JP4992654B2 - Chuck device - Google Patents

Description

  The present invention relates to a structure of a chuck device for chucking a workpiece.

  In the manufacturing process, it is necessary to transfer the workpiece such as a cylinder block placed at a predetermined position and transfer it to the next step. In order to convey the workpiece between processes, a chuck device that chucks the workpiece is attached to the wrist at the tip of the robot arm, and the workpiece chucked by the chuck device is conveyed to a predetermined position by the operation of the robot arm.

  As a chuck device attached to the tip of such a robot arm, a prada that expands in a radial direction by introducing compressed air into the inside thereof, closely contacts the inner surface of the hole of the workpiece, and lifts the workpiece by a frictional force with the inner surface of the hole. There is something to use. However, when the diameter of the hole of the workpiece into which the prada is inserted changes, the contact state between the prada and the hole changes, and there is a problem that the workpiece cannot be stably held (for example, Patent Document 1). 2).

  Therefore, in Patent Document 1, a pantograph-like link mechanism is inserted into the hole of the cylinder block, the inserted link mechanism is expanded in the radial direction by the operation of the hydraulic cylinder, and the claw of the cylinder block is pressed against the inner surface of the hole. A method has been proposed in which a pad is pressed against the upper surface of the cylinder block, and the cylinder block is chucked by the pressing force of the claw on the inner surface of the hole of the cylinder block and the pressing force of the pad on the end surface of the cylinder block. Further, in Patent Document 1, a link mechanism that presses the claw against the inner surface of the cylinder block and a link mechanism that presses the pad onto the upper surface, and a hook that hooks the claw on the peripheral edge of the hole on the lower surface and clamps the cylinder block with the pad on the upper surface Has been proposed.

  Patent Document 1 proposes a chuck device provided with two link mechanisms configured as described above and provided with a cylinder for moving the link mechanisms in the horizontal direction so as to match the intervals between the holes in the cylinder block. ing.

Japanese Patent Laid-Open No. 2004-9204 JP 2002-283263 A

  The prior art described in Patent Document 1 is configured such that a pantograph-like link mechanism is inserted into a hole of a cylinder block and a claw is pressed against two points on the inner surface of the hole. In this configuration, if there is a deviation between the center position of the link mechanism and the center of the hole in the cylinder block, the two claws hit the portion of the string smaller than the diameter. There is a problem that you can not. For this reason, in the prior art described in Patent Document 1, a stable chuck can be formed by pressing the pad against the end face of the cylinder block.

  In general, since the upper surface of the cylinder block is often formed with a mating surface with the cylinder head, the conventional chuck device described in Patent Document 1 uses the link device as a hole from the upper surface side of the cylinder block. The cylinder block can be chucked by inserting and pressing the claw or pad against the inner surface of the cylinder block hole and the upper surface of the cylinder block, but the lower surface side of the cylinder block is provided with a recess for the crankcase, etc. In many cases, there is no flat portion around the hole, and the end face of the hole cannot be chucked by pressing the pad. For this reason, in the conventional chuck device described in Patent Document 1, the link mechanism can be inserted into the hole from the upper surface side of the cylinder block and the cylinder block can be chucked and lifted. The cylinder block cannot be lifted by being inserted into the cylinder block, and the work such as the cylinder block cannot be left in an arbitrary posture. For this reason, a posture changing device for changing the posture of the workpiece placed during the manufacturing process is required, which requires a large manufacturing space and increases the number of manufacturing steps.

  Therefore, an object of the present invention is to place a workpiece in an arbitrary posture.

