JP5458985B2 - Handling device and handling method - Google Patents

Description

  The present invention relates to a handling device capable of simultaneously holding two workpieces by a fixed claw and a pair of movable claws interlocked by a single drive source.

Conventionally, for example, a handling device described in Patent Document 1 is known as a handling device that holds a plurality of workpieces by a plurality of movable claws and fixed claws.
FIG. 24 shows a handling device described in Patent Document 1.

  The handling device (chuck device) 40 in FIG. 24 includes a handling device main body 40a and a chuck portion 40b attached to the handling device main body 40a and capable of chucking a workpiece from above.

  The chuck portion 40b includes an insertion tool 69 that is fixed to the center of the lower surface of the chuck device main body 40a. This insertion tool 69 can be inserted between two workpieces from above.

  Further, the chuck portion 40 b includes gripping tools 67 disposed on both sides of the insertion tool 69. The gripping tool 67 is provided so as to be able to move toward and away from the two workpieces with respect to the insertion tool 69 so that the two workpieces can be held between the insertion tool 69 at the same time.

  The gripping tool 67 has two plate-like gripping claw support members 65 and 65 parallel to the insertion tool 69, and upper ends of the gripping claw support members 65 and 65 attached to both sides of the gripping claw support members 65 and 65. A pair of parallel rod-like gripping claws 68 extending in parallel with each other are provided. The gripping claws 68 are arranged at substantially symmetrical positions with respect to a connecting line connecting the centers of two workpieces to be sandwiched.

  The chuck device main body 40a includes gripping claw opening / closing cylinders 63 and 64 which are stacked in two upper and lower stages and connected by a connecting member 66. Among these, one gripping claw support member 65 is connected to the tip of the rod 61 of the upper gripping claw opening / closing cylinder 63. The rod 62 of the lower gripping claw opening / closing cylinder 64 extends to the opposite side of the rod 61, and the other gripping claw support member 65 is connected to the tip thereof. Then, the pair of gripping claw support members 65 and 65 are configured to be able to move toward and away in the workpiece row lateral direction B with respect to the insertion tool 69 by synchronously projecting and retracting the rods 61 and 62. Yes. Two rods 61 and 62 are provided so that the gripping claw support members 65 and 65 can be stably moved without a guide.

  That is, since the conventional handling apparatus shown in FIG. 24 is configured by an openable / closable movable claw and a fixed claw that are attached to an actuator with respect to one workpiece, the number of actuators required is equal to the number of workpieces to be handled.

JP 2003-305679 A

  The handling device is attached to a conveying device or an assembling device using a robot or the like and used for conveying or assembling a workpiece. In a transfer device, an assembly device, and the like, a lightweight handling device that can hold a plurality of workpieces is required in order to shorten the transfer time, the assembly time, and the like.

  The actuator is very heavy in the handling device as compared to other components such as a claw. Therefore, there is a problem that it is difficult to reduce the weight of a conventional handling device that requires actuators as many as the number of workpieces to be sandwiched at the same time.

  The present invention has been made to solve the above-described problems, and it is an object of the present invention to provide a lightweight handling device and handling method capable of simultaneously holding two workpieces.

  In order to solve the above-described problems, a handling device according to the present invention is a handling device that holds a first workpiece and a second workpiece at the same time, and is connected to one positionable driving source and simultaneously moves at a predetermined rate. An actuator having a first carrier and a second carrier, a first movable claw attached to the first carrier, a second movable claw fixed to the second carrier, and the first and second movable At least one fixed claw fixed to the main body of the actuator, disposed opposite to the claw, sandwiching the first movable claw and the first workpiece, and sandwiching the second movable claw and the second workpiece; Either the first movable claw or the fixed claw holds the first workpiece and the second carrier while maintaining a gap between the first movable claw and the fixed claw with the first work held therebetween. A holding surface interval adjustment mechanism that enables movement by a predetermined amount, wherein the holding surface interval between the first movable claw and the fixed claw is wider than the holding direction dimension of the first workpiece, and the second movable A state in which the gap between the nipping surfaces of the claw and the fixed claw is wider than the dimension in the holding direction of the second workpiece is defined as a first claw position, and the gap between the nipping surfaces of the first movable claw and the fixed claw is the first claw. The first movable claw is defined as a second claw position in which a clamping surface dimension between the second movable claw and the fixed claw is equal to a clamping direction dimension of one workpiece and wider than a clamping direction dimension of the second workpiece. And the nipping surface distance between the fixed claw and the fixed dimension of the first work, and the nipping surface distance between the second movable claw and the fixed claw is equal to the nipping direction dimension of the second work. , The third claw position, and the front at a position corresponding to the first claw position, the second claw position, and the third claw position. A drive source is positioned, the first and second workpieces are not clamped at the first claw position, only the first workpiece is clamped at the second claw position, and the first claw is positioned at the third claw position. The workpiece and the second workpiece are held at the same time.

  Furthermore, the handling method according to the present invention is a handling method using a handling device for simultaneously holding a first work and a second work, and is connected to one positioning source and simultaneously moves at a predetermined rate. An actuator having a first carrier and a second carrier, a first movable claw attached to the first carrier, a second movable claw fixed to the second carrier, and the first and second movable At least one fixed claw fixed to the main body of the actuator, disposed opposite to the claw, sandwiching the first movable claw and the first workpiece, and sandwiching the second movable claw and the second workpiece; Either the first movable claw or the fixed claw holds the gap between the first movable claw and the fixed claw while holding the first workpiece, while maintaining the gap between the first movable claw and the fixed claw. A holding surface interval adjusting mechanism that allows the carrier to move by a predetermined amount, and a holding surface interval between the first movable claw and the fixed claw is wider than a holding direction dimension of the first workpiece, and A first step of positioning the drive source in a state where a gap between the nipping surfaces of the movable claw and the fixed claw is wider than a dimension in the clamping direction of the second workpiece; and the first movable claw and the fixed claw A second step of positioning the drive source in a state in which the first workpiece is clamped, and a clamping surface interval between the second movable claw and the fixed claw is wider than a clamping direction dimension of the second workpiece; In a third step of positioning the drive source in a state where the first work is held between the first movable claw and the fixed claw, and the second work is held between the second movable claw and the fixed claw, The first work and the second work are sandwiched simultaneously.

