JP4942810B2 - Holding device and holding jig - Google Patents

Description

  The present invention relates to a gripping device and a gripping jig thereof, and more particularly to a gripping jig suitable for use in fixing a work having a minute thickness unevenness in a longitudinal direction and a gripping device including the gripping tool.

  Generally, when a workpiece is cut, a cutting load is applied to the workpiece, and thus it is necessary to fix the workpiece with a pair of gripping jigs. In particular, when performing mirror cutting, since high cutting accuracy is required, it is necessary to firmly fix the workpiece. As an example of a workpiece to be subjected to such mirror cutting, there is an elongated strip-shaped optical transmitter array in which a plurality of rod-shaped lenses are arranged between two resin substrates.

In the automatic cutting machine, the optical transmission body array is moved between a pair of gripping jigs by pressing the surface to be cut by the flat surface of the feeding jig. The optical transmission body array that has moved between the pair of gripping jigs is supported from behind by a backup jig parallel to the flat surface of the input jig. As a result, the optical transmitter array is sandwiched and aligned between the two flat surfaces of the input jig and the backup jig.
The optical transmitter array thus aligned has been conventionally gripped by an integrated gripping jig (fixed clamp) having a flat gripping surface extending linearly with a certain width (for example, Patent Documents). 1).

  However, the shape of the workpiece before cutting is often irregular, and the surface of the workpiece to be cut is generally not flat. For example, the optical transmitter array may be originally curved in a plane perpendicular to the cutting surface, that is, in the gripping surface. Further, for example, a protrusion may be formed on the surface to be cut of the optical transmission body array by an adhesive or the like protruding from between the rod-shaped lenses. In these cases, when the optical transmitter array is aligned with the flat surfaces of the conventional input pressure jig and backup jig, the optical transmitter array is bent in a plane parallel to the gripping surface. In that case, the optical transmitter array is gripped and cut while being stressed. For this reason, if the optical transmission body array is removed from the holding jig after cutting, the stress is released and the optical transmission body array warps to the opposite side. As a result, the cut surface cut in a straight line is curved, and the optical characteristics of the optical transmission pair are deteriorated.

  Furthermore, the optical transmitter array has a minute thickness spot along its longitudinal direction. In particular, when the optical transmission array is processed by stacking several stages in order to improve the production efficiency, the thickness variation of the optical transmission array is added, and the overall thickness variation is further increased. For this reason, with an integrated gripping jig having a flat gripping surface, it is difficult to grip the optical transmission array with a uniform force over the entire length in the longitudinal direction. If the gripping force is insufficient at the thin portion, the portion is displaced by the cutting stress, and it becomes difficult to perform high-precision cutting such as mirror surface cutting.

  Therefore, instead of the integrated gripping jig, a gripping jig divided into a plurality of parts along the longitudinal direction of the workpiece is used. If such a gripping jig is used, the gripping force can be adjusted in accordance with thickness spots for each part of the workpiece (for example, Patent Document 2).

  However, when the gripping jig is divided, it is necessary to provide gripping force supply means for supplying a gripping force for each gripping jig. For example, it is necessary to provide an air cylinder with standing linear rails for each divided gripping jig. As a result, the structure of the entire gripping device to which the gripping jig is attached becomes complicated, the weight increases, and the manufacturing cost of the device increases. In addition, it is necessary to adjust and maintain the parallelism for each gripping jig.

JP-A-9-152518 (FIG. 1) JP-A-11-156628 (FIG. 1)

  Accordingly, an object of the present invention is to provide a gripping jig having a simple structure and a gripping device including the gripping tool, which can grip a workpiece with thickness unevenness with a uniform force.

  In order to achieve the above object, the gripping device of the present invention includes a pair of gripping jigs for gripping a workpiece by the gripping portions facing each other, and a gripping force supply means for supplying a gripping force between the pair of gripping jigs. A gripping device, wherein at least one gripping part of a pair of gripping jigs has a plurality of slit rows in which a gripping surface and a plurality of slits parallel to the gripping surface are formed in a broken line shape, and the plurality of slit rows The slit of one slit row is formed so that at least part of it overlaps with the slit of the other slit row, and when the gripping surface grips the workpiece, the slit of the slit row collapses and the gripping part is elastically deformed It is configured so that it can be used.