Chuck device of the present invention, there is provided a chucking apparatus for chucking the workpiece by the pressing force on the inner surface of the hole of the workpiece including the bore of the cylindrical surface, and a protrusion portion protruding inwardly of the bore, the body substrate When, with a fixed chuck assembly which is fixed to the main body substrate, and a movable chuck assembly attached to the moving plate to slide forward and backward direction to the fixed chuck assembly along the surface of the body substrate, wherein the chucks assembly, the equally spaced circumferentially around the vertical center line with respect to the main body substrate, along the peripheral circle around the surface opposite to the center line of the center line, the workpiece from the tip wherein the three chuck arms of columnar inserted into the hole, a surface on the opposite side of the center line of each chuck arm tip portion in contact with the hole inner surface of the workpiece A chuck claws for pressing the hole inner surface of the workpiece, the supporting portion and the radial direction of the outer circumference of the respective chuck arms the supporting body substrate end slidably in the radial direction of the outer circumference of the chuck arm A chuck claw around the center line along which a surface of each chuck claw opposite to the center line extends. The outer circumference circular diameter is larger than the outer circumference circle diameter of the chuck arm base portion around the center line along the surface of each chuck arm base portion on the side opposite to the center line, and each chuck claw has an inner surface of the hole of the workpiece. The outer circumferential diameter of the chuck arm base portion is smaller than the inner dimension of the protruding portion protruding inward of the hole .

Te chuck device odor of the present invention, attached to the body substrate, further comprising a position adjusting mechanism for adjusting the distance between the movable chuck assembly and the fixed chuck assembly to an arbitrary interval, also to be suitable as a main body substrate, It is also preferable that it is attached to the tip of the multi-axis robot arm.

  The present invention has an effect that a workpiece can be placed in an arbitrary posture.

  Preferred embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the chuck device 10 of this embodiment is attached to a wrist 103 at the tip of an arm 101 of a multi-axis robot 100 fixed to a floor 80, and moves up and down, left and right and around three axes by the operation of the multi-axis robot 100. The position and posture can be changed freely. The chuck device 10 is provided with chuck arms 16 and 26 that are inserted into the bore 51 on the cylindrical surface of the cylinder block 50 from the tip and chuck the bore 51. The chuck device 10 is moved onto the cylinder block 50 of the first cradle 70 by the multi-axis robot 100, and chucks the bore 51 by inserting the chuck arms 16 and 26 into the bore 51 from the tip. Then, the chuck device 10 moves the cylinder block 50 onto the second cradle 71 by the multi-axis robot 100 while chucking the bore 51 of the cylinder block 50, and the bore 51 on the second cradle 71. The cylinder block 50 is placed on the second holding table 71.

  As shown in FIGS. 2 and 3A, the chuck device 10 is fixed to the main body substrate 11 attached to the wrist portion 103 at the tip of the arm 101 and the surface of the main body substrate 11 opposite to the wrist portion 103. A fixed chuck assembly 12, a slider 25 slidably attached to a linear guide 34 attached to the surface of the main body substrate 11 opposite to the wrist 103, and a moving plate 24 fixed to the slider 25 by bolts 35. And a moving chuck assembly 22 fixed to the moving plate 24. The fixed chuck assembly 12 and the movable chuck assembly 22 include housings 13 and 23, and three chuck arms 16 and 26 are attached to the housings 13 and 23, respectively. The housings 13 and 23 are attached to the main body substrate 11 so that the center lines 18 and 28 are perpendicular to the main body substrate 11 and the center lines 18 and 28 are parallel to each other, and the three chuck arms 16 and 26 are mounted. Extends from the housings 13 and 23 toward the opposite side of the main board 11 along the center lines 18 and 28.

  The surface of the main body substrate 11 opposite to the wrist 103 includes an electric actuator 31 having a rotary encoder therein, a ball screw 32 rotated by the electric actuator 31, and a screw portion into which the ball screw 32 is screwed. A position adjusting mechanism including a driving slider 33 that engages with the engaging portion 24a and moves the moving plate 24 in a direction along the surface opposite to the wrist portion 103 of the main body substrate 11 by rotation of the ball screw 32; Is provided. In the position adjusting mechanism, the moving chuck assembly 22 attached to the moving plate 24 moves in the forward / backward direction with respect to the fixed chuck assembly 12, and the interval between the moving chuck assembly 22 and the fixed chuck assembly 12 can be set to an arbitrary interval. .