  ADVANTAGE OF THE INVENTION According to this invention, the lightweight handling apparatus which can clamp two workpiece | work simultaneously can be provided.

It is a schematic block diagram of the handling apparatus in 1st Embodiment. It is A arrow directional view of the handling apparatus shown in FIG. It is a schematic block diagram which used the linear motion mechanism for the clamping surface space | interval adjustment mechanism with which the movable claw was equipped. It is a schematic block diagram which used the link mechanism for the clamping surface space | interval adjustment mechanism with which the movable nail | claw was equipped. It is a state figure of the handling device before pinching the 1st work in a 1st embodiment. It is a state figure of the handling device which pinched the 1st work in a 1st embodiment. It is a state figure of the handling device before pinching the 2nd work in a 1st embodiment. It is a state figure of the handling device which pinched the 2nd work in a 1st embodiment. It is a state figure of the handling device before pinching the 1st work in a 2nd embodiment. It is a state figure of the handling device which pinched the 1st work in a 2nd embodiment. It is a state figure of the handling device before pinching the 2nd work in a 2nd embodiment. It is a state figure of the handling device which pinched the 2nd work in a 2nd embodiment. It is a schematic block diagram of the handling apparatus in 3rd Embodiment. It is a schematic block diagram of the handling apparatus which clamped the workpiece | work in 3rd Embodiment. It is a schematic block diagram of the handling apparatus in 4th Embodiment. It is a schematic block diagram of the handling apparatus which clamped the workpiece | work in 4th Embodiment. It is a schematic block diagram of the handling apparatus in 5th Embodiment. It is a schematic block diagram of the handling apparatus which clamped the workpiece | work in 5th Embodiment. It is a schematic block diagram of the handling apparatus in 6th Embodiment. It is a schematic block diagram of the handling apparatus which clamped the workpiece | work in 6th Embodiment. It is a schematic block diagram of the handling apparatus in 7th Embodiment. It is B arrow directional view of the handling apparatus shown in FIG. It is B arrow directional view of the handling apparatus which clamped the workpiece | work in 7th Embodiment. It is a schematic block diagram of the conventional handling apparatus.

A first embodiment according to the present invention will be described with reference to the drawings.
FIG. 1 is a schematic configuration diagram of a handling device according to the first embodiment. FIG. 2 is a view of the handling device shown in FIG. Although not shown, the handling device is attached to a transport device or an assembly device using a robot or the like, and the handling device and the transport device or the assembly device are connected by power, signal lines, or the like. That is, the handling device is connected to a control device (hereinafter referred to as a control device) such as a transport device or an assembly device, and is controlled by the control device.

  1 and 2, 110 is an actuator capable of multipoint positioning, 111 and 112 are carriers of the actuator 110, 120 and 130 are movable claws attached to the carriers 111 and 112 of the actuator 110, and 140 is a fixed claw. In the first embodiment, the carrier 111 corresponds to the first carrier, the carrier 112 corresponds to the second carrier, the movable claw 120 corresponds to the first movable claw, and the movable claw 130 corresponds to the second movable claw.

  The carriers 111 and 112 of the actuator 110 always move in the opposite direction in conjunction with each other. For example, when the carrier 111 moves to the inner side of Δd1, the carrier 112 always moves to the inner side of Δd2. That is, the carrier 111 and the carrier 112 always move at a ratio of Δd1: Δd2. In the first embodiment, Δd1: Δd2 = 1: 1, and Δd1 and Δd2, which are the movement amounts of the carriers 111 and 112, are always equal.

  The actuator 110 includes a positioning motor (not shown) that is one drive source. The carriers 111 and 112 are connected to a positioning motor (not shown) by a drive mechanism, and move in the opposite direction in conjunction with the mechanism. Such a drive mechanism is well known, for example, a rotation shaft that is provided with a right-handed screw having a predetermined length from one end and a left-handed screw having a predetermined length from the other end; This can be realized by a nut that can move only in the axial direction with a right-hand thread and a nut that can move only in the axial direction with a left-hand thread. It can also be realized by disposing the sliders of the crank slider mechanism so as to face each other. Of course, other known driving mechanisms can be used. As the positioning motor, a servo motor or a pulse motor is used.

  The movable claw 120 further includes a movable claw main body 121, a spring 122, and a sandwiching surface 123. The clamping surface portion 123 is attached to the movable claw main body portion 121 so as to advance and retract in the clamping direction. A spring 122 is provided between the movable claw body 121 and the sandwiching surface 123, and the sandwiching surface 123 is always urged in the sandwiching direction with respect to the movable body 121. In addition, the movable claw main body 121 is fixed to the carrier 111 of the actuator 110. As a result, the distance between the clamping claw body 121 and the clamping surface 123 changes within a range in which the spring 122 can be deformed, so that the clamping surface between the movable claw 120 and the fixed claw 140 within a predetermined range with respect to the position of the carrier 111. The interval can be changed. That is, the spring 122 and the clamping surface portion 123 function as a clamping surface interval adjustment mechanism.

  In addition, you may connect the movable nail | claw main-body part 121 and the clamping surface part 123 with a linear motion mechanism. For example, as shown in FIG. 3, the linear shaft 124 is attached to the clamping surface portion 123 in the direction in which the axial direction matches the clamping direction, and the linear bush (not shown) is attached to the movable claw body portion 121 in the direction in which the axial direction matches the clamping direction. They may be connected by a linear motion mechanism. Further, a linear motion mechanism using a linear guide and a rail may be employed.

Furthermore, as shown in FIG. 4, the clamping surface 123 and the movable claw body 121 may be connected by a link mechanism using a link 125.
In any case, the movable claw body 121 and the clamping surface 123 are connected using a known mechanism other than the above as long as the clamping surface 123 can move smoothly in the clamping direction with respect to the movable claw body 121. You may do it.