  As described above, according to the gripping device of the present invention, the gripping jig provided with flexibility by forming slit rows in the gripping portion is used. In the gripping jig, a plurality of slit rows are provided in parallel with the gripping surface to give flexibility to the gripping portion of the gripping jig. As a result, when gripping the workpiece, the gripping portion corresponding to the thick portion of the workpiece is elastically deformed by the collapse of the slit. For this reason, the grip surface can be locally recessed to absorb the uneven thickness of the workpiece. Thereby, the thickness unevenness of the object to be grasped can be absorbed and the work can be grasped with a uniform force.

  Furthermore, in the present invention, by forming the slit of one slit row so as to at least partially overlap the slit of the other slit row, substantially uniform flexibility is provided on the gripping surface of the gripping jig. Giving. Thereby, according to this invention, even if it is a workpiece | work with a thickness spot, the whole workpiece | work can be hold | gripped with uniform force.

In the present invention, preferably, the gripping surface has a shape extending linearly with a certain width. Thereby, even if it is an elongate workpiece | work, it can hold | maintain with uniform force over the full length of the longitudinal direction of the workpiece | work.
In the present invention, preferably, the length of the slit row is longer than the length of the workpiece in the longitudinal direction.
Preferably, in the present invention, the plurality of slit rows are composed of at least a first slit row and a second slit row, and a gripping surface and a first slit row closest to the gripping surface among the plurality of slit rows. The interval is 0.5 to 2 times the width of the gripping surface. The narrower the gap between the grip surface and the slit row, the higher the flexibility of the grip portion. Further, the narrower the width of the gripping surface (thickness in the direction perpendicular to the longitudinal direction), the higher the flexibility of the gripping portion. For this reason, the suitable space | interval of a holding surface and a slit row | line is decided according to the width | variety of a holding surface. Therefore, if this distance is set within a range of 0.5 to 2 times the width of the gripping surface, the gripping portion is given sufficient flexibility to absorb the thickness variation of the workpiece by deformation within the elastic limit. be able to.
Preferably, in the present invention, the plurality of slit rows are composed of at least a first slit row and a second slit row, and an interval between the first slit row and the second slit row is 0. 5 to 2 times. The narrower the gap between the first slit row and the second slit row, the higher the flexibility of the grip portion. Further, the narrower the width of the gripping surface (thickness in the direction perpendicular to the longitudinal direction), the higher the flexibility of the gripping portion. For this reason, the suitable space | interval of a 1st slit row | line | column and a 2nd slit row | line is determined according to the width | variety of a holding surface. Therefore, if this distance is set within a range of 0.5 to 2 times the width of the gripping surface, the gripping portion is given sufficient flexibility to absorb the thickness variation of the workpiece by deformation within the elastic limit. be able to.
In the present invention, the length of the slit is preferably 3 to 5 times the width of the gripping surface. The longer the slit length, the higher the flexibility of the gripping part. However, if the slit is extremely long, the gripping force for gripping the workpiece so as not to move in the width direction of the workpiece may be insufficient. Therefore, if the length of the slit is within a range of 3 to 5 times the width of the gripping surface, the gripping portion has sufficient flexibility to absorb the thickness variation of the workpiece by deformation within the elastic limit. Can be given.

The gripping jig of the present invention is a gripping jig for gripping a workpiece by a gripping portion, and the gripping portion has a plurality of slit rows in which a gripping surface and a plurality of slits parallel to the gripping surface are formed in a broken line shape. The plurality of slit rows are formed such that the slit of one slit row overlaps at least part of the slit of the other slit row, and the slit of the slit row is crushed when the gripping surface grips the workpiece. Thus, the grip portion is configured to be elastically deformable.
As described above, according to the present invention, by providing a plurality of slit rows in parallel with the gripping surface, the gripping portion of the gripping jig is given flexibility. As a result, when gripping the workpiece, the gripping portion corresponding to the thick portion of the workpiece is elastically deformed by the collapse of the slit. For this reason, the grip surface can be locally recessed to absorb the uneven thickness of the workpiece.