  As shown in FIG. 3 (b), the movable chuck assembly 22 is provided with three chuck arms 26 of columnar members having a sector cross section around the center line 28 at equal intervals in the circumferential direction. A chuck claw 27 that contacts the inner surface of the bore 51 of the cylinder block 50 shown in FIG. 2 is provided outside the three arms 26 in the radial direction. In FIG. 3B, a circle indicated by a one-dot chain line indicates an outer circle 30 along the outer periphery of the three chuck arms 26, and a circle indicated by a one-dot chain line similarly indicates an outer circle 29 along the outer periphery of the chuck claw 27. Is shown.

  The chuck arm 26 includes a chuck arm root portion 26a on the main body substrate side and a chuck arm tip portion 26b on the tip side of the chuck arm, and an outer circumference circle diameter 30a around the center line 28 of the chuck arm root portion 26a is the chuck arm tip portion 26b. It is configured to be smaller than the outer peripheral circle diameter 30b around the center line 28. Further, the outer circumference circle diameter 29a around the center line 28 of the chuck claw 27 is configured to be larger than the outer circumference circle diameter 30a of the chuck arm root portion 26a and the outer circumference circle diameter 30b of the chuck arm tip portion 26b. A plurality of chuck claws 27 are provided at the chuck arm tip 26b along the direction in which the chuck arm 26 extends.

  FIG. 4A shows an AA cross section of the moving chuck assembly 22 shown in FIG. 4B. As shown in FIG. 4A, an operation mechanism that operates each chuck arm 26 and a support portion 43 that supports each chuck arm 26 are provided inside the housing 23 of the movable chuck assembly 22. As shown in FIG. 4, slide legs 26 c extending in the radial direction from the center line 28 are provided at the end of each chuck arm 26 on the main body substrate, and each slide leg 26 c is connected to the upper horizontal rib 41 provided on the housing 23. It is attached to a support portion 43 provided between the lower horizontal rib 42 so as to be slidable in the radial direction. The upper horizontal rib 41 and the lower horizontal rib 42 are connected to the casing 23 by vertical ribs 45 and 46, respectively. The casing 23 is connected to the slide legs 26c of the chuck arms 26 via the ribs 45 and 46, respectively. The main body substrate 11 is configured to receive a vertical force. Each of the three chuck arms 26 extends to the outside from the hole 44 of the housing 23.

  A taper surface 26d that contacts the taper surface 38a of the taper member 38 is provided at the end on the center line 28 side of each slide leg 26c, and a spring 39 is provided between the radially outer end of each slide leg 26c and the housing 23. Is provided.

  An air actuator 36 driven by air pressure is provided on the main body substrate side in the housing 23. The air actuator 36 drives the link 37 in the direction along the center line 28 by the compressed air introduced from the air inlet 36a, and the taper member 38 connected to the link 37 is moved with respect to each tapered surface 26d of each slide leg 26c. To advance and retreat.

  As shown in FIGS. 4A and 4B, when the taper member 38 advances toward the respective taper surfaces 26d of the slide legs 26c by the air actuator 36, the taper surfaces 38a of the taper members 38 correspond to the respective slide legs 26c. Each slide leg 26c is pushed and expanded in the radial direction while compressing each spring 39 against the tapered surface 26d. Then, as each slide leg 26c moves, each chuck arm 26 expands in the radial direction from the center line 28, and the outer circumference circle diameters 30a and 30b of the outer circumference circle 30 around the center line 28 of the chuck arm 26 increase. With the movement of each chuck arm 26, each chuck claw 27 also spreads in the radial direction, the outer circumference circle diameter 29 a of the outer circumference circle 29 around the center line 28 increases, and the radially outer surface of each chuck claw 27 has the bore 51. Hit the inside. When the taper member 38 further expands each taper surface 26d of each slide leg 26c in the radial direction by the air actuator 36, the outer circumference circle diameter 29a of the outer circumference circle 29 of each chuck claw 27 becomes larger, and each chuck claw 27 The radially outer surface of the surface expands in the radial direction and is pressed against the inner surface of the bore 51 to exert a pressing force on the inner surface of the bore 51. Each chuck claw 27 chucks the bore 51 by this pressing force.