  On the other hand, the fixed claw 140 has a size of a first work sandwiched between the movable claw 120 and the fixed claw 140 and a second work sandwiched between the movable claw 130 and the fixed claw 140 and a holding surface interval adjusting mechanism. The position to be fixed is determined based on the amount of displacement of the spring 122, which is an adjustable amount.

  5 to 8 are state diagrams of the handling device when handling two target workpieces at the same time using the handling device in the first embodiment. Here, FIG. 5 is a state diagram of the handling device before the first workpiece is clamped in the first embodiment. FIG. 6 is a state diagram of the handling device that sandwiches the first workpiece in the first embodiment. FIG. 7 is a state diagram of the handling device before the second workpiece is clamped in the first embodiment. FIG. 8 is a state diagram of the handling device that sandwiches the second workpiece in the first embodiment.

5 to 8, 1 is a first work, 2 is a second work, and 5 is a work supply tray. The other numbers are the same as those in FIG.
First, parameters related to handling are defined as follows.

First work 1 width: LW1
Free length of spring 122: LSF
Length of spring 122 fully compressed: LSC
Second work width: LW2
Claw position (first claw position) before gripping the first workpiece 1: P10
Claw position in the state of gripping the first workpiece 1 (second claw position): P11
Claw position with both workpieces held simultaneously (third claw position): P12
Distance between carrier 111 and fixed claw 140 at claw position P10: D110
Distance between movable claw 130 and fixed claw 140 at claw position P10: D120
Distance between clamping surface portion 123 and fixed claw 140 at claw position P10: D130
Length of spring 122 at claw position P10: D140
Distance between carrier 111 and fixed claw 140 at claw position P11: D111
Distance between movable claw 130 and fixed claw 140 at claw position P11: D121
Distance between clamping surface portion 123 and fixed claw 140 at claw position P11: D131
Length of spring 122 at claw position P11: D141
Distance between carrier 111 and fixed claw 140 at claw position P12: D112
Distance between movable claw 130 and fixed claw 140 at claw position P12: D122
Distance between clamping surface portion 123 and fixed claw 140 at claw position P12: D132 (= D131)
Length of spring 122 at claw position P12: D142
Movement amount when the carrier 111 moves from P10 to P11: Δd111
Movement amount when carrier 112 moves from P10 to P11: Δd121 (= Δd111)
Movement amount when carrier 111 moves from P10 to P12: Δd112
Movement amount when carrier 112 moves from P10 to P12: Δd122 (= Δd112)
In this case, in order to handle the first work 1 and the second work 2 at the same time, the first condition is “when claw position: P10, D130> LW1, D120> LW2”, second As a condition, “when claw position: P11, D131 = LW1, LSC <D141 <LSF, D121> LW2”, and as a third condition, “claw position: P12, D131 = D132 = LW1, LSC ≦ D142 <LSF, D122 = LW2 ”. Based on these first to third conditions, the position of the fixed claw 140 is determined.

  Next, a handling method by the handling apparatus in the first embodiment will be described with reference to FIGS. 5 to 8, the handling device is attached to a robot or the like (not shown) and connected to and controlled by a control device (not shown).

(1) The positions of the movable claws 120 and 130 are controlled to be P10, and preparation for gripping is performed.
(2) Next, the robot or the like is controlled to move the handling device to the supply position of the first workpiece 1 (state shown in FIG. 5).

  (3) At the supply position of the first work 1, the position of the movable claws 120, 130 is controlled to be P11, and the first work 1 is clamped (state of FIG. 6). In this state, the first workpiece 1 is clamped by the elastic force of the spring 122, but the spring 122 is still compressible.

  At this time, the carrier 111 and the movable claw main body 121 move in the closing direction by Δ111, and the carrier 112 and the movable claw 130 move in the closing direction by Δ121 (= Δ111). However, since the spring 122 and the clamping surface portion 123 function as a clamping surface interval adjusting mechanism, the clamping surface portion 123 moves less than the carrier 111 with respect to the fixed claw 140, and Δ111 ≧ (D130−D131).

  (4) The position of the movable claws 120, 130 is held at P11, the robot or the like is controlled while holding the first workpiece 1, and the handling device is moved to the supply position of the second workpiece 2 (state of FIG. 7).

  (5) At the supply position of the second workpiece 2, the movable claws 120 and 130 are controlled so that the position becomes P12, the second workpiece 2 is clamped while further compressing the spring 122, and the first workpiece 1 and the first workpiece 1 Two workpieces 2 are handled simultaneously (state shown in FIG. 8). At this time, the carrier 111 and the movable claw body 121 move in the closing direction by “Δ112−Δ111”, and the carrier 112 and the movable claw 130 move in the closing direction by “Δ122−Δ121 (= Δ112−Δ111)”. However, since the spring 122 and the clamping surface portion 123 function as a clamping surface interval adjusting mechanism, the clamping surface portion 123 does not move with respect to the fixed claw 140, and D131 = D132.

  (6) The positions of the movable claws 120 and 130 are held at P12, the robot is controlled while holding the first workpiece 1 and the second workpiece 2 at the same time, and the handling device is moved to the target position of the second workpiece 2 (not shown) Move to).

  (7) At the target position of the second workpiece 2, the positions of the movable claws 120 and 130 are controlled to be P11, and the second workpiece 2 is released while the first workpiece 1 is held. At this time, the carrier 111 and the movable claw main body 121 move in the opening direction by “Δ112−Δ111”, and the movable claw 130 moves in the opening direction by “Δ122−Δ121 (= Δ112−Δ111)”. However, since the spring 122 and the clamping surface portion 123 function as a clamping surface interval adjustment mechanism, the clamping surface portion 123 does not move with respect to the fixed claw 140.

