JP6025291B1 - Work gripping device - Google Patents

Abstract

A gripping device that sequentially repeats gripping of a workpiece, release of the workpiece, and a workpiece gripping standby state without using an air-driven or electric-driven actuator is provided. A robot that transports a workpiece, for example, an arm orthogonal to a single-axis horizontal robot, is provided on a flange 33 that constitutes the workpiece gripping device 1, and the flange 33 is fixed to the tip of the arm for use. By moving the flange 33 up and down by the vertical movement of the arm, the workpiece gripping device 1 reliably grips the workpiece and transports the workpiece to the next process. After the conveyance, the gripping of the workpiece is released, and a standby state is entered to grip the next workpiece. [Selection] Figure 1

Description

The workpiece gripping device of the present invention relates to a device for gripping a workpiece without using electricity or air. Specifically, the workpiece device of the present application in a standby state is positioned on the workpiece, and a pressing load is applied to the flange included in the workpiece gripping device of the present application to grip the workpiece. Next, the present invention relates to an apparatus for releasing the grip of the workpiece by transporting the workpiece to a predetermined position and then applying a pressing load to the flange again.

When workpieces such as automobile parts are processed with a machine and processed with different machines one after another, the workpiece can be conveyed with a belt conveyor etc., but the belt conveyor limits the space of the work place, Recently, a single-axis horizontal robot is installed on the ceiling, an arm orthogonal to this is attached, a grip is provided at the tip of the arm to grip the workpiece, and then the single-axis horizontal robot is used to transport the workpiece. To be done. This apparatus is relatively simple and inexpensive, and since the placement position after the workpiece is conveyed is accurately performed, the apparatus is frequently used in a factory for processing parts.

Conventionally, however, the means for gripping the workpiece is usually an air or electric actuator, and the mechanical structure is complicated, the configuration space is large, and the weight is heavy. Furthermore, it is necessary to provide an air pipe or a distribution line in the gripping part, and the cost burden is large, and the wear due to the twisting and expansion / contraction of the air pipe and the electric wire is large and the maintenance cost is also large.

The workpiece gripping device of the present invention overcomes the above-mentioned drawbacks, and is attached to the tip of an arm of a single-axis horizontal robot or the like, and by moving this arm up and down, by attaching the workpiece gripping device of the present invention, Without using an actuator that operates with air or the like, the workpiece can be securely gripped and transported. The workpiece gripping device of the present application simplifies the transfer robot to reduce the initial cost, and also reduces the running cost by making the gripping portion of the workpiece maintenance-free.

The present invention sequentially repeats the gripping of the workpiece, the release of the workpiece, and the workpiece gripping standby state only by pressing the workpiece without using an actuator of air drive or electric drive. Installation of air piping or distribution lines is unnecessary, and the transfer robot is simplified. The workpiece gripping device is used by being attached to the arm of a single-axis horizontal robot having a vertical arm, and is also used by being attached to the arm of an industrial robot such as a multi-axis orthogonal robot, a multi-axis horizontal robot, or a multi-axis vertical robot. be able to.

The workpiece gripping device 1 includes a rotary shaft 21, an outer cylinder 30, an inner cylinder 40, a flange 33 including a pair of brackets 34 provided with a hand opening / closing roller 35, a slider 61, a rod 50, a pair of springs 51, It comprises a pair of locking plates 52 for locking the spring and the rod, and a grip 60.

The rotating shaft 21 includes a roller shaft 23 provided with a first roller 22a and a second roller 22b. The rotating shaft 21 is housed in a rotating shaft operating hole 42 provided in the inner cylinder 40, and the rotating shaft 21 is rotatable in the horizontal direction. The first roller 22a moves while rotating the upper peripheral edge of the outer cylinder 30. Moreover, the 2nd roller 22b moves, rotating the upper periphery of the inner cylinder 40 (refer FIG. 4, FIG. 6). As the rollers move, the roller shaft 23 and the rotating shaft 21 rotate.

In the inner cylinder 40, two or more pairs of shallow grooves facing the upper peripheral edge are arranged at the same central angle between the adjacent shallow grooves in plan view (the central angle is a plan view in FIG. 8 (1)). It means B shown.) Between these shallow grooves 40b and the shallow grooves 40b, there is an inclined surface 40a inclined in a certain direction. When the roller shaft 23 is placed on the inclined surface 40a, the inclined shaft 40 is rolled by the own weight of the rotating shaft 21 or the rotating shaft operating spring 20 disposed as necessary, and the second roller 22b described above. However, the rotation of the rotary shaft 21 is stopped by fitting in the shallow groove 40b.