  Further, when the taper member 38 is moved from the taper surface 26d of each slide leg 26c toward the main body substrate 11 by the air actuator 36, each slide leg 26c is repulsive force of each spring 39 provided on the end surface in the radial direction. To move toward the center line 28. Then, as the slide legs 26 c move to the center line 28, the outer peripheral circular diameters 30 a and 30 b of the chuck arm 26 move so as to shrink toward the center line 28 in the radial direction. As a result, the outer circumferential diameter 29a of the chuck claw 27 is also reduced, and the radially outer side of each chuck claw 27 is separated from the inner surface of the bore 51, and the chuck of each chuck claw 27 is released.

  In this manner, the outer circumferential diameters 30a and 30b around the center line 28 of each chuck arm 26 are enlarged and reduced by advancing and retracting the taper member 38 with respect to each taper surface 26d of each slide leg 26c by the air actuator 36. The outer peripheral circle diameter 29a around the center line 28 of each chuck claw 27 is enlarged or reduced. By this operation, the pressing force of each chuck claw 27 on the inner surface of the bore 51 is increased or decreased, and the inner surface of the bore 51 is chucked or released by each chuck claw 27.

  The configuration and operation of the chuck arm 26 and the chuck claw 27 of the movable chuck assembly 22 have been described above. However, the configuration and operation of the chuck arm 16 and the chuck claw 17 attached to the fixed chuck assembly 12 are the same as those of the movable chuck assembly 22. This is the same as the chuck arm 26 and the chuck claw 27 that are attached.

  Next, the operation when chucking the bore 51 of the cylinder block 50 by the chuck device 10 will be described with reference to FIGS. As shown in FIG. 2, the cylinder block 50 has four cylindrical bores 51 and a crankcase notch 53 so that the crankcase notch 53 is on the lower side and the cylinder head mounting surface 54 is on the upper side. It is placed on the reserve table 70. Further, the taper member 38 of the chuck device 10 shown in FIG. 4 is on the main body substrate 11 side, and the outer peripheral circle diameters 30a and 30b around the center lines 18 and 28 of the chuck arms 16 and 26 are the smallest. The outer peripheral circle diameters 29 a around the center lines 18 and 28 of the chuck claws 17 and 27 are also the smallest, and the outer peripheral circle diameters 29 a around the center lines 18 and 28 of the chuck claws 17 and 27 are the inner diameter dimensions of the bores 51. It is smaller than 51a.

  As shown in FIG. 2, the chuck device 10 is moved onto the cylinder block 50 by the multi-axis robot 100. The chuck device 10 has the wrist 103 of the multi-axis robot 100 in a direction in which the tips of the chuck arms 16 and 26 are directed toward the cylinder head mounting surface 54 of the cylinder block 50, and the center lines 18 and 28 are the cylinder blocks 50. The bore 51 is adjusted to a posture that is parallel to each of the center lines 61 to 64, and the center line 18 of the fixed chuck assembly 12 is positioned so as to be coaxial with the center line 61 of the bore 51 on one end side of the cylinder block 50. Adjusted. When the position of the fixed chuck assembly 12 is determined, the chuck device 10 rotates the ball screw 32 by the electric actuator 31 of the position adjusting mechanism and moves the drive slider 33 engaged with the moving plate 24 to move the moving plate 24. It is moved along the surface of the main body substrate 11 and adjusted so that the center line 28 of the moving chuck assembly 22 is coaxial with the center line 64 of the bore 51 on the other end side of the cylinder block 50. The distance between the center line 18 of the fixed chuck assembly 12 and the center line 28 of the moving chuck assembly 22 is determined by detecting the rotation angle of the ball screw by a rotary encoder provided in the electric actuator 31 and the rotation angle of the ball screw. Adjust by calculating the distance traveled from the pitch. When the adjustment is completed, the distance between the center lines 18 and 28 is the distance P between the center lines 61 and 64 of the bore 51 of the cylinder block 50.