(8) The positions of the movable claws 120 and 130 are held at P11, the robot or the like is controlled while holding the first workpiece 1, and the handling device is moved to the target position of the first workpiece 1.
(9) At the target position of the first workpiece, the position of the movable claws 120, 130 is controlled to be P10, and the first workpiece 1 is released. At this time, the carrier 111 and the movable claw main body 121 move in the opening direction by “Δ111”, and the movable claw 130 moves in the opening direction by “Δ122 (= Δ111)”. However, since the spring 122 and the clamping surface portion 123 function as a clamping surface interval adjusting mechanism, the clamping surface portion 123 moves less than the carrier 111 with respect to the fixed claw 140, and Δ111 ≧ (D130−D131).

By repeating the above (2) to (9), the first work 1 and the second work 2 are simultaneously handled and conveyed.
Furthermore, in the first embodiment, the case where there is one fixed claw 140 has been described. However, a fixed claw corresponding to each of the movable claws 120 and 130 may be provided. By setting it as such a structure, the clamping position of two workpiece | works can be set more flexibly.

Next, a second embodiment according to the present invention will be described with reference to the drawings. In addition, the same number is attached | subjected to the part which is common in 1st Embodiment.
Since the schematic configuration of the handling device in the second embodiment is the same as that of the first embodiment, detailed description thereof is omitted. FIGS. 9 to 12 are state diagrams of the handling device when handling two target workpieces at the same time using the handling device in the second embodiment.

  9 to 12, 210 is an actuator capable of multi-point positioning, 211 and 212 are carriers of the actuator 210, 120 and 130 are movable claws attached to the carriers 211 and 212 of the actuator 210, and 140 is a fixed claw. 1 is a first work, 2 is a second work, and 5 is a work supply tray.

In the second embodiment, the carrier 211 corresponds to the first carrier, the carrier 212 corresponds to the second carrier, the movable claw 120 corresponds to the first movable claw, and the movable claw 130 corresponds to the second movable claw.
In the second embodiment, the ratio of the movement amounts represented by Δd1 and Δd2 in FIG. 1 is Δd1: Δd2 = 1: 2, and Δd2, which is the movement amount of the carrier 212, is equal to the movement amount Δd1 of the carrier 211. Always double. For example, in order to change the ratio of the movement amount, when the carrier 211 and the carrier 212 are driven by one rotating shaft in which a right screw and a left screw are processed, a right screw nut, and a left screw nut, The screw leads may be in a 1: 2 relationship. Of course, other mechanisms can be used as long as the moving amount is 1: 2. For example, in the crank slider mechanism, the crank diameter and the link length of the middle joint may have a relationship of 1: 2. Note that Δd1: Δd2 is not limited to 1: 2, but can be any ratio.

On the other hand, since the fixed claw 140 is basically the same as that of the first embodiment, description thereof is omitted.
FIGS. 9 to 12 are state diagrams of the handling device when handling two target workpieces at the same time using the handling device in the second embodiment. Here, FIG. 9 is a state diagram of the handling device before clamping the first workpiece in the second embodiment. FIG. 10 is a state diagram of the handling device that sandwiches the first workpiece in the second embodiment. FIG. 11 is a state diagram of the handling device before the second workpiece is clamped in the second embodiment. FIG. 12 is a state diagram of the handling device that sandwiches the second workpiece in the second embodiment.

First, only the parameters relating to handling that are different from those of the first embodiment are defined as follows.
Claw position (first claw position) before gripping the first workpiece 1: P20
Claw position in the state of gripping the first workpiece 1 (second claw position): P21
Claw position with both workpieces held simultaneously (third claw position): P22
Distance between carrier 211 and fixed claw 140 at claw position P20: D210
Distance between movable claw 130 and fixed claw 140 at claw position P20: D220
Distance between clamping surface portion 123 and fixed claw 140 at claw position P20: D230
Length of spring 122 at claw position P20: D240
Distance between carrier 211 and fixed claw 140 at claw position P21: D211
Distance between movable claw 130 and fixed claw 140 at claw position P21: D221
Distance between clamping surface portion 123 and fixed claw 140 at claw position P21: D231
Length of spring 122 at claw position P21: D241
Distance between carrier 211 and fixed claw 140 at claw position P22: D212
Distance between movable claw 130 and fixed claw 140 at claw position P22: D222
Distance between clamping surface portion 123 and fixed claw 140 at claw position P22: D232
Length of spring 122 at claw position P22: D242
Movement amount when the carrier 211 moves from P20 to P21: Δd211
Movement amount when carrier 212 moves from P20 to P21: Δd221
Movement amount when carrier 211 moves from P20 to P22: Δd212
Movement amount when carrier 212 moves from P20 to P22: Δd222
In this case, in order to handle the first work 1 and the second work 2 at the same time, the first condition is “provide D230> LW1 and D220> LW2 when the claw position is P20”, the second As a condition of “When nail position: P21, D231 = LW1, LSC <D241 <LSF, D221> LW2”, and as a third condition, “When nail position: P22, D231 = D232 = LW1, LSC ≦ D242 <LSF, D222 = LW2 ”is required. Based on these first to third conditions, the position of the fixed claw 140 is determined. Next, the handling method by the handling apparatus in 2nd Embodiment is demonstrated based on FIG. 9 to 12, the handling device is attached to a robot or the like (not shown) and connected to a control device (not shown) so as to be controllable.

(1) The positions of the movable claws 120 and 130 are controlled to be P20, and preparation for gripping is performed.
(2) Next, the robot or the like is controlled to move the handling device to the supply position of the first workpiece 1 (state shown in FIG. 9).

  (3) At the supply position of the first work 1, the position of the movable claws 120, 130 is controlled to be P21, and the first work 1 is clamped (state of FIG. 10). In this state, the first workpiece 1 is clamped by the elastic force of the spring 122, but the spring 122 is still compressible.

  At this time, the carrier 211 and the movable claw body 121 move in the direction of closing by Δ211 and the carrier 212 and the movable claw 130 move in the direction of closing by Δ221. Note that Δ221 = 2 × Δ211. However, since the spring 122 and the clamping surface portion 123 function as a clamping surface interval adjustment mechanism, the clamping surface portion 123 moves less than the carrier 211 with respect to the fixed claw 140, and Δ211 ≧ (D230−D231).