In the present invention, preferably, the length of the slit row is longer than the length of the workpiece in the longitudinal direction.
Preferably, in the present invention, the plurality of slit rows are composed of at least a first slit row and a second slit row, and a gripping surface and a first slit row closest to the gripping surface among the plurality of slit rows. The interval is 0.5 to 2 times the width of the gripping surface. The narrower the gap between the grip surface and the slit row, the higher the flexibility of the grip portion. Further, the narrower the width of the gripping surface (thickness in the direction perpendicular to the longitudinal direction), the higher the flexibility of the gripping portion. For this reason, the suitable space | interval of a holding surface and a slit row | line is decided according to the width | variety of a holding surface. Therefore, if this distance is set within a range of 0.5 to 2 times the width of the gripping surface, the gripping portion is given sufficient flexibility to absorb the thickness variation of the workpiece by deformation within the elastic limit. be able to.
Preferably, in the present invention, the plurality of slit rows are composed of at least a first slit row and a second slit row, and an interval between the first slit row and the second slit row is 0. 5 to 2 times. The narrower the gap between the first slit row and the second slit row, the higher the flexibility of the grip portion. Further, the narrower the width of the gripping surface (thickness in the direction perpendicular to the longitudinal direction), the higher the flexibility of the gripping portion. For this reason, the suitable space | interval of a 1st slit row | line | column and a 2nd slit row | line is determined according to the width | variety of a holding surface. Therefore, if this distance is set within a range of 0.5 to 2 times the width of the gripping surface, the gripping portion is given sufficient flexibility to absorb the thickness variation of the workpiece by deformation within the elastic limit. be able to.
In the present invention, the length of the slit is preferably 3 to 5 times the width of the gripping surface. The longer the slit length, the higher the flexibility of the gripping part. However, if the slit is extremely long, the gripping force for gripping the workpiece so as not to move in the width direction of the workpiece may be insufficient. Therefore, if the length of the slit is within a range of 3 to 5 times the width of the gripping surface, the gripping portion has sufficient flexibility to absorb the thickness variation of the workpiece by deformation within the elastic limit. Can be given.

According to the present invention, a workpiece with thick spots can be gripped with a uniform force with a simple structure.
According to the present invention, a work can be gripped without applying stress to the work.

It is a schematic perspective view which shows embodiment of the workpiece | work input device concerning this invention. (A) And (B) is a top view which shows the shape and operation | movement of a throwing jig by embodiment of this invention. (A)-(D) are schematic sectional drawings which show the operation example of the workpiece | work injection | throwing-in apparatus by embodiment of this invention. It is a perspective view explaining cutting using the grasping device concerning an embodiment. It is a side view of a grasping device concerning an embodiment. (A) is the side view of the holding jig which concerns on embodiment, (B) is the figure which looked at the holding jig from the holding surface side. (A) is an end view of the holding jig according to the embodiment, and (B) is an enlarged view of a side surface.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
First, with reference to FIG.1 and FIG.2, the structure of the workpiece | work injection | throwing-in apparatus of this embodiment is demonstrated about the example of the injection | throwing-in apparatus which used the optical transmission body array as a workpiece | work. FIG. 1 is a schematic perspective view showing an embodiment of a workpiece loading apparatus according to the present invention. In FIG. 1, illustration of the supporting members of the respective components is omitted.
2 (A) and 2 (B) are top views showing the shape and operation of the input jig constituting the work input device of this embodiment. 2A corresponds to a top view of the workpiece 1, the lower holding jig 3, the feeding jig 5, and the backup jig 6 shown in FIG.

  The workpiece input device of this embodiment is an automatic processing apparatus that firmly fixes a plastic optical transmission body array as a workpiece between a pair of gripping jigs and performs mirror surface cutting. Throw again.

  Therefore, as shown in FIG. 1, the workpiece input device of the present embodiment accommodates a pair of gripping jigs 2 and 3 for gripping the strip-shaped workpiece 1 and the workpiece 1 in a stacked state, and The workpiece magazine 7 for supplying the accommodated workpiece 1 onto the moving surface 4 and the moving surface 4 to the gripping position between the pair of gripping jigs 2 and 3 with several workpieces 1 supplied from the workpiece magazine 7 being stacked. The feeding jig 5 is moved by being pushed upward, and the backup jig 6 is provided for supporting the workpiece 1 moved between the pair of gripping jigs 2 and 3 on the opposite side of the feeding jig 5.

