JP3149853U - Hand device - Google Patents

Abstract

Provided is a hand device that can securely grip a workpiece and does not apply an unnecessarily large clamping force to the workpiece even when the workpiece is moved. SOLUTION: At least a pair of chuck claws 10a, 10b configured to be displaceable from a closed end for gripping a workpiece W to an open end for releasing the workpiece W, and the workpiece W by the chuck claws 10a, 10b is provided. Driving means for driving the chuck claws 10a and 10b so as to switch between gripping and releasing, and the chuck claws 10a and 10b include a support portion 10c for hooking and supporting the workpiece W. [Selection] Figure 2

Description

  The present invention provides a hand device used in a workpiece transfer device that transfers a workpiece (for example, an engine or the like) between processing stations that are scattered in a factory, for example.

  2. Description of the Related Art Conventionally, various workpiece transfer devices have been used in order to transfer a workpiece such as an engine between various processing devices that are scattered in a factory.

  A conventional workpiece transfer device 90 shown in FIG. 7 includes a linear or curved traveling rail 91 and a loader unit 92 that moves on the traveling rail 91. It has a hand device 93 for gripping, and an elevating part 94 for moving the hand device 93 up and down. In the work transfer device 90, the loader unit 92 moves on the traveling rail 91 and stops at a predetermined position corresponding to the processing machine M <b> 1 disposed along the traveling rail 91. The loader unit 92 includes an elevating unit 94. Thus, the hand device 93 is lowered, and the workpiece W is transferred from the hand device 93 to the processing machine M1 and / or the workpiece W is transferred from the processing machine M1 to the hand device 93. The above operation is similarly performed when the loader unit 92 sequentially stops at a predetermined position corresponding to the processing machines M2 and M3.

  The hand device 93 is pressed against the work W so as to be sandwiched from both sides thereof, and a pair of chuck claws 93a for gripping the work W, and the chuck claws 93a so as to switch between gripping and releasing the work W by the chuck claws 93a. And a drive motor 93b for supplying power for moving the motor. Thus, when gripping and transporting the workpiece W, the workpiece W is transported in a state in which the workpiece W is continuously gripped with a predetermined clamping force by the chuck claws 93a.

Utility Model Registration No. 3126674

  However, in the hand device 93 having the above-described configuration, it is necessary to continue to apply a clamping force that allows the chuck claw 93a to grip and lock the workpiece W. If the clamping force becomes weak for some reason, the workpiece W is stabilized. There is a problem that it becomes impossible to grip. That is, in the state where the workpiece W is gripped, the drive motor 93b needs to always output a predetermined force or more for gripping the workpiece W to the workpiece W.

  Further, in order to output a large rotational force, the hand device 93 needs to include a large drive motor 93b, and thus the hand device 93 has to be large and heavy. In addition, there is a possibility that scratches may remain on the workpiece W by continuing to apply a strong clamping force to the workpiece W by the chuck claws 93a.

  The present invention has been made in consideration of the above-described matters, and it is an object of the present invention to provide a hand device that can reliably grip a workpiece and does not apply an unnecessarily large clamping force to the workpiece even when moving. .

  In order to solve the above-mentioned problem, the first device is at least a pair of chuck claws configured to be displaceable from a closed end for gripping a workpiece to an open end for releasing the workpiece, and gripping the workpiece by these chuck claws. And a driving means for driving the chuck claw so as to switch the release, and the chuck claw includes a support device for hooking and supporting the work. provide. (Claim 1)

  According to the above configuration, in a state in which the chuck claw is displaced by the driving means and the workpiece is gripped, the workpiece can be lifted so as to be hung by being locked to the support portion of the chuck claw so that the workpiece does not fall. This can be supported. Even when the workpiece is moved, it is not clamped with a force larger than necessary by the driving means. In other words, the driving means may be anything that outputs a driving force that is small enough to displace only the chuck claw when opening and closing.

  The displacement of the chuck claw is preferably a rotation about a fulcrum, but the displacement of the chuck claw may be a horizontal movement.