  Thus, after adjusting the attitude | position and position of each chuck assembly 12 and 22 so that each centerline 18 and 28 may become coaxial with each centerline 61 and 64 of each bore 51, each chuck | zipper of the chuck apparatus 10 is adjusted. The tips of the arms 16 and 26 are inserted into the bore 51 from the cylinder head mounting surface 54 side by the multi-axis robot 100. Since each outer peripheral circle diameter 29 a around each center line 18, 28 of each chuck claw 17, 27 is smaller than the inner diameter dimension 51 a of each bore 51, each chuck arm 16, 26 is inserted into each bore 51. It will be done.

  As shown in FIG. 5A, the multi-axis robot 100 inserts the chuck arm 26 to such a position that a plurality of chuck claws 27 at the chuck arm tip 26b are applied to the inner surface of the bore 51. Stop the insertion. Then, by applying air pressure to the air actuators 36 in the chuck assemblies 12 and 22 shown in FIG. 4, the taper member 38 is advanced toward the taper surfaces 16d and 26d of the chuck arms 16 and 26, and the taper surfaces 16d. , 26d are spread out in the radial direction, and the slide legs 16c, 26c of the three chuck arms 16, 26 are moved outward in the radial direction so as to be around the center lines 18, 28 of the chuck claws 17, 27, respectively. Are increased until the inner diameter dimension 51a of the bore 51 is reached. Further, the pressure of the air actuator 36 is further increased so that the radially outer surface of each chuck claw 17, 27 is pressed against the inner surface of each bore 51 to exert a pressing force on the inner surface of each bore 51, and each chuck claw 17, 27. Each of the bores 51 is chucked by the chuck claws 17 and 27 by generating a frictional force between the outer surface in the radial direction and the inner surface of each bore 51.

  FIG.5 (b) has shown the BB cross section shown to Fig.5 (a). As shown in FIG. 5B, each chuck assembly 12, 22 includes three chuck arms 16, 26, so that each chuck arm 16, 26 is inserted when each chuck arm 16, 26 is inserted. Even if there is a slight shift in the degree of coaxiality between the center lines 18 and 28 of the outer circumferential circle 30 and the center lines 61 and 64 of the bores 51, the radially outer surfaces of the chuck claws 17 and 27 correspond to the bores 51. When pressed against the inner surface, the center lines 18 and 28 and the center lines 61 and 64 of the bores 51 coincide with each other, so that the radially outer surfaces of the chuck claws 17 and 27 and the inner surface of the bore 51 are in close contact with each other. In addition, each bore 51 can be chucked stably.

  A case where the chuck block 10 chucks the cylinder block 50 from the crankcase notch 53 side will be described with reference to FIG. The cylinder block 50 has a crankcase notch 53 on the opposite side of the bore 51. The crankcase notch 53 is provided in parallel with the alignment direction of the bores 51 of the cylinder block 50, and its outer shape is wider than the portion of the bore 51, but the width of the portion in contact with the bore 51 is the width of each bore 51. It is smaller than the diameter. For this reason, as shown in FIG. 6 (b), when viewed from the crankcase notch 53 side, a part thereof is hidden by the protrusion 52 shown in FIG. 6 (a), and the entire circumference of each bore 51 can be seen. There is no structure.

  First, the outer peripheral circular diameters 30a and 30b around the center lines 18 and 28 of the chuck arm base portions 16a and 26a and the chuck arm tip portions 16b and 26b of the chuck arms 16 and 26, and the chuck claws 17 and 27, respectively. Each of the outer peripheral circle diameters 29 a around the center lines 18 and 28 is smaller than the inner dimension 52 a of the protrusion 52 and the inner diameter dimension 51 a of the bore 51. For this reason, the chuck arms 16 and 26 can be inserted into the bore 51 from the opening of the protrusion 52 on the crankcase notch 53 side.