  (4) The position of the movable claws 120, 130 is held at P21, the robot or the like is controlled while holding the first workpiece 1, and the handling device is moved to the supply position of the second workpiece 2 (state of FIG. 11).

  (5) At the supply position of the second workpiece 2, the movable claws 120 and 130 are controlled so that the position becomes P 22, and the second workpiece 2 is clamped while further compressing the spring 122. Two workpieces 2 are handled simultaneously (state shown in FIG. 12). At this time, the carrier 211 and the movable claw main body 121 move in the closing direction by “Δ212−Δ211”, and the carrier 212 and the movable claw 130 move in the closing direction by “Δ222−Δ221”. Note that Δ222−Δ221 = 2 × (Δ212−Δ211). However, since the spring 122 and the clamping surface portion 123 function as a clamping surface interval adjustment mechanism, the clamping surface portion 123 does not move with respect to the fixed claw 140, and D231 = D232.

  (6) The positions of the movable claws 120 and 130 are held at P22, the robot is controlled while holding the first work 1 and the second work 2 at the same time, and the handling device is moved to the target position of the second work 2 (not shown) Move to).

  (7) At the target position of the second workpiece 2, the position of the movable claws 120, 130 is controlled to be P21, and the second workpiece 2 is released while the first workpiece 1 is held. At this time, the carrier 211 and the movable claw body 121 move in the direction of opening by “Δ212−Δ211”, and the carrier 212 and the movable claw 130 move in the direction of opening by “Δ222−Δ221”. However, since the spring 122 and the clamping surface portion 123 function as a clamping surface interval adjustment mechanism, the clamping surface portion 123 does not move with respect to the fixed claw 140.

(8) The positions of the movable claws 120 and 130 are held at P 21, the robot or the like is controlled while holding the first work 1, and the handling device is moved to the target position of the first work 1.
(9) At the target position of the first workpiece 1, the position of the movable claws 120, 130 is controlled to become P20, and the first workpiece 1 is released. At this time, the carrier 211 and the movable claw main body 121 move in the direction to open by “Δ211”, and the carrier 212 and the movable claw 130 move in the direction to open by “Δ221”. However, since the spring 122 and the clamping surface portion 123 function as a clamping surface interval adjustment mechanism, the clamping surface portion 123 moves less than the carrier 211 with respect to the fixed claw 140, and Δ211 ≧ (D230−D231).

By repeating the above (2) to (9), the first work 1 and the second work 2 are simultaneously handled and conveyed.
In the first and second embodiments, the case where the first workpiece and the second workpiece are released in order has been described. However, the first workpiece and the second workpiece may be separated at the same time. For example, the first work and the second work can be simultaneously released by moving the position of the movable claw from P12 to P10 or P22 to P20 from a state where the first work and the second work are sandwiched. Furthermore, if a workpiece pushing mechanism (not shown) is provided at the holding position of the first workpiece of the handling device, the position of the movable claw is moved from P12 to P11 or P22 to P21, and the workpiece pushing mechanism is used for the first. By extruding the workpiece, it is possible to simultaneously insert the second workpiece and the first workpiece into a predetermined area.

  Furthermore, in the second embodiment, the case where there is one fixed claw has been described, but a fixed claw corresponding to each of the two movable claws may be provided. By setting it as such a structure, the clamping position of two workpiece | works can be changed.

  Furthermore, in the second embodiment, the first work by the spring 122 is compared with the first embodiment by changing the ratio of the movement amount interlocked between the carriers 211 and 212 and reducing the movement amount of the carrier 211. The compressive force applied to the can be reduced. As a result, the workpiece can be gripped flexibly. Further, the thrust required by the actuator 210 can be reduced.

A third embodiment according to the present invention will be described with reference to the drawings.
FIG. 13 is a schematic configuration diagram of a handling device according to the third embodiment. FIG. 14 is a schematic configuration diagram of a handling device that holds a workpiece.

  In addition, since 3rd Embodiment is a modification of 1st and 2nd embodiment, only a different part is demonstrated and description is abbreviate | omitted about a common part. In addition, the same code | symbol is attached | subjected about the part which is common in 1st Embodiment and 2nd Embodiment.

  13 and 14, 110 is an actuator capable of multi-point positioning, 111 and 112 are carriers of the actuator 110, 320 and 130 are movable claws attached to the carriers 111 and 112 of the actuator 110, 340 is a fixed claw, 341 Is a fixed nail body. Reference numeral 1 is a first work, and 2 is a second work.

  As is clear from FIGS. 13 and 14, the fixed pawl 340 is provided with a spring 122 and a sandwiching surface portion 123 that constitute a sandwiching surface interval adjusting mechanism. That is, only the place where the clamping surface interval adjusting mechanism is provided is different from the first and second embodiments, and the operation does not change.

In the third embodiment, the carrier 111 corresponds to the first carrier, the carrier 112 corresponds to the second carrier, the movable claw 320 corresponds to the first movable claw, and the movable claw 130 corresponds to the second movable claw.
Also in the third embodiment, the fixed claw body 341 and the clamping surface 123 may be coupled by the linear motion mechanism shown in FIG. 3 or the link mechanism shown in FIG. Of course, although not shown, a linear motion mechanism using a linear guide and a rail may be adopted. In other words, the fixed claw body 341 and the clamping surface 123 can be connected using a known mechanism other than the above as long as the clamping surface 123 can move smoothly in the clamping direction with respect to the fixed claw body 341. good.

  Further, it is possible to select an arbitrary ratio for Δd1: Δd2, which may be 1: 1 as in the first embodiment or 1: 2 as in the second embodiment, or any other arbitrary value. It is also possible to use the ratio. In FIG. 13 and FIG. 14, Δd1: Δd2 = 1: 1.

Since the conditions and the handling method for handling the first workpiece 1 and the second workpiece 2 at the same time are the same as those in the first and second embodiments, the description thereof will be omitted.
Also in the third embodiment, similarly to the first and second embodiments, the first workpiece and the second workpiece may be released in order, or the first workpiece and the second workpiece may be separated at the same time.