Further, the inner cylinder 40 is provided with a protrusion 43, and a through hole 45 of the rod 50 is provided in the protrusion 43, and the rod 50 penetrates together with a through hole 61h provided in the slider 61 described later. Is done. For this reason, the inner cylinder 40 cannot move up and down.
Further, the inner cylinder 40 includes a stop member 41 that restricts the vertical movement of the outer cylinder 30. The stop member 41 is fitted in a notch 32 provided in the lower portion of the outer cylinder 30 to limit the vertical movement of the outer cylinder 30 (see FIGS. 2, 3, 4 and the like). The stop member 41 also has a function of preventing the inner cylinder 40 from rotating.

The outer cylinder 30 is fixed to the flange 33 and moves up and down as the flange 33 moves up and down. The inner cylinder 40 is accommodated in the outer cylinder 30. One or more pairs of deep grooves 31 and one or more pairs of shallow grooves 30 b are provided on the upper peripheral edge of the outer cylinder 30. The deep grooves 31 and the shallow grooves 30b are alternately arranged with the same central angle in a plan view of the outer cylinder 30 (the central angle refers to A shown in the plan view of FIG. 7A).

Between the deep groove 31 and the shallow groove 30b of the outer cylinder 30, there are a plurality of inclined surfaces 30a inclined in the same direction. The inclination direction of the inclined surface 30a is the same direction as the inclined surface 40a included in the inner cylinder 40 described above.
When the roller shaft 23 is placed on the inclined surface 30a, the inclined shaft 30a is rolled by the own weight of the rotating shaft 21 or the rotating shaft operating spring 20 provided as necessary. Is fitted into either the pair of deep grooves 31 or the pair of shallow grooves 30b, and the rotation of the rotating shaft 21 is stopped.

A cutout 32 is provided at the lower portion of the outer cylinder 30, and a stop member 41 provided in the inner cylinder 40 described above is fitted into the cutout 32. For this reason, the range of the vertical movement of the outer cylinder 30 is limited to the range from the upper end to the lower end of the notch 32. The stop member 41 prevents the inner cylinder 40 from rotating.

The flange 33 is attached to the robot arm. In order for the arm of the robot hand equipped with the device of the present application to grip (or release) the workpiece placed on the mounting table as shown in FIGS. Then, the robot arm applies a load to the flange 33 downward (in the following description, when the load is applied to the flange 33 or the load is released, this state is always indicated). .) The flange 33 is pushed downward by the reaction force of the protrusion 43 of the inner cylinder 40 that contacts the workpiece placed on the mounting table and / or the gripping portion that contacts the mounting table.

A pair of brackets 34 is disposed on the flange 33, and a hand opening / closing roller 35 is provided on the bracket 34. When a load is applied to the flange 33 downward, the bracket 34 is also pressed downward, and the hand opening / closing roller 35 presses the slope 61a of the slider 61, and a horizontal component force is generated by this pressing. The pair of sliders 61 are guided by the rods 50 fitted in the through holes 61h and push each pair of sliders 61 in the opposite direction by the horizontal component force described above (in the direction to open the grip 60). To spread.)

The pair of locking plates 52 locks the rod 50 described above and the pair of springs 51. Each of the pair of springs 51 is provided between each of the pair of locking plates 52 and each of the sliders 61, and always urges each of the sliders 61 in the horizontal direction toward the center ( It is always urged to close the gripping portion 60).
Since each of the sliders 61 is urged by the spring 51 in a direction to always close the grip portion 60, when the downward load acting on the flange 33 is released, the flange 33 moves upward due to the vertical component force of the spring. Move to. The flange 33 is fixed to, for example, the tip of an arm orthogonal to the single-axis horizontal robot. By moving the arm up and down, a load is applied to the flange 33 in the downward direction or a load in the downward direction is released.