  Further, this work input device is provided with a support jig 8 at a position immediately below the work magazine 7 (not shown in FIG. 1). The support jig 8 moves up from the moving surface 4, supports the work 1 accommodated in the work magazine 7, and descends to the moving surface 4 while supporting the work 1.

Further, the thickness of the throwing jig 5 needs to be thinner than the number of sheets to be thrown at a time between the pair of gripping jigs 2 and 3, but if it is too thin, the throwing operation becomes unstable. Therefore, the thickness of the throwing jig 5 is desirably set to a thickness obtained by subtracting about half of the thickness of one workpiece from the total thickness of the throwing pieces. For example, when the number of workpieces to be thrown is 10 and the total thickness is 10 mm, the thickness of the throwing jig 5 is desirably about 9.5 mm to 9.9 mm.
Further, the thickness of the backup jig 6 should be equal to or greater than the thickness of the input jig 5 and may be thicker than the entire input work as long as it can pass through the pair of open gripping jigs. Absent. Further, the gap from the moving surface 4 at the tip of the work magazine 7 is preferably a gap that is about half as wide as the thickness of one work to be loaded.

  As shown in FIG. 1, the throwing jig 5 of the present embodiment has a hawk-shaped portion made up of three claws protruding in the direction of pushing the workpiece 1. As shown in FIG. 2A, the tip of the claw 51 at the center of the hawk-shaped portion protrudes by a predetermined distance d from the tips of the claws 52 and 53 on both sides. This predetermined distance d is preferably less than or equal to half the width of the cutting allowance of the workpiece 1. For example, when the width of the cutting allowance is 0.6 mm, the predetermined distance d is preferably 0.2 to 0.3 mm.

Further, as shown in FIGS. 1 and 2, the backup jig 6 also has a hawk-shaped portion composed of three claws facing the throwing jig 5. The claw 61 at the center of the hawk-shaped portion is located in front of the claw 51 at the center of the throwing jig 5.
As shown in FIG. 2A, the tip of the claw 61 of the backup jig 6 also protrudes from the tips of the claws 62 and 63 on both sides by a predetermined distance d. The predetermined distance d in the backup jig 6 is also preferably less than half of the width of the cutting allowance of the workpiece 1. For example, when the width of the cutting allowance is 0.6 mm, the predetermined distance d is preferably 0.2 to 0.3 mm.

  Then, the throwing jig 5 substantially pushes the central portion of the workpiece 1 with the claw 51 at the center of the hawk-shaped portion as shown in FIG. throw into. Then, as shown in FIG. 2 (B), the center portion of the workpiece 1 in the longitudinal direction is sandwiched between the center claw 51 of the input jig 5 and the center claw 61 of the backup jig 6 so that the workpiece 1 is held at the holding position. Aligned.

  Therefore, the workpiece 1 is substantially sandwiched and aligned at one place in the central portion in the longitudinal direction. Thereby, even if the workpiece is curved, the workpiece can be gripped as it is without applying stress. For this reason, when the workpiece after cutting is removed from between the holding jigs 2 and 3, it is possible to prevent the linear cutting surface of the workpiece from warping.

  Further, by providing the nails on both sides in addition to the central nail, it is possible to prevent the workpiece from being held while being largely inclined with respect to the cutting line. Further, as described above, since the predetermined distance d is set to be less than half of the width of the cutting allowance, even when the workpiece is held while being tilted within the holding surface, the amount of deviation due to the tilt can be included in the cutting allowance. In addition, it is possible to prevent the uncut portion, that is, the unmirrored portion from appearing.

  Next, with reference to FIG. 3, an operation example of the work input device according to the present embodiment will be described. A series of operations of the workpiece input device described below is automatically controlled by a sequence controller (not shown) that executes a sequence program.

  FIG. 3A shows a cross-sectional view of the initial state. FIG. 3A corresponds to a cross section taken along line AA in FIG. In the initial state, the throwing jig 5 is located in front of the work magazine 7 (right side in FIG. 3). Under the work magazine 7, the work 1 supplied from the work magazine 7 is stacked on the moving surface 4.