  Various actuators such as a hydraulic cylinder, an air cylinder, and a solenoid can be used as the driving means, but a driving motor is preferably used. Further, since the driving means does not need to supply a large force, it is possible to achieve downsizing, and the hand device can be reduced in weight accordingly.

  It is preferable that the support portion has a horizontal surface so as not to apply a force in a direction in which the chuck pawl is opened in a state where the workpiece is hooked. Or it is preferable to have the inclined surface formed so that the force of the holding | grip direction might be added to a chuck | zipper claw in the state in which the load of the workpiece | work was added to the support part.

  The chuck pawl is configured to be rotatable about a fulcrum, and at least a pair of chuck side links each having one end rotatably coupled to a node provided at a position away from the fulcrum of the chuck pawl; Both ends of the drive side link connected to the drive means and rotatably supported, a node provided at the other end of the chuck side link, and a node provided at the free end of the drive side link are rotatable. A link mechanism comprising a linked intermediate link, and the at least one pair of chuck side links are arranged in a straight line at the closed end of the chuck claw so that the displacement is maintained in a mechanically locked state and driven with the intermediate link. When the side link has a toggle structure that is arranged in a straight line at the open end of the chuck pawl to keep its displacement in a mechanically locked state (Claim 2), Since the chuck claw is held in the mechanical lock state so that it does not open from the closed end when the workpiece is gripped by the claw, the chuck claw can be held even if the driving means does not continue to apply the driving force while gripping the workpiece. Will not open easily. Similarly, even when the chuck claw is displaced to the open end, it is not easily closed.

  When the chuck claw is provided with a lap portion that holds the workpiece by overlapping the tips of the chuck claws while being displaced to the closed end (Claim 3), the chuck claw is more securely held in the state of gripping the workpiece. Therefore, the safety is further enhanced without dropping the workpiece during the conveyance.

  As described above, according to the present invention, the work can be securely gripped, and the work is securely held by holding the work on the support portion, so that the work is strongly clamped by the driving means to securely grip the work. Therefore, the driving means can be reduced in weight and size. Further, the workpiece can be securely gripped without fear of being damaged due to strong clamping of the workpiece. Since the driving means supplies power for displacement to the chuck claw with low thrust, even if the operator's hand may be caught by the chuck claw, a large force may be applied to the hand to cause injury. Safety is improved. The smaller the driving means, not only can the manufacturing cost be reduced, but also the power consumption can be kept low.

  The link connected to the chuck claw is provided with a toggle structure that holds the displacement in the mechanical lock state at the closed end and the open end of the chuck claw, so that the workpiece is held by the chuck claw (closed end) and the chuck claw is opened. Since this state can be maintained in the open state (open end), power is supplied from the driving means only when the chuck pawl is opened and closed, and when the chuck pawl is located at the open end or the closed end, it is weak in the direction to maintain this state. It is possible to continue to apply force or to stop this power supply.

  Further, by providing a wrap portion that wraps at the tip end portions of the chuck claws on both sides at the closed end to support the workpiece, more stable gripping can be realized.

It is a figure explaining the whole structure of the conveying apparatus using the hand apparatus which concerns on embodiment of this invention, and operation | movement of a hand apparatus. It is a side view which shows the state displaced to the open end of the said hand apparatus. It is a side view which shows the state displaced to the closed end of the said hand apparatus. It is the side view which looked at the hand apparatus from another angle. It is sectional drawing which cuts and shows the said hand apparatus partially in a horizontal direction. It is a perspective view which shows a part of composition of the hand device transparently. It is a figure which shows the whole structure of the conveying apparatus using the conventional hand apparatus.

  Hereinafter, the configuration and operation of the hand device 1 according to the embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a diagram for explaining the overall configuration of a transport device 2 using the hand device 1 of the present invention and the operation of the hand device 1. FIG. 2 is a side view showing the configuration of the hand device 1 in a state of being displaced to an open end. 3 is a side view showing the configuration of the hand device 1 in a state displaced to the closed end, FIG. 4 is another side view of the hand device 1, and FIG. 5 is a cross-sectional view showing the hand device 1 partially cut in the horizontal direction. FIG. 6 is a perspective view showing a part of the hand device 1 in a transparent manner.