The gripping unit 60 includes a pair of bases 62 and a pair of hands 63. The above-described base 62 is fixed to the slider 61. When each of the sliders 61 is guided by the rod 50 and slides in the left and right direction, each of the pair of bases 62 moves in the left and right direction. At the same time, each of the pair of hands 63 also moves in the opposite direction, and the gripper 60 opens and closes.

A load is applied downward on the above-described flange 33 by the arm of the robot to open the gripping part and open the workpiece. Next, when the load applied in the downward direction is released, the workpiece gripping device 1 is in a standby state while the gripping portion 60 remains open.
Thereafter, the arm of the robot is moved to a predetermined position of the workpiece to be gripped next, and a load is applied downward to the flange 33 to grip the workpiece.

In the above-described standby state, the downward load on the flange 33 is released, the outer cylinder 30 moves upward, and the upper peripheral edge of the outer cylinder 30 is relatively higher than the upper peripheral edge of the inner cylinder 40. Get higher. The first roller 22a included in the roller shaft 23 is transferred to the inclined surface 30a of the outer cylinder 30, and the first roller 22a rotates and moves on the inclined surface 30a of the outer cylinder 30, and is fitted into the groove 30b to rotate the rotating shaft 21. Is stopped (see FIG. 12). When the workpiece gripping device 1 is in the standby state, the robot arm is moved to a position programmed in advance, and the workpiece gripping device 1 in the standby state is positioned on the next workpiece W.

Next, when a downward load is applied to the flange 33, the outer cylinder 30 moves downward, the first roller 22 a moves away from the shallow groove 30 b, and the upper peripheral edge of the inner cylinder 40 is relatively above the outer cylinder 30. The second roller 22b rides on the inclined surface 40a at the upper peripheral edge of the inner cylinder 40, and the second roller 22b rotates on the inclined surface 40a and fits into the shallow groove 40b to rotate the rotating shaft 21. Stops (see FIG. 11).

Thereafter, when the downward load applied to the flange 33 is released, the outer cylinder 30 moves upward,
The second roller 22b is separated from the shallow groove 40b, and the first roller 22a rides on the inclined surface 30a on the upper peripheral edge of the outer cylinder 30, and the inclined surface 30a rotates and moves to fit into the deep groove 31, so that the rotation shaft 21 rotates. Stop (see FIG. 9).

On the other hand, when the load applied to the flange 33 is released, the outer cylinder 30 is raised by the depth of the deep groove 31, and each of the pair of sliders 61 is actuated by the force of the pair of biased springs 51. Guided to slide to the center side. The pair of bases 62 and hands 63 fixed to each of the sliders 61 are closed to grip the workpiece W.

Next, the workpiece W is transported to a predetermined position in the next process while the workpiece W is gripped, the gripping of the workpiece W is released, and then the workpiece gripping device 1 is set in a standby state. In this manner, the workpiece gripping, the workpiece W conveyance, the workpiece W grip release, and the standby state are repeated.

The workpiece gripping device 2 according to another invention is characterized in that a gap X is provided between the hand opening / closing roller 35 and the slider 61 when the workpiece is gripped. Usually, the workpiece W is accurately positioned, and the workpiece W is accurately gripped by the pair of springs 51 at the center. By providing this gap X, even if the workpiece W is not placed at an accurate position, if the robot arm guides the workpiece gripping device 2 to a predetermined position within the gap X, the gripping portion is The workpiece W can be gripped accurately with a hand without difficulty following the periphery of the workpiece W.

According to the workpiece gripping device of the present application, an air or electric actuator is not used to grip the workpiece, so that air piping and distribution lines for gripping the workpiece are unnecessary, and the workpiece transport device is simplified and lightened. The
Further, no control is required for gripping the workpiece. For this reason, the initial cost of a workpiece conveyance apparatus is small.
Furthermore, since the work gripping device of the present application does not have air piping and distribution lines, a work space necessary for maintenance work is widened, and workability during maintenance is improved.

According to the work gripping device of the present application, since there is no air piping and no power distribution line, the design of the work site is simplified, the work space is expanded, and work errors of the site worker can be reduced.

Another workpiece gripping device according to the present invention is a case where when the workpiece is gripped, a gap is provided between the slope of the slider and the hand opening / closing roller, so that the workpiece is not placed at an accurate position. However, the gripping portion grips the workpiece accurately with a hand without difficulty following the periphery of the workpiece.

