripping claw 3
Then, the article 22 is released. And
The pressing state of the locking ball 15 is released again,
Maximum release span D sufficient for properly clamping article 22
Recycle and transfer to 2.

The above-described embodiment of FIG.
Even if the size of the product 22 is various,
As it is released sharply, the clamping action can be done accurately,
Even when electronic components are transferred and assembled densely,
From the size of the product 22, retract the gripping claw 3 by a small amount and
Since it can be made into a lamp, the gripping claws 3
The problem of contact interference with parts and the like can be eliminated. And things
Grip for unclamping, regardless of the size of the product 22
Because the amount of slight retreat of the nail 3 is constant, the
The complicated setup change work becomes unnecessary.

The gripping device according to the present invention is different from the above-described embodiment.
There is no limitation, as shown in FIG.
Lever supporting the interlocking mechanism of the pad 6 at the intermediate fulcrum 21
20, a lever mechanism for opening and closing the gripping claws 3,
There are changes such as changing the operation of the piston rod 6 to hydraulic operation.
You.

[0021]

As described above, the article transfer of the present invention is carried out.
Gripping device for clamping and transferring goods to a pair of gripping claws
To release the goods after transfer
A-stroke, be restricted to a small amount of quantitative, regardless to the article size
Can be used even when the transferred articles are densely arranged.
To improve the performance and change the product size.
No need for complicated setup changes due to
This has the effect of improving the productivity of the industry.

[Brief description of the drawings]

FIG. 1 shows an article transfer gripping device according to a first embodiment of the present invention, wherein (A) is a front sectional view, (B) is an intermediate transverse sectional view of (A), and (C) and (D) are sectional views. Partial front sectional view of its working state

FIG. 2 shows a gripping device for transferring articles according to another embodiment of the present invention, in which (A) and (B) are partial front sectional views thereof.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Gripping device 2 Main body 3 Gripping claw 4 First cylinder part 5 Piston 6 Piston rod 7 Rack 8 Pinion 9 Hollow part 10 Stroke regulating member 11 Coil spring 13 Bottom dead center stopper 14 Inclined engagement surface 15 Locking ball 16 Coil spring 17 Second cylinder part 18 Lock release member 19 Dissociation protrusion 20 Lever body 21 Robot arm 22 Article

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-7-237167 (JP, A) JP-A-60-114484 (JP, A) JP-A-6-244264 (JP, A) JP-A 61-237 4687 (JP, A) Japanese Utility Model Hei 5-24292 (JP, U) Japanese Utility Model Utility Model 3-130391 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 15/08

Claims (1)

(57) [Claims] 1. An article transfer gripping device having a pair of opposed gripping claws for clamping and unclamping a transferred article protruding from a main body, wherein the main body is operated to open and close the gripping claws.
Piston rod of lower operation and around this piston rod
Penetrated and has a downwardly enlarged annular inclined engaging surface at the lower end portion
Lower opening cup-shaped piston body stroke regulating member
The stroke regulating member is spring-biased and
Only the restricted stroke between the point and the bottom dead center stopper is up
A locking bob configured to be movable downward and spring-biased
Pressure between the inclined engagement surface and the piston rod.
A lock release member that constitutes a stroke restricting mechanism of the wedge mechanism, and further has a release projection that is provided inside the hollow cylinder of the stroke restricting member to form a piston body and that faces the locking ball. And the piston rod and the stroke restricting member are locked and interlocked by the press-contact locking of the locking ball, and the piston is released by releasing the press-contact locking of the locking ball by a release projection of the lock release member. Having a configuration in which the rod and the stroke regulating member are unlocked and not linked,
Unclamp strike of the gripping claws by the lock interlocking
An article transfer gripping device characterized by a structure that restricts roking.