  As shown in FIG. 1, a workpiece transfer device 2 that uses the hand device 1 of the present embodiment includes a linear or curved traveling rail 3 arranged in accordance with the processing areas A1, A2,. The loader unit 4 includes a hand device 1 that grips the workpiece W to be transported, and an elevating unit 5 that moves the hand device 1 up and down.

  In the workpiece transfer device 2, the loader unit 4 moves on the traveling rail 3, stops at a predetermined position corresponding to the processing areas A1, A2,... The hand device 1 is lowered by 5, the workpiece W placed in the processing areas A 1, A 2... Is gripped by the hand device 1, the hand device 1 is raised by the elevating part 5, and the processing areas A 1, A 2 of the transport destination Is moved to a predetermined position corresponding to ..., the hand device 1 is lowered again by the elevating part 5, and the hand device 1 is opened to release the work W so that the work W can be transferred. ing.

  As shown in FIGS. 2 to 6, the hand device 1 includes at least a pair of chuck claws 10 configured to be displaceable from a closed end that grips the workpiece W to an open end that releases the workpiece W, and the chuck claws. 10 and a driving mechanism 12 that is connected to the link mechanism 11 and drives the chuck claw 10 so as to switch between gripping and releasing the workpiece W by the chuck claw 10.

  In particular, as shown in FIG. 4, the hand device 1 has a pair of side plates 1b and 1c attached to both sides of the top plate 1a, and is attached to the outer side of the side plates 1b and 1c so as to be attached to the upper surface of the workpiece W. In addition, a guide plate 1d, 1e formed with a notch C (see FIGS. 2 and 6B) for guiding the guide plate 1d and 1e, and a guide shaft 1g hanging downward from the center of the top plate 1a is provided. Prepare. S is a sensor for confirming the gripping state of the workpiece W.

  2 and 3, the chuck claw 10 includes two pairs of claws 10a and 10b that are curved in a J-shape when viewed from the side. As shown in FIG. 4, one claw 10a is the other claw. It arrange | positions so that it may enter between the nail | claws 10b. Further, as shown in FIG. 3, each of the claws 10a and 10b of the chuck claw 10 includes a support portion 10c for hooking and supporting the workpiece W at the tip portion thereof. Further, the chuck claw 10 is rotatably supported with the rotation axis O as a fulcrum, and is configured to be displaceable by rotating about the rotation axis O.

  Further, as shown in FIG. 3, the chuck claws 10a and 10b have a lap portion 10d for holding the work by overlapping the tip portions of the chuck claws 10a and 10b with each other when the hand device 1 is displaced to the closed end. Is provided.

  The link mechanism 11 includes two pairs of chuck side links 11a and 11b each having one end rotatably connected to nodes Ja and Jb provided at positions away from the rotation axis O of the chuck claws 10a and 10b, respectively. A drive side link 11c connected to the drive means 12 and supported rotatably about the rotation axis O, a node Jc provided at the other end of the chuck side links 11a and 11b, and a drive side link 11c. And an intermediate link 11d having both end portions rotatably connected to a node Jd provided at the free end portion. Reference numeral 11e denotes a guide block which is connected to the node Jc and is slidably attached to the guide shaft 1g in the vertical direction. (See also Fig. 6 (A) and Fig. 6 (B))

  The link mechanism 11 has a toggle structure. That is, as shown in FIG. 2, the intermediate link 11d and the drive side link 11c are arranged on the straight line L1 at the open ends of the chuck claws 10a and 10b, thereby maintaining the displacement in the mechanical lock state, as shown in FIG. As described above, the chuck side links 11a and 11b are arranged on the horizontal straight line L2 at the closed ends of the chuck claws 10a and 10b so as to hold the displacement in the mechanical lock state.

  As shown in FIGS. 5 and 6A, the drive means 12 includes a drive motor 12a, a gear 12b attached to the drive motor 12a, and a gear engaged with the gear 12b and connected to the rotary shaft O. 12c. The drive motor 12a only needs to be able to output power that can displace the chuck claws 10a and 10b when the chuck claws 10a and 10b are opened and closed, so that downsizing can be achieved. Moreover, since the drive means 12 should just rotate the drive side link 11c to the normal / reverse direction, it cannot be overemphasized that other drive means, such as a solenoid, an air cylinder, and a hydraulic cylinder, may be used.