It is a perspective view of this application work holding device. It is a front view of this application work holding device. It is the side view and partial enlarged view of a workpiece gripping apparatus of this application. It is an AA line 1 section sectional view concerning Drawing 3 of a work gripping device of this application. It is the top view and bottom view of this application workpiece holding apparatus. It is an exploded view of this application work holding device. It is the top view, front view, and side view of the outer cylinder which concern on this-application workpiece holding apparatus. It is the top view, front view, and side view of an inner cylinder which concern on this-work workpiece holding apparatus. FIG. 4 is a front view, a right side view, and an enlarged view of these in a conveying state while gripping a workpiece. It is the front view and right view which show the state which the application gripping apparatus of this application canceled the holding | grip of the workpiece | work. It is a figure showing the state which the 2nd roller fitted in the shallow groove | channel provided in the upper periphery of an inner cylinder, and the rotating shaft stopped. It is the front view and right view which show the relationship between the inner cylinder, outer cylinder, and rotating shaft at the time of the standby state for canceling | releasing the holding | grip of a workpiece | work and holding the next workpiece | work. It is the front view and partial enlarged view of this-application workpiece holding apparatus 2 which are other invention.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. Symbols (or numbers) in these drawings are omitted in the case of common members. Further, in the figure, the case where the member is clear is also omitted. These drawings are schematically drawn for explaining the present invention, and the present invention is not limited to these drawings. In the following description, vertical movement refers to movement perpendicular to the workpiece, and horizontal movement refers to movement horizontal to the workpiece.

The workpiece gripping device 1 of the present application (hereinafter also referred to as “present invention 1”) includes a rotary shaft 21, an outer cylinder 30, an inner cylinder 40, a pair of hand opening / closing rollers 35, and a flange 33 including a pair of brackets 34, A pair of sliders 61, a rod 50, a pair of springs 51, a pair of springs 51 and a pair of locking plates 52 that lock the rod 50, and a gripper 60.

FIG. 1 is a perspective view of the workpiece gripping device 1 of the present application. A robot that conveys the workpiece W, for example, an arm that is orthogonal to a single-axis horizontal robot, is provided on the flange 33 constituting the first aspect of the present invention, and the flange 33 is fixed to the tip of this arm for use. By moving the flange 33 up and down by the vertical movement of the arm, the workpiece gripping device 1 grips the workpiece W, conveys the workpiece W to a predetermined position in the next process, releases the gripping of the workpiece W, and then A standby state is entered to grip the workpiece. The above robot is merely an example, and can be used for a multi-axis horizontal robot, a multi-axis vertical robot, and the like.

Since the present invention 1 does not use air or electricity, there is no air piping, no distribution line, etc., and no program for gripping the workpiece is required, so the design of the workpiece transfer robot is simplified. Therefore, the initial cost of the workpiece transfer robot is small, and the field maintenance engineer can concentrate on the original work without being troubled by complicated maintenance.

<Configuration of the workpiece gripping device 1>
The elements constituting the present invention 1 will be described below.
[Rotating shaft 21]
As shown in FIG. 1 (perspective view), FIG. 2 (front view), FIG. 3 (side view), and FIG. 4 (partial cross-sectional view taken along the line AA in FIG. 3), the rotary shaft 21 includes the first roller 22a. And a roller shaft 23 provided with a second roller 22b. The first roller 22a moves while rotating on the upper peripheral edge of the outer cylinder 30. The second roller 22b moves while rotating the upper peripheral edge of the inner cylinder 40.

It is preferable to provide the cover 10 on the flange and attach the spring 20 between the cover 10 and the rotating shaft 21. This spring 20 always urges the rotating shaft 21 downward. The rotation of the rotary shaft 21 is smoothed by the spring 20, and the function of the present invention 1 is maintained normally even when the present invention 1 is tilted.

As shown in FIGS. 4 and 6 (exploded view), the rotary shaft 21 is fitted into a rotary shaft operating hole 42 provided in the inner cylinder 40 and freely rotates in the inner cylinder 40 in the horizontal direction. Is possible. Further, as shown in FIG. 4, the vertical movement of the rod 24 provided in the rotary shaft 21 within the rotary shaft operating hole 42 provided in the inner cylinder 40 is limited, and the rotary shaft 21 does not fall off the workpiece gripping device of the present application. .