  As shown in FIG. 6A, the multi-axis robot 100 bores each chuck arm 16, 26 to a position where each chuck claw 17, 27 of each chuck arm 16, 26 of the chuck device 10 contacts the inner surface of each bore 51. Insert into 51. When the chuck arms 16 and 26 are inserted to the predetermined positions, the taper members 38 are respectively moved by the air actuators 36 provided in the chuck assemblies 12 and 22 as described with reference to FIG. The outer circumferential diameters 30a, 30b, 29a of the chuck arms 16, 26 and the chuck claws 17, 27 are increased by being pressed against the tapered surfaces 26d of the slide leg 26c. The outer circumferential diameter 29 a of each chuck claw 17, 27 is larger than the inner dimension 52 a of the protrusion 52, and the radially outer surface of each chuck claw 17, 27 is pressed against the inner surface of each bore 51. A pressing force is applied to the inner surface, and each bore 51 is chucked by a frictional force between the inner surface of each bore 51 and the radially outer surface of each chuck claw 17, 27. As shown in FIG. 6 (b), at this time, the outer peripheral circular diameter 30a of each chuck arm base portion 16a, 26a of each chuck arm 16, 26 is smaller than the inner dimension 52a of the protrusion 52. The radially outer surfaces of the chuck arms 16 and 26 do not interfere with the protrusion 52. For this reason, the chuck device 10 of the present embodiment has an inner surface of each bore 51 even from the side of the crankcase notch 53 where the projection 52 has a portion with an inner dimension 52a smaller than the inner diameter 51a of each bore 51 of the cylinder block 50. Can be chucked by the radially outer surfaces of the chuck claws 17 and 27, and the cylinder block 50 can be chucked from either the cylinder head mounting surface 54 side or the crankcase notch 53 side.

  In the present embodiment described above, the cylinder block 50, which is a workpiece, can be chucked from the cylinder head mounting surface 54 side or from the crankcase notch 53 side, and each chuck arm 16 can be chucked by the multi-axis robot 100. , 26 can be freely changed, so that the cylinder block 50 can be left in an arbitrary posture. And since it can be placed in any posture, it is possible to reduce the manufacturing space and reduce the number of manufacturing steps while eliminating the need for a posture changing device that converts the posture of the workpiece placed during the manufacturing step. Play.

  Further, in the present embodiment, each of the chuck claws 17 and 27 provided on the radially outer side of the three chuck arms 16 and 26 is pressed against the inner surface of each of the bores 51 which is a cylindrical surface. Since the bore 51 is chucked, the center lines 18 and 28 of the chuck claws 17 and 27 and the center lines 61 and 64 of the bores 51 are slightly shifted from each other when the chuck arms 16 and 26 are inserted. Even in the case where the center line 18 or 28 is pressed against the inner surface of each bore 51, the center lines 18 and 28 coincide with the center lines 61 and 64 of each bore 51. Therefore, there is an effect that the radially outer side surfaces of the chuck claws 17 and 27 and the inner surface of the bore 51 are in close contact with each other, and each bore 51 can be stably chucked.

  Further, the chuck arms 16 and 26 of the chuck device 10 of the present embodiment are provided with a plurality of chuck claws 17 and 27 along the directions of the central axes 18 and 28 at the tip portions 16b and 26b of the chuck arms. The inner surface of the cylindrical bore 51 can be chucked at a plurality of locations along the direction of the central axis. For this reason, for example, even when the cylinder block 50 is lifted and the wrist block 103 of the multi-axis robot 100 is rotated to rotate the cylinder block 50 so that a rotational moment is applied to the chuck arms 16 and 26, it is stable. Thus, the cylinder block 50 can be held, the posture of the cylinder block can be freely changed while the bore 51 of the cylinder block 50 is chucked, and the cylinder block 50 can be held in an arbitrary posture.

  Although the chuck device 10 of the present embodiment has been described as chucking the bore 51 of the cylinder block 50, the present invention is not limited to the bore 51 of the cylinder block 50 as long as it is a chuck device that chucks the cylindrical inner surface and lifts the workpiece. It can also be used to chuck the workpiece.