Next, as shown in FIG. 3B, the throwing jig 5 is driven to the holding jigs 2 and 3 side by an air cylinder (not shown). As a result, the throwing jig 5 pushes several workpieces 1 stacked on each other, and moves on the moving surface 4 to the gripping position between the pair of gripping jigs 2 and 3.
It should be noted that while the loading jig 5 is moving under the work magazine 7, the upper surface of the fork-shaped portion of the loading jig 5 supports the work 1 accommodated in the work magazine 7.
Thereafter, when the work 1 moves to the gripping position between the gripping jigs 2 and 3, the backup jig 6 supports the work that has moved to the gripping position between the pair of gripping jigs 2 and 3 on the opposite side of the input jig 5. .
2B, between the pair of gripping jigs 2 and 3, the central part in the longitudinal direction of the workpiece 1 is the central claw 51 of the input jig 5 and the central claw of the backup jig 6. 61, the work 1 is aligned.

  At this time, the backup jig 6 is also moved by the air cylinder (not shown) through the gripping jig to the place of the work 1 accommodated in the work magazine 7 and shown in FIG. As described above, the workpiece 1 is sandwiched in cooperation with the loading jig 5 from the opposite side of the loading jig 5, and in this state, the workpiece 1 is transported to the gripping position between the pair of gripping jigs 2 and 3. May be. Thereby, when the workpieces 1 are thrown in, it is possible to suppress the stacked individual workpieces 1 from jumping out.

Subsequently, as shown in FIG. 3C, the aligned workpieces 1 are gripped by a pair of gripping jigs 2 and 3. In the present embodiment, the upper holding jig 2 comes down and holds the workpiece 1.
In the present embodiment, after the workpiece 1 is gripped and before the input jig 5 returns to the initial position, the support jig 8 is located immediately below the work magazine 7 and the input jig 5 At a position between the three claws, the workpiece 1 is moved up from the moving surface 4 to support the workpiece 1 accommodated in the workpiece magazine 7.

  Subsequently, as shown in FIG. 3D, the throwing jig 5 and the backup jig 6 are driven by the respective air cylinders to return to the initial position. Then, the pair of holding jigs 2 and 3 that hold the workpiece 1 are moved along the high-precision linear rail in front of the cutting machine in a direction perpendicular to the paper surface of FIG. For this reason, the holding jigs 2 and 3 are not shown in FIG.

  Even when the input jig 5 returns to the initial position, the workpiece 1 supported by the upper surface of the input jig 5 is supported by the support jig 8. Then, the support jig 8 descends to the moving surface 4 while supporting the workpiece 1. Thereby, it is possible to prevent the stacked workpieces 1 from collapsing on the moving surface 4.

  And it returns to the initial state shown to (A) of FIG. 3, and a series of operation | movement mentioned above can be repeated automatically. Accordingly, it is possible to perform unmanned and continuous processing in an apparatus for mirror-cutting the end surface in the longitudinal direction of the plastic optical transmitter array.

Here, FIG. 4 shows how the gripping device 10 that grips the aligned workpieces 1 with the pair of gripping jigs 2 and 3 moves on the high-precision linear rail 70 to the front of the cutting machine. The cutting machine includes a rotary head 30 to which a diamond cutting blade 31 is attached, and the rotary head 30 is rotated by a motor 32. When the gripping device 10 passes in front of the cutting machine, the end surface in the longitudinal direction of the optical transmission element array 1 is mirror-polished by the diamond cutting blade 31.
In FIG. 4, a cutting device including a rotary head 30 to which a diamond cutting blade 31 is attached is installed only on one end surface side of the optical transmitter array 1. Since the other end face is also cut at the same time, the cutting device is also installed on the opposite side of the optical transmission element array 1.

Next, with reference to FIG. 5, the structure of the holding | gripping apparatus of this embodiment is demonstrated.
FIG. 5 is a side view of the gripping device of the present embodiment. As shown in FIG. 5, the gripping device 10 according to the present embodiment includes a pair of gripping jigs 2 and 3 that grip a workpiece with a gripping portion facing each other on a processing table 50, and a pair of gripping jigs 2 and 3. Gripping force supply means 40 for supplying gripping force to the head. Here, both end portions of the upper gripping jig 2 are fixed to the processing table 50 with the support columns 20. The gripping force supply means 40 supplies gripping force between the upper gripping jig 2 and the lower gripping jig 3 by lifting the lower gripping jig 3.