[Outer cylinder 30]
The outer cylinder 30 includes a pair of deep grooves 31 opposed to the upper peripheral edge, a pair of shallow grooves 30b opposed to the upper peripheral edge, and a notch 32 into which the stop member 41 is inserted. Each of the pair of deep grooves and each of the pair of shallow grooves are alternately arranged, and the central angles formed by the adjacent deep grooves 31 and the shallow grooves 30b are the same in plan view, and in the same direction between the grooves. An inclined surface that is inclined, and a notch 32 for inserting a stop member into the lower portion are provided.
Here, “the same” central angle includes substantially the same.
An example of “center angle” is A shown in the plan view of FIG.
“To face” the upper peripheral edge means that the shallow groove 30b (or the deep groove 31) is arranged symmetrically in the center of the outer cylinder 30;
The “pair” refers to the two shallow grooves 30b (or deep grooves 31) disposed to face each other.
There is no particular limitation as long as the deep groove 31 and the shallow groove 30b are one pair or more, but the number of “pairs” is the same. Further, the total number of “pairs” in the deep grooves 31 and the number of “pairs” in the shallow grooves 30 b are the same as the total number of “pairs” in the shallow grooves 40 b included in the inner cylinder 40 described later.

In the following description and the drawings to be referred to, an example of the present invention will be described using an outer cylinder 30 having a pair of deep grooves and a pair of shallow grooves.
FIG. 7 is a plan view, a front view, and a side view of the first aspect of the present invention. As shown in these drawings, the overall shape of the outer cylinder 30 is cylindrical. As shown in the plan view of FIG. 7 (1), two deep grooves 31 and two shallow grooves are formed on the upper outer periphery of the outer cylinder 30. A groove 30b is provided. Each of the four grooves is alternately arranged in a plan view with each of the pair of deep grooves and each of the pair of shallow grooves in a plan view with the central angle A of the outer cylinder 30 being 90 degrees. Between these grooves, an inclined surface 30a inclined in the same direction is provided. The first roller 22a included in the roller shaft 23 provided on the rotating shaft 21 is fitted into these grooves and stops rotating.

The partial enlarged view of FIG. 3 shows a state where the first roller 22a included in the roller shaft 23 moves while rotating on the inclined surface 30a, the first roller 22a fits in the shallow groove 30b, and the rotary shaft 21 stops.
The outer cylinder 30 is fixed to the flange 33 and repeatedly moves up and down integrally with the flange 33.
As shown in the side view of the outer cylinder in FIG. 7 (3), the outer cylinder 30 is provided with a notch 32 at the bottom. A stop member 41 for restricting the vertical movement of the outer cylinder is fitted into the notch 32 and fixed to the wall portion of the inner cylinder 40. That is, the vertical movement range of the outer cylinder 30 is the range of the length of the cut 32. The stop member 41 prevents the inner cylinder 40 from rotating.

[Flange 33]
A bracket 34 having an outer cylinder 30 and a hand opening / closing roller 35 is fixed to the flange 33. As the flange 33 moves up and down, the bracket 34 having the outer cylinder 30 and the hand opening / closing roller 35 moves up and down.
That is, when the arm of the workpiece transfer robot applies a load downward to the flange 33, the bracket 34 including the outer cylinder 30 and the hand opening / closing roller 35 moves downward integrally.

On the other hand, the inner cylinder 40, the rod 50, the locking plate 52, the spring 51, the gripping portion 60, and the base 62 do not move up and down even when the flange 33 moves up and down.
As shown in FIG. 2, when the flange 33 receives a load in the downward direction and moves downward, the hand opening / closing roller 35 attached to the bracket 34 presses the slope 61 a of the slider 61. Horizontal component force is generated. With this horizontal component force, each of the pair of sliders 61 is guided by the rod 50 and moved horizontally in the opposite direction, and the gripping portion 60 is opened.