  Also in the third embodiment, the compressive force applied to the first workpiece can be reduced by changing the ratio of the moving amounts interlocked between the movable claws 130 and 320. As a result, the workpiece can be gripped flexibly. Further, the thrust required by the actuator 110 can be reduced.

  Furthermore, in the third embodiment, the case where there is one fixed claw has been described. However, two movable claws may be used as the fixed claws. By setting it as such a structure, the clamping position of two workpiece | works can be changed.

  In 3rd Embodiment, a movable nail | claw can be reduced in weight by providing a clamping surface space | interval adjustment mechanism in a fixed nail | claw. The weight reduction makes it possible to move the movable claw quickly. Further, it is possible to replace the actuator with a small object while keeping the operation as it is. Furthermore, when the clamping surface interval adjusting mechanism is provided on the movable claw, there is a possibility that the clamping surface interval adjusting mechanism vibrates as the movable claw moves. It is not necessary to consider vibration, and the design becomes easy.

A fourth embodiment according to the present invention will be described with reference to the drawings.
FIG. 15 is a schematic configuration diagram of a handling device according to the fourth embodiment. FIG. 16 is a schematic configuration diagram of a handling device that sandwiches a workpiece.

  Since the fourth embodiment is a modification of the first and second embodiments, only different parts will be described, and description of common parts will be omitted. In addition, the same code | symbol is attached | subjected about the part which is common in 1st Embodiment and 2nd Embodiment.

  15 and 16, 110 is an actuator capable of multipoint positioning, 111 and 112 are carriers of the actuator 110, 130 and 420 are movable claws attached to the carriers 111 and 112 of the actuator 110, and 140 is a fixed claw. Reference numeral 1 is a first work, and 2 is a second work.

In the fourth embodiment, the carrier 111 corresponds to the first carrier, the carrier 112 corresponds to the second carrier, the movable claw 420 corresponds to the first movable claw, and the movable claw 130 corresponds to the second movable claw.
As is apparent from FIGS. 15 and 16, the difference from the first and second embodiments is the configuration of the clamping surface interval adjusting mechanism. The clamping surface interval adjusting mechanism in the fourth embodiment always attaches the movable claw body 421 having a clamping surface movably attached to the carrier 111 in the clamping direction, and the movable claw body 421 in the clamping direction. It comprises a spring 422 to be energized and a holding member 425 for the spring 422. Although not shown in FIGS. 15 and 16, the carrier 111 and the movable claw body 421 are attached via a linear motion mechanism. As an example of the linear motion mechanism, a linear motion mechanism using a linear shaft and a linear bush, and a linear motion mechanism using a linear guide and a rail can be employed.

Moreover, you may connect the movable nail | claw main-body part 421 and the carrier 111 with a link mechanism similarly to the modification of 1st Embodiment.
It should be noted that the operation is not changed except that the portion movable by the clamping surface interval adjusting mechanism is different from those of the first and second embodiments.

  The carriers 111 and 112 of the actuator 110 always move in the opposite direction in conjunction with each other. That is, the carrier 111 and the carrier 112 always move at a ratio of Δd1: Δd2. However, it is possible to select an arbitrary ratio for Δd1: Δd2, and it may be 1: 1 as in the first embodiment or 1: 2 as in the second embodiment. Of course, any other ratio can be used. 15 and 16, Δd1: Δd2 = 1: 1.

  On the other hand, the fixed position of the fixed claw 140 is the size of the first work sandwiched between the movable claw 420 and the fixed claw 140 and the size of the second work sandwiched between the movable claw 130 and the fixed claw 140 and the distance between the sandwiched surfaces. This is determined based on the amount of displacement of the spring 422, which is the adjustable amount of the adjustment mechanism.

Since the conditions and the handling method for handling the first workpiece 1 and the second workpiece 2 at the same time are the same as those in the first and second embodiments, the description thereof will be omitted.
Also in the fourth embodiment, similarly to the first and second embodiments, the first work and the second work may be released in order, or the first work and the second work may be separated at the same time.

  Also in the fourth embodiment, the compressive force applied to the first workpiece can be reduced by changing the ratio of the movement amounts interlocked between the movable claws 130 and 420. As a result, the workpiece can be gripped flexibly. Further, the thrust required by the actuator 110 can be reduced.

  Furthermore, although the case where there is one fixed claw has been described in the fourth embodiment, it may be a fixed claw respectively corresponding to two movable claws. By setting it as such a structure, the clamping position of two workpiece | works can be changed.

A fifth embodiment according to the present invention will be described with reference to the drawings.
FIG. 17 is a schematic configuration diagram of a handling device in the fifth embodiment. FIG. 18 is a schematic configuration diagram of a handling device that sandwiches a workpiece.

  Since the fifth embodiment is a modification of the first and second embodiments, only different parts will be described, and description of common parts will be omitted. In addition, the same code | symbol is attached | subjected about the part which is common in 1st Embodiment and 2nd Embodiment.

  17 and 18, 510 is an actuator capable of multi-point positioning, 511 and 512 are carriers of the actuator 510, 120 and 130 are movable claws attached to the carriers 511 and 512 of the actuator 510, and 541 and 542 are fixed claws. is there. Reference numeral 1 is a first work, and 2 is a second work. In addition, the attachment direction of the movable claws 120 and 130 is reverse to the first and second embodiments.

In the fifth embodiment, the carrier 511 corresponds to the first carrier, the carrier 512 corresponds to the second carrier, the movable claw 120 corresponds to the first movable claw, and the movable claw 130 corresponds to the second movable claw.
The carriers 511 and 512 of the actuator 510 always move in the opposite direction in conjunction with each other. That is, the carrier 511 and the carrier 512 always move at a ratio of Δd1: Δd2. However, it is possible to select an arbitrary ratio for Δd1: Δd2, and it may be 1: 1 as in the first embodiment or 1: 2 as in the second embodiment. Of course, any other ratio can be used. In FIG. 17 and FIG. 18, Δd1: Δd2 = 1: 1.