  In the present embodiment, the upper gripping jig 2 is an integrated gripping jig 2 in which the grip section 15 is provided with slit rows 13 and 14. For this reason, the whole workpiece | work can be hold | gripped with a substantially uniform force using the holding jig 2 of simple integrated structure. As a result, it is not necessary to divide the gripping jig along the longitudinal direction of the workpiece and to provide a gripping force supply means for each divided gripping jig. Therefore, the gripping device can be reduced in size and weight compared to the case where the gripping jig is divided, and the manufacturing cost of the gripping device can be reduced.

  Moreover, in this embodiment, since the holding device 10 was reduced in weight compared with the holding device provided with the divided holding jig, the holding device 10 can be moved on the high-precision linear rail 70 at a higher speed. As a result, the cycle time of mirror cutting can be shortened.

  Here, with reference to FIG.6 and FIG.7, the holding jig of this embodiment is demonstrated. FIG. 6A is a side view of the gripping jig of the present embodiment, and FIG. 6B is a bottom view of the gripping jig shown in FIG. 6A viewed from the gripping surface side. In FIG. 6B, although not a cross-sectional portion, the gripping surface is shown with hatching. FIG. 7A is an end view of the gripping jig shown in FIG. FIG. 7B is an enlarged view of a side portion of the gripping jig shown in FIG.

  In the present embodiment, an example of a gripping jig that grips an optical transmission element array (not shown) as a work with a gripping portion will be described. The optical transmitter array has an elongated strip shape, and the end surface along the longitudinal direction is mirror-cut. For this reason, the holding jig 2 of the present embodiment is made of metal and has an elongated and integrated shape as shown in FIGS. 6 (A) and 6 (B).

  As shown in FIG. 6B, the gripping surface 11 of the gripper 15 that grips the workpiece has a shape extending linearly with a certain width. The length L in the longitudinal direction of the gripping surface 11 is preferably longer than the length in the longitudinal direction of the workpiece. The width (thickness in the direction perpendicular to the longitudinal direction) D of the gripping surface 11 is preferably shorter than the width of the optical transmission body (length in the direction perpendicular to the end surface to be mirror-cut). Here, the length L in the longitudinal direction of the gripping surface is several hundred mm, and the width D of the gripping surface 11 is about several mm.

  Further, as shown in FIG. 7A, the gripping portion 15 along the gripping surface 11 of the gripping jig 2 is supported with the same thickness as the width D of the gripping surface so as not to hit the cutting blade during cutting. It is made thinner than the part 16.

  And in this embodiment, as shown to FIG. 6 (A), the 1st and 2nd slit row | line | column 13 which each formed the several slit 12 parallel to the holding surface 11 in the side surface of the holding part 15 in the shape of a broken line, and 14 is provided. Each slit 12 of these slit rows 13 and 14 penetrates the grip portion 15. Moreover, it is preferable that the 1st and 2nd slit row | line | columns 13 and 14 are longer than the longitudinal direction of a workpiece | work, and it is provided over the substantially full length of the longitudinal direction of the holding surface 11 in this embodiment. Moreover, as a shape of a slit, what gave the round hole appearance larger in diameter than slit width may be given to the both ends of the slit.

  Thus, by providing two rows of slit rows 13 and 14 in parallel with the gripping surface 11, flexibility can be given to the gripping portion 15 of the gripping jig 2. As a result, when the workpiece is gripped, the grip portion 15 corresponding to the thick portion of the workpiece is elastically deformed by the collapse of the slit 12. For this reason, the gripping surface 11 can be locally recessed to absorb the uneven thickness of the workpiece.

  Further, the slits 12 of the first slit row 13 and the slits 12 of the second slit row 14 are staggered by shifting each slit row so that both ends 12a of the slit 12 overlap the slits 12 of the other slit rows. Is formed.

  Thus, by forming the slits 12 in a staggered manner, the gripping surface 11 of the gripping jig 2 can be given substantially uniform flexibility along the longitudinal direction. Thereby, even a workpiece with thick spots can be gripped with a substantially uniform force over the entire length in the longitudinal direction of the workpiece.

  The grip 15 is preferably made of metal, and is more preferably made of hard and highly viscous high-speed steel (SKH) or spring steel (SUP) having a high elastic limit and high fatigue limit. If these metals are used, flexibility can be easily provided by providing slit rows.