[Inner cylinder 40]
The inner cylinder 40 has two or more pairs of shallow grooves 40b facing the upper peripheral edge, a rotation shaft operating hole 42, a stop member 41 for restricting the vertical movement of the outer cylinder, and a protrusion 43 having a rod through hole 45. In addition, the central angles formed by the shallow grooves 40b adjacent in a plan view are arranged the same, and an inclined surface 40a inclined in the same direction is provided between the shallow grooves 40b.
Here, “the same” central angle includes “substantially the same”.
The term “facing” the upper peripheral edge means that the shallow groove 40b is symmetrically disposed at the center of the inner cylinder 40, and the term “pair” refers to the two shallow grooves 40b disposed facing each other. I mean.
“Center angle” refers to B shown in the plan view of FIG.
The shallow groove 40b disposed in the inner cylinder 40 and the deep groove 31 and the shallow groove 30b disposed in the outer cylinder 30 are arranged such that the center angles A and B are in phase with each other. Is done.
“The central angle A and the central angle B are arranged in phase” means that the central angle A and the central angle B do not overlap. For example, the phase angle C is formed as shown in the plan view of FIG. 5A with the cover removed.

In the following description and the drawings to be referred to, an inner cylinder 40 having two pairs of shallow grooves 40b will be described as an example of an aspect of the present invention.
FIG. 8 is a plan view, a front view, and a side view of the inner cylinder 40. As shown in these figures, the overall shape of the outer cylinder 30 is cylindrical, and as shown in the plan view of FIG. 8 (1), four shallow grooves 40b are provided on the upper peripheral edge of the inner cylinder 40. . Each of the four grooves is disposed at a central angle of 90 degrees in plan view. Between these grooves, an inclined surface 40a inclined in the same direction is provided. The above-mentioned rotation shaft 21 is stopped while rotating by the second roller 22a included in the roller shaft 23 provided on the rotation shaft 21 moving while rotating.

The phase angle of the central angle of the shallow groove disposed in the inner cylinder and the central angle of the pair of deep grooves and the pair of shallow grooves disposed in the outer cylinder is 45 degrees. . The central angle phase is 45 degrees.
As shown in the plan view of FIG. 5 (1) with the cover removed, the central angles of the four shallow grooves 40b and the central angles of the shallow grooves 30b and the deep grooves 31 included in the outer cylinder 30 are indicated by C in the figure. It means that only the angle shown is in phase and the angle C is 45 degrees.

As described above, the inner cylinder 40 is provided with the rotation shaft operating hole 42 for fitting the rotation shaft 21, and the wall portion is provided with the stop member 41 for limiting the vertical movement of the outer cylinder 30. Yes. As described above, the stop member 41 is fitted into the notch 32 at the lower part of the outer cylinder 30 to limit the movement range of the outer cylinder 30. In order to smooth the vertical movement of the outer cylinder 40, a roller 41r can be provided on the stop member 41.

A protrusion 43 is provided on the bottom of the inner cylinder 40. The protrusion 43 has a through hole 45 through which the rod 50 passes. It is preferable that the bottom of the projecting portion 43 has a length in contact with the upper surface of the workpiece W. The protrusion 43 does not move up and down because the rod 50 is penetrated.

[A pair of sliders 61]
As shown in FIG. 6, the slider 61 includes a through hole 61 h for inserting the inclined surface 61 a and the rod 50. As shown in FIGS. 4 and 6, the rod 50 is integrated with the slider 61 and the protrusion 43 of the inner cylinder 40. When the above-described flange 33 receives a load in the downward direction, the hand opening / closing roller 35 attached to the above-described bracket 34 presses the slope 61a of the slider 61, and the slider 61 generates a horizontal component force. With this horizontal component force, each of the pair of sliders 61 is guided by the rod 50 and moved horizontally in the opposite direction, and the gripping portion 60 is opened.

Due to the biasing of the pair of springs 51, each of the pair of sliders 61 is constantly loaded near the center (in the closing direction), and the hand opening / closing roller 35 attached to the bracket 34 has an upward vertical component. A force is applied to the flange 33 so that an upward load is always applied. For this reason, when the downward load applied to the flange 33 is released, the flange 33 moves upward.

[Rod 50, a pair of springs 51, a pair of locking plates 52]
As shown in FIGS. 4 and 6, the rod 50 passes through the pair of sliders 61 and the protrusions 43 of the inner cylinder 40 and is integrally locked with the pair of locking plates 52. A pair of springs 51 are provided between the pair of locking plates 52 and the slider 61, and these springs 51 move the pair of sliders 61 closer to the center (the direction of closing a hand 63 provided in the gripping portion 60 described later). ) Always energized horizontally.