  On the other hand, the fixed position of the fixed claw 541 is determined based on the size of the first workpiece held between the movable claw 120 and the fixed claw 541 and the displacement amount of the spring 122 which is the adjustable amount of the holding surface interval adjusting mechanism. . The fixed position of the fixed claw 542 is determined based on the size of the second workpiece sandwiched between the movable claw 130 and the fixed claw 542.

Since the conditions and the handling method for handling the first workpiece 1 and the second workpiece 2 at the same time are the same as those in the first and second embodiments, the description thereof will be omitted.
Also in the fifth embodiment, similarly to the first and second embodiments, the first work and the second work may be released in order, or the first work and the second work may be separated at the same time.

  Also in the fifth embodiment, the compressive force applied to the first workpiece can be reduced by changing the ratio of the moving amounts interlocked between the movable claws 120 and 130. As a result, the workpiece can be gripped flexibly. Further, the thrust required by the actuator 510 can be reduced.

FIG. 19 is a schematic configuration diagram of a handling device according to the sixth embodiment. FIG. 20 is a schematic configuration diagram of a handling apparatus that sandwiches a workpiece.
Since the sixth embodiment is a modification of the fifth embodiment, only different parts will be described, and description of common parts will be omitted. In addition, the same code | symbol is attached | subjected about the part which is common in 1st thru | or 5th embodiment.

  19 and 20, 510 is an actuator capable of multipoint positioning, 511 and 512 are carriers of the actuator 510, 620 and 130 are movable claws attached to the carriers 511 and 512 of the actuator 510, 640 and 542 are fixed claws, Reference numeral 641 denotes a fixed claw body. Reference numeral 1 is a first work, and 2 is a second work.

In the sixth embodiment, the carrier 511 corresponds to the first carrier, the carrier 512 corresponds to the second carrier, the movable claw 620 corresponds to the first movable claw, and the movable claw 130 corresponds to the second movable claw.
As is clear from FIGS. 19 and 20, the fixing claw 640 is provided with a spring 642 and a clamping surface portion 643 that constitute a clamping surface interval adjusting mechanism. That is, the place where the clamping surface interval adjusting mechanism is provided is different from that of the fifth embodiment, and the operation does not change.

  Also in the sixth embodiment, the fixed claw body portion 641 and the clamping surface portion 623 may be connected by the linear motion mechanism shown in FIG. 3 or the link mechanism shown in FIG. Of course, although not shown, a linear motion mechanism using a linear guide and a rail may be adopted. That is, the fixed claw main body portion 641 and the clamping surface portion 643 may be connected using a known mechanism other than the above as long as the clamping surface portion 643 can move smoothly in the clamping direction with respect to the fixed claw main body portion 641. good.

  The carriers 511 and 512 of the actuator 510 always move in the opposite direction in conjunction with each other. That is, the carrier 511 and the carrier 512 always move at a ratio of Δd1: Δd2. However, it is possible to select an arbitrary ratio for Δd1: Δd2, and it may be 1: 1 as in the first embodiment or 1: 2 as in the second embodiment. Of course, any other ratio can be used. 19 and 20, Δd1: Δd2 = 1: 1.

  On the other hand, the fixed position of the fixed claw 640 is determined based on the size of the first workpiece held between the movable claw 620 and the fixed claw 640 and the amount of displacement of the spring 622 that is the adjustable amount of the holding surface interval adjusting mechanism. . The fixed position of the fixed claw 542 is determined based on the size of the second workpiece sandwiched between the movable claw 130 and the fixed claw 542.

Since the conditions and the handling method for handling the first workpiece 1 and the second workpiece 2 at the same time are the same as those in the first and second embodiments, the description thereof will be omitted.
Also in the sixth embodiment, similarly to the first and second embodiments, the first work and the second work may be released in order, or the first work and the second work may be separated at the same time.

  Also in the sixth embodiment, the compressive force applied to the first workpiece can be reduced by changing the ratio of the movement amounts interlocked between the movable claws 620 and 130. As a result, the workpiece can be gripped flexibly. Further, the thrust required by the actuator 510 can be reduced.

  Furthermore, in the fifth and sixth embodiments, since two workpieces can be held at a distance from each other at the same time, it is possible to reduce a space for preventing interference required when gripping or releasing each workpiece.

A seventh embodiment according to the present invention will be described with reference to the drawings.
FIG. 21 is a schematic configuration diagram of a handling device according to the seventh embodiment. FIG. 22 is a view of the handling apparatus shown in FIG. FIG. 22 is a B arrow view of the handling apparatus that sandwiches the workpiece in the seventh embodiment.

  In the seventh embodiment, the movable claws of the first to sixth embodiments are paired with a pair of movable claws that are arranged opposite to each other and are interlocked so as to be freely separated from each other. It is changed to a movable nail. Since the other parts are the same as those in the first to sixth embodiments, the description of the common parts is omitted.

  21 to 23, 710 is an actuator capable of multi-point positioning, 711 and 712 are carriers of the actuator 710, 120 and 130 are movable claws attached to the carriers 711 and 712 of the actuator 710, and 741 and 742 are fixed claws. is there. The movable claw 120 further includes a movable claw main body 121, a spring 122, and a sandwiching surface 123. Reference numeral 1 is a first work, and 2 is a second work. The moving directions of the movable claws 120 and 130 are the same as in the first to third embodiments.

  The carriers 711 and 712 of the actuator 710 always move in the same direction in conjunction with each other. That is, the carrier 711 and the carrier 712 always move at a ratio of Δd1: Δd2. However, it is possible to select an arbitrary ratio for Δd1: Δd2, and it may be 1: 1 as in the first embodiment or 1: 2 as in the second embodiment. In FIG. 21 to FIG. 23, Δd1: Δd2 = 1: 1.

  On the other hand, the fixed position of the fixed claw 741 is determined based on the size of the first workpiece held between the movable claw 120 and the fixed claw 742 and the displacement amount of the spring 122 which is the adjustable amount of the holding surface interval adjusting mechanism. . The fixed position of the fixed claw 742 is determined based on the size of the second workpiece sandwiched between the movable claw 130 and the fixed claw 742.