  Next, referring to FIG. 7B, when the entire gripping jig 2 is made of SKH or SUP, sufficient flexibility is provided to absorb the thickness variation of the workpiece by deformation within the elastic limit. The example of arrangement | positioning and dimension shape of each slit 12 etc. suitable for 1 is demonstrated. FIG. 7B is a partially enlarged view of the first and second slit rows 13 and 14 shown in FIG.

The distance H ₁ between the gripping surface 11 and the first slit row 13, that is, the thickness of the layered portion 17, is preferably in the range of 0.5 to 2 times the width D of the gripping surface 11. For example, when D = 3.5 mm, H ₁ = 5 mm.
Incidentally, the thinner the thickness H ₁ of the layered portion 17, the flexible laminar portion 17 is increased. Further, the narrower the width D of the gripping surface 11 (the thickness of the gripping portion 15) D, the higher the flexibility of the layered portion 17. For this reason, a suitable distance H ₁ between the gripping surface 11 and the first slit row 13 is determined according to the width D of the gripping surface 11 and the material of the gripping member.

Further, the distance H ₂ between the first slit row 13 and the second slit row 14, that is, the thickness of the layered portion 18 is preferably in the range of 0.5 to 2 times the width D of the gripping surface 11. For example, when D = 3.5 mm, H ₂ = 4 mm.
In addition, the flexibility of the layered portion 18 increases as the thickness H ₂ of the layered portion 18 decreases. Further, the narrower the width D of the gripping surface 11 (the thickness of the gripping portion 15) D, the higher the flexibility of the layered portion 18 is. For this reason, a suitable distance H ₂ between the first slit row 13 and the second slit row 14 is also determined according to the width D of the gripping surface 11 and the material of the gripping member.

Furthermore, in the present embodiment, the length S of the slit is preferably in the range of 3 to 5 times the width of the gripping surface 11.
Note that the longer the slit length S, the higher the flexibility of the layered portions 17 and 18 along the slit 12. However, if the slit 12 is extremely long, the gripping force on the gripping surface 11 along the slit may be insufficient.

In this embodiment, the length S of the slit 12 is uniform and the interval T between the slits is uniform in any of the slit rows 13 and 14. For example, S = 20 mm and T = 10 mm.
In addition, since the both ends 12a of each slit 12 overlap with the slits 12 in the other rows, the interval T between the slits is shorter than the slit length S.

The width U of each slit 12 is preferably in the range of 0.1 to 0.5 mm. For example, U = 0.2 mm.
When the gripping surface of the gripping jig absorbs the uneven thickness and is dented, it is deformed until the slit is completely crushed. For this reason, if the slit width is too large, the gripping jig may be deformed beyond the elastic limit. When the gripping force is generated using an air cylinder, a coil spring, or the like, the slit width may be widened by suppressing the force within the elastic deformation. On the other hand, if the slit width is too small, it is difficult to sufficiently deform the thickness spots.

  By arranging the slits 12 having the dimensions as described above as described above, the gripping portion 15 of the gripping member 1 is provided with sufficient flexibility to absorb the thickness variation of the workpiece by deformation within the elastic limit. Can do.

  By the way, it is also conceivable to provide a rubber layer on the gripping surface 11 in order to absorb uneven thickness of the workpiece. However, the rubber layer is also deformed in the direction along the gripping surface 11. For this reason, when a rubber layer is provided, the workpiece is displaced by cutting stress during cutting. Therefore, providing a rubber layer is not appropriate for firmly gripping the workpiece.

  On the other hand, in the gripping jig 2 provided with the slit 12 of the present embodiment, the layered portions 17 and 18 of the gripping portion 15 are deformed only in a direction substantially perpendicular to the gripping surface 11 like a leaf spring. The direction along the holding surface 11 is not substantially deformed. Therefore, according to the gripping jig 2 of the present embodiment, the workpiece can be firmly fixed while gripping with a uniform force along the longitudinal direction of the workpiece.