[Grip part 60]
As shown in the bottom views of FIGS. 1, 2, 3, 4, and 5 (2), the gripper 60 includes a pair of bases 62 and a pair of hands 63. The pair of sliders 61 described above are fixed to the pair of bases 62, and the bases 62 and the sliders 61 operate integrally. When the hand 63 is attached to the base 62 and the pair of bases 62 and the pair of sliders 61 are in a closed state (a state where the base 62 and the slider 61 are close to the center), the workpiece W is the present invention 1. To be gripped. When the pair of bases 62 and the pair of sliders 61 are in the open state (the state in which the pair of bases 62 and the pair of sliders 61 are moved in the opposite directions are guided by the rod 50), the workpiece W is It is released from the grip of the present invention 1.
In the bottom view of FIG. 5B, the hand 63 has a V shape and grips the work W. The shape of the hand 63 is appropriately determined depending on the shape of the work W.

<Description of the operation of the workpiece gripping device 1>
[Holding state of workpiece W]
9A and 9B are a front view and a side view when the workpiece is being conveyed. That is, the workpiece W is being gripped. Since no downward load is applied to the flange 33, the pair of sliders 61 are guided by the rod 50 together with the base 62 and the hand 63 and moved to the center side by the urging force of the spring 51 (the gripping portion 60 is moved). Close) and grip the workpiece W. At this time, the upward vertical component force generated on the inclined surface 61 a is pushed up together with the outer cylinder 30 by the urging force of the spring 20.

At this time, the first roller 22 a provided on the roller shaft 23 provided in the rotating shaft 21 moves while rotating on the inclined surface 30 a at the upper peripheral edge of the outer cylinder 30, and fits into the deep groove 31 of the outer cylinder 30 to rotate. Stops. At the same time, the upward movement of the outer cylinder 30 stops together with the flange 33 at the lowermost part of the notch 40b of the stop member 41 provided in the inner cylinder 40 fitted into the notch 40b at the lower part of the outer cylinder 30.

[Unlocking workpiece W]
In a state where the above-described workpiece W is gripped, the workpiece W is conveyed to a predetermined position in the next process, and then the gripping is released. When the robot transports the workpiece W to a predetermined position, the robot arm applies a downward load to the flange 33.

FIG. 10 shows a state in which the workpiece W is released. When the flange 33 is pushed down by the external force of the robot arm, the hand opening / closing roller 35 provided in the flange 33 opens the pair of sliders 61 to the left and right. The base 62 fixed to the slider 61 and the hand 63 attached to the base 62 are also opened left and right to release the workpiece W.

At this time, when the external force is applied to the flange 33 downward as described above, the outer cylinder 30 fixed to the flange 33 also moves downward.
FIG. 10A is a front view and a partially enlarged view at this time.
FIG. 10B is a right side view and a partially enlarged view at this time.
As shown in these figures, when the outer cylinder 30 moves downward, the inner cylinder 40 rises relatively.

Next, the first roller 22 a provided on the roller shaft 23 fitted in the deep groove 31 of the outer cylinder 30 is lifted by the inclined surface 40 a provided on the upper peripheral edge of the inner cylinder 40 and separated from the outer cylinder 30. Instead, the inclined surface 40 a provided on the upper peripheral edge of the inner cylinder 40 lifts the second roller 22 b provided on the roller shaft 23, and then the second roller 22 b is disposed at the peripheral edge of the inner cylinder 40. The movement starts while rotating the inclined surface 40a (rotating together with the rotating shaft 21 and the roller shaft 23).

In this rotation, the second roller 22b is fitted in the shallow groove 40b provided on the upper peripheral edge of the inner cylinder 40, and the rotation of the rotary shaft 21 and the roller shaft 23 is stopped.
FIG. 11 is a diagram illustrating a state in which the rotation of the rotary shaft 21 and the roller shaft 23 is stopped by fitting the second roller 22b into the shallow groove 40b provided in the upper peripheral edge of the inner cylinder 40.
Next, when the downward external force applied to the flange 33 is released, a standby state to be described later for gripping the next workpiece (a state in which the gripper 60 remains open) is established.

[Standby]
The robot arm is moved to a predetermined position in order to transport the next workpiece while the workpiece gripping device 1 is in the standby state.
FIG. 12 is a diagram showing a standby state for releasing the workpiece W and gripping the next workpiece, and a front view showing the relationship between the inner cylinder 40, the outer cylinder 30 and the rotating shaft 21 in the standby state. It is a right side view.