It is explanatory drawing which shows the chuck | zipper apparatus in embodiment of this invention attached to the multi-axis robot. It is a front view of the chuck | zipper apparatus in embodiment of this invention. It is a figure which shows the side surface of the chuck | zipper apparatus in embodiment of this invention, and the plane of a chuck | zipper arm. It is a figure which shows the cross section containing the operation | movement mechanism and support part of the chuck | zipper arm of the chuck | zipper apparatus in embodiment of this invention, and the plane of a chuck | zipper arm. It is sectional drawing and a top view which show the state which inserted the chuck | zipper apparatus in embodiment of this invention from the cylinder head mounting surface side of a cylinder block, and chucked the bore. It is sectional drawing and a top view which show the state which inserted the chuck | zipper apparatus in embodiment of this invention from the notch side for crankcases of a cylinder block, and chucked the bore.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 Chuck apparatus, 11 Main body board, 12 Fixed chuck assembly, 13, 23 Case, 16, 26 Chuck arm, 16a, 26a Chuck arm root part, 16b, 26b Chuck arm tip part, 16c, 26c Slide leg, 16d, 26d Tapered surface, 17, 27 Chuck claw, 18, 28, 61-64 Center line, 22 Moving chuck assembly, 24 Moving plate, 24a Engagement part, 25 Slider, 29, 30 Outer circle, 29a, 30a, 30b Outer circle diameter , 31 Electric actuator, 32 Ball screw, 33 Drive slider, 34 Linear guide, 35 bolt, 36 Air actuator, 36a Air inlet, 37 Link, 38 Taper member, 38a Tapered surface, 41 Upper horizontal rib, 42 Lower horizontal rib, 43 Support part, 44 Hole, 45, 46 Vertical rib, 50 Cylinder block, 51 Bore, 51a Inner diameter, 52 Protrusion, 52a Inner dimension, 54 Cylinder head mounting surface, 70 First reserve stand, 71 Second reserve stand, 80 Floor, 100 multi-axis robot, 101 arm, 103 wrist.

Claims (3)

The hole of the cylindrical surface, a chuck device for chucking the workpiece by the pressing force on the inner surface of the bore of the workpiece; and a projection portion projecting inwardly of said bore,
A body substrate;
A fixed chuck assembly which is fixed to the main body substrate,
And a movable chuck assembly attached to the moving plate to slide forward and backward direction to the fixed chuck assembly along the surface of the body substrate,
Each chuck assembly,
The equally spaced circumferentially around the vertical center line with respect to the main body substrate, along the peripheral circle around the surface opposite to the center line of the center line, the hole of the workpiece from tip Three columnar chuck arms that are inserted into
And the center line of each chuck arm tip portion provided on a surface opposite to a chuck claws for pressing the hole inner surface of the workpiece in contact with the hole inner surface of the workpiece,
Wherein comprises a supporting portion of the main body substrate end slidably supported in the radial direction of the outer circumference of the chuck arm, an actuator for driving the respective chuck arms in the radial direction of the outer circumference, wherein the main body substrate or A housing attached to the moving plate,
The chuck claw outer circumference circle diameter around the center line along which the surface of each chuck claw on the side opposite to the center line is the circumference of the center line along the surface of each chuck arm root on the side opposite to the center line. Larger than the outer diameter of the chuck arm root
When each chuck claw presses the inner surface of the hole of the workpiece, the chuck arm base portion outer circumference circular diameter is smaller than the inner dimension of the protrusion protruding inside the hole;
A chuck device characterized by the above. The chuck device according to claim 1,
Wherein attached to the body substrate, further comprising a position adjusting mechanism for adjusting the distance between the fixed chuck assembly and the movable chuck assembly to an arbitrary interval,
A chuck device characterized by the above. The chuck device according to claim 1 or 2,
The body substrate is attached to the tip of a multi-axis robot arm;
A chuck device characterized by the above.

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