In each embodiment mentioned above, although the example which constituted the present invention on specific conditions was explained, the present invention can perform various change and combination, and is not limited to this.
For example, in the above-described embodiment, an example in which several stacked workpieces are input at a time has been described. However, in the present invention, only one stage of workpieces may be input.
Further, for example, in the above-described embodiment, the example in which the support jig is pushed up after the workpiece is gripped has been described, but the timing at which the support jig is pushed up is not limited thereto. For example, the support jig may be pushed up while the work housed in the work magazine is supported on the upper surface of the loading jig even before the work is loaded.

For example, in the above-described embodiment, an example in which two rows of slits are provided in the gripping part has been described. However, in the present invention, the number of slits is not limited to two. For example, three or four or more slit rows may be provided.
Further, for example, in the above-described embodiment, an example of a gripping jig having an elongated gripping surface has been described, but the shape of the gripping surface is not limited to this.
For example, in the above-described embodiment, an example of a metal holding jig has been described. However, in the present invention, the holding jig is not limited to a metal one.

Further, for example, in the above-described embodiment, among the pair of gripping jigs constituting the gripping device, only the upper gripping jig is provided with the slit row, but in the present invention, for example, the lower gripper or both the upper and lower gripping jigs are provided. You may provide a slit row | line in.
Further, for example, in the gripping apparatus of the above-described embodiment, the example in which the gripping force supply unit is provided below the lower gripping jig has been described. However, the arrangement and mechanism of the gripping force supply unit of the present invention are not limited thereto. It is not limited. For example, an air cylinder may be provided on the upper gripping jig as the gripping force supply means.

DESCRIPTION OF SYMBOLS 1 Work 2, 3 Grip jig 4 Moving surface 5 Input jig 51, 52, 53 Claw 6 Backup jig 61, 62, 63 Claw 7 Work magazine 8 Support jig 10 Grip apparatus 11 Grip surface 12 Slit 12a End 13 First slit row 14 Second slit row 15 Gripping part 16 Supporting part 17 Layered part 18 Layered part 20 Strut 30 Rotating head 31 Cutting blade 32 Motor 40 Workpiece 40 Grasping force supply means 50 Work table 70 High-precision linear rail

Claims (10)

A gripping device comprising a pair of gripping jigs for gripping a workpiece by opposing gripping portions, and a gripping force supply means for supplying a gripping force between the pair of gripping jigs,
The grip part of at least one of the pair of gripping jigs has a plurality of slit rows in which a grip surface and a plurality of slits parallel to the grip surface are formed in a broken line shape,
The plurality of slit rows are formed such that the slit of one slit row overlaps at least part of the slit of the other slit row,
The gripping device is configured such that when the gripping surface grips a workpiece, the gripping portion can be elastically deformed by collapsing the slits of the slit row. A gripping jig for gripping a workpiece by a gripping portion,
The gripping portion has a plurality of slit rows in which a gripping surface and a plurality of slits parallel to the gripping surface are formed in a broken line shape,
The plurality of slit rows are formed such that the slit of one slit row overlaps at least part of the slit of the other slit row,
A gripping jig characterized in that when the gripping surface grips a workpiece, the gripping portion can be elastically deformed by collapsing the slits of the slit row. The length between both ends of the slit row is longer than the length in the longitudinal direction of the workpiece.
The gripping device according to claim 1. The length between both ends of the slit row is longer than the length in the longitudinal direction of the workpiece.
The gripping jig according to claim 2. The plurality of slit rows are composed of at least a first slit row and a second slit row,
An interval between the gripping surface and the first slit row closest to the gripping surface among the plurality of slit rows is 0.5 to 2 times the width of the gripping surface.
The gripping device according to claim 1. The plurality of slit rows are composed of at least a first slit row and a second slit row,
An interval between the gripping surface and the first slit row closest to the gripping surface among the plurality of slit rows is 0.5 to 2 times the width of the gripping surface.
The gripping jig according to claim 2. The plurality of slit rows are composed of at least a first slit row and a second slit row,
The interval between the first slit row and the second slit row is 0.5 to 2 times the width of the gripping surface.
The gripping device according to claim 1. The plurality of slit rows are composed of at least a first slit row and a second slit row,
The interval between the first slit row and the second slit row is 0.5 to 2 times the width of the gripping surface.
The gripping jig according to claim 2. The length of the slit is 3 to 5 times the width of the gripping surface.
The gripping device according to claim 1. The length of the slit is 3 to 5 times the width of the gripping surface.
The gripping jig according to claim 2.

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