  The conditions and the handling method for handling the first workpiece 1 and the second workpiece 2 at the same time are such that the movable directions of the movable claws 120 and 130 move in the same direction. Since it is the same, description is abbreviate | omitted.

In the seventh embodiment, the carrier 711 corresponds to the first carrier, the carrier 712 corresponds to the second carrier, the movable claw 120 corresponds to the first movable claw, and the movable claw 130 corresponds to the second movable claw.
In any of the first to seventh embodiments, the compression spring has been described as the elastic member of the clamping surface interval adjusting mechanism. However, other mechanically elastic products and materials have elasticity. Products such as rubber and sponge may be used. Furthermore, although the clamping work is a rigid work, any work may be a work having elasticity in the clamping direction.

  According to the first to seventh embodiments, even with two rigid workpieces, a pair of movable claws that are arranged opposite to each other and are interlocked so as to be freely separated from each other, and predetermined conditions that are determined based on the two workpieces are provided. By providing the fixed claw fixed at the position to be held, and the holding surface interval adjusting mechanism in any one of the two movable claws and the fixed claw, it is possible to hold them simultaneously.

DESCRIPTION OF SYMBOLS 1 1st work 2 2nd work 110,210,510,710 Actuator 120,130,320,420,620 Moving claw 140,340,541,542,640,741,742 Fixed claw

Claims (8)

A handling device for simultaneously holding a first workpiece and a second workpiece,
An actuator including a first carrier and a second carrier that are connected to one positionable drive source and simultaneously move at a predetermined rate;
A first movable claw attached to the first carrier;
A second movable claw fixed to the second carrier;
At least fixed to the main body portion of the actuator, which is opposed to the first and second movable claws, sandwiches the first movable claws and the first workpiece, and sandwiches the second movable claws and the second workpiece. One fixed nail,
Either the first movable claw or the fixed claw holds the first workpiece and the second carrier while maintaining a gap between the first movable claw and the fixed claw while holding the first workpiece. A holding surface interval adjustment mechanism that enables movement of a predetermined amount,
The distance between the nipping surfaces of the first movable claw and the fixed claw is wider than the dimension in the clamping direction of the first workpiece, and the distance between the nipping surfaces of the second movable claw and the fixed claw is that of the second workpiece. A state wider than the dimension in the clamping direction is the first claw position,
The holding surface interval between the first movable claw and the fixed claw is equal to the holding direction dimension of the first workpiece, and the holding surface interval between the second movable claw and the fixed claw is the holding direction of the second workpiece. A state wider than the dimension is the second claw position,
The holding surface interval between the first movable claw and the fixed claw is equal to the holding direction dimension of the first workpiece, and the holding surface interval between the second movable claw and the fixed claw is the holding direction of the second workpiece. A state equal to the dimension is the third claw position,
The drive source is positioned at positions corresponding to the first claw position, the second claw position, and the third claw position, and the first and second workpieces are not clamped at the first claw position, and the second claw A handling apparatus characterized in that only the first workpiece is clamped at a position, and the first workpiece and the second workpiece are clamped simultaneously at the third claw position. The holding surface interval adjusting mechanism is
Provided in either one of the first movable claw or the fixed claw body portion;
A clamping surface provided so as to be capable of advancing and retreating in the clamping direction with respect to the nail body,
A spring for urging the clamping surface member in the clamping direction;
The handling apparatus according to claim 1, further comprising: The clamping surface interval adjusting mechanism is
Provided between the first carrier and the first movable claw;
A connecting portion for connecting the first movable claw to the first carrier so as to be capable of moving back and forth in a clamping direction;
A spring for urging the first movable claw in the clamping direction;
The handling device according to claim 1, comprising:   4. The handling device according to claim 1, wherein an amount of movement of the first carrier that moves simultaneously is smaller than an amount of movement of the second carrier. 5. The first movable claw and the second movable claw are arranged to face each other,
The handling device according to any one of claims 1 to 4, wherein the fixed claw is fixed inside the first movable claw and the second movable claw.   6. The handling according to claim 5, wherein the fixed claw has a first fixed claw fixed at a position facing the first movable claw and a second fixed claw fixed at a position facing the second movable claw. apparatus. The first movable claw and the second movable claw are arranged to face each other,
The fixed claw is outside the first movable claw and the second movable claw, and the first fixed claw faces the first movable claw and the second fixed claw faces the second movable claw. The handling device according to any one of claims 1 to 4, wherein the handling device is fixed at a position. A handling method using a handling device for simultaneously clamping a first workpiece and a second workpiece,
An actuator having a first carrier and a second carrier that are connected to one positionable drive source and move simultaneously at a predetermined ratio, a first movable claw attached to the first carrier, and the second carrier A second movable claw fixed to the first movable claw, and the first movable claw and the second movable claw. The first movable claw and the first work are sandwiched between the second movable claw and the second movable claw. The first movable claw and the fixed claw in a state where the first workpiece is sandwiched between at least one fixed claw fixed to the main body portion of the actuator and the first movable claw or the fixed claw. A holding surface interval adjusting mechanism that allows the first and second carriers to move by a predetermined amount while maintaining the holding surface interval between
The distance between the nipping surfaces of the first movable claw and the fixed claw is wider than the dimension in the clamping direction of the first workpiece, and the distance between the nipping surfaces of the second movable claw and the fixed claw is that of the second workpiece. A first step of positioning the drive source in a state wider than the dimension in the clamping direction;
The first workpiece is clamped by the first movable claw and the fixed claw, and the gap between the second movable claw and the fixed claw is wider than the clamping dimension of the second workpiece, A second step of positioning the drive source;
In a third step of positioning the drive source in a state where the first work is held between the first movable claw and the fixed claw, and the second work is held between the second movable claw and the fixed claw. ,
A handling apparatus characterized in that the first work and the second work are sandwiched simultaneously.