Hereinafter, the operation of the hand device 1 having the above configuration will be described.
As shown in FIG. 2, in the hand device 1 in the open end state, the intermediate link 11d and the drive side link 11c are arranged on the straight line L1 and are in a mechanical lock state. As long as the hand apparatus 1 is not rotated, the hand apparatus 1 can be kept open. In addition, the drive means 12 can hold | maintain the open state of the hand apparatus 1 more safely by continuing applying a weak rotational torque in the direction which rotates the rotating shaft O counterclockwise in the figure.

  Next, when the hand device 1 is lowered from above the workpiece W to a height at which the workpiece W can be gripped, the sensor S detects the workpiece W and rotates the drive motor 12a shown in FIG. 6 counterclockwise (counterclockwise). Thus, the gear 12b attached to the drive motor 12a is rotated counterclockwise, and the gear 12c engaged with the gear 12b rotates clockwise (clockwise).

  At this time, when the drive side link 11c connected to the gear 12c and the rotary shaft O rotates to the right, the connection link 11d is pulled down, and the chuck claws 10a and 10b are displaced in the closing direction as shown in FIG. (Turn).

  FIG. 3 shows a state in which the hand device 1 is at the closed end, and in this state, a support portion 10c is formed which is a horizontal portion where the tip ends of the chuck claws 10a and 10b abut against the lower portion of the workpiece W. Therefore, since the workpiece W is supported by the support portion 10 so as to be suspended by the support portion 10 when the workpiece W is hooked on the chuck claw support portion, the hand device 1 can be opened by its own weight. Absent.

  Further, when the hand device 1 is at the closed end, the chuck side links 11a and 11b are arranged on the horizontal straight line L2 at the closed ends of the chuck claws 10a and 10b, and are in a mechanical lock state. It is possible to prevent the hand device 1 from being easily opened. In addition, the drive means 12 can hold | maintain the holding | grip state of the hand apparatus 1 more safely by continuing applying a weak rotational torque in the direction which rotates the rotating shaft O clockwise in the figure.

  Since the hand device 1 of the present invention is configured so that a mechanical lock can be applied at both the open end and the closed end, there is no need to tighten the work W with a strong rotational force while holding the work W, Not only can power consumption be kept low, but also the drive motor 12 can be reduced in size, thereby contributing to energy saving. In addition, since it is not necessary to press the workpiece W with a strong force, the workpiece W can be prevented from being damaged by the chuck claws 10a and 10b. In addition, the work piece W can be gripped more reliably by providing a lap part that holds the work piece by overlapping the tip parts thereof while being displaced to the closed end.

DESCRIPTION OF SYMBOLS 1 Hand apparatus 10a, 10b Chuck claw 10c Support part 10d Lap part 11a, 11b Chuck side link 11c Drive side link 12 Drive means L1, L2 Straight line W Workpiece

Claims (3)

  At least a pair of chuck claws configured to be displaceable from a closed end that grips the workpiece to an open end that releases the workpiece, and a drive that drives the chuck claws to switch between gripping and releasing the workpiece by these chuck claws And the chuck claw includes a support portion that holds and supports a workpiece.   The chuck pawl is configured to be rotatable around a fulcrum, and at least one pair of chuck side links each having one end rotatably coupled to a node provided at a position away from the fulcrum of the chuck pawl; Both ends of the drive side link connected to the drive means and rotatably supported, a node provided at the other end of the chuck side link, and a node provided at the free end of the drive side link are rotatable. The at least one pair of chuck side links are arranged in a straight line at the closed end of the chuck claw so that the displacement is maintained in a mechanical lock state. 2. The hand device according to claim 1, wherein the drive side link includes a toggle structure that is arranged in a straight line at the open end of the chuck claw and holds the displacement in a mechanical lock state.   3. The hand device according to claim 1, further comprising a wrap portion that holds the workpiece by overlapping the tip portions of the chuck claws in a state of being displaced to a closed end.

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