When the downward external force to the flange 33 is released, the horizontal load urged by the spring 51 acts on the inclined surface 61a of the slider 33 to move the outer cylinder 30 upward together with the flange 33. . At this time, the first roller 22a included in the roller shaft 23 is lifted by the inclined surface 30a provided at the upper peripheral edge of the outer cylinder 30, and the roller 22b fitted in the shallow groove 40b of the inner cylinder 40 is Free from 40. On the other hand, the lifted first roller 22a moves while rotating on the inclined surface 30a of the outer cylinder (rotating together with the rotating shaft 21 and the roller shaft 23), and is fitted into the shallow groove 30b of the outer cylinder 30 and stopped. .

The grip 60 is held open in the state shown in the front view of FIG. In order to transfer the next workpiece in this state, the robot arm is moved to a predetermined position.
As described above, the workpiece gripping device 1 of the present application repeatedly performs workpiece gripping, release of gripping, and standby state.

<Configuration of Workpiece Gripping Device 2 as Other Invention>
The components of the workpiece gripping apparatus 2 of the present invention which is another invention are as follows.
The workpiece gripping device 2 of the present invention, which is another invention, provides a gap X between the hand opening / closing roller 35 and the slope 61a of the slider 61 when the workpiece W is gripped.
FIG. 13 is a front view and a partially enlarged view of the workpiece gripping device 2 of the present application.
Usually, the workpiece W holds the center position by a pair of springs 51. By providing this gap X, even if the placement position of the workpiece W before gripping is slightly deviated from the predetermined placement position, the workpiece gripping device of the present application attached to the robot hand has this gap X. Thus, the workpiece W can be gripped without difficulty.

In the drawings relating to the present application, in order to facilitate the description of the present invention, the shape of the workpiece W is a simple rectangular parallelepiped, and the hand 63 is a simple V-shape. However, since the actual workpiece has a complicated shape, the shape of the hand is often a complicated shape in accordance with the shape of the workpiece in order to securely hold the workpiece. If the workpiece is accurately placed at the predetermined position, no problem will occur. However, if the workpiece is not accurately placed at the predetermined position, the workpiece will not be gripped accurately, resulting in trouble with the process. May come. By providing the gap X described above, the workpiece gripping device 2 of the present invention can grip the workpiece without any trouble even if the workpiece placement position is slightly deviated from the predetermined position.

Here, the gap X is the distance between the intersection of the circumferential surface of the hand opening / closing roller 35 and the intersection of the inclined surface 61a generated when a perpendicular is drawn from the center point O of the hand opening / closing roller 35 to the inclined surface 61a of the slider 61. Say. The distance of the gap X is within an expected range of the predetermined workpiece placement position and the workpiece placement position during actual work. The gap X can be set by appropriately adjusting the position of the hand 63 attached to the base 62 provided in the gripping portion 60.
As the other components other than the provision of the gap X, those of the workpiece gripping device 1 of the present application can be applied as they are.

<Operation of Workpiece Gripping Device 2 of Other Invention>
For the operation of the workpiece gripping device 2 of the present application, the workpiece gripping device 1 can be applied as it is.

DESCRIPTION OF SYMBOLS 1 This application | work gripping apparatus 2 Other this application | work gripping apparatus 10 Cover 20 Spring 21 Rotating shaft 22a 1st roller 22b 2nd roller 23 Roller shaft 24 鍔 30 Outer cylinder 30a Inclined surface 30b Shallow groove 31 Deep groove 32 Notch 33 Flange 34 Bracket 35 Hand opening / closing roller 40 Inner cylinder 40a Inclined surface 40b Shallow groove 41 Stopping member 41r Roller 42 Rotating shaft operating hole 43 Protrusion 45 Through hole 50 Rod 51 Spring 52 Locking plate 60 Holding part 61 Slider 61a Slope 61h Through hole 62 Base 63 Hand A Center angle B Center angle C Phase angle W Work X Clearance O Center

Claims (1)

A roller shaft provided with a first roller and a second roller, wherein the first roller rotates and moves the upper peripheral edge of the outer cylinder as the roller shaft rotates, and the second roller moves the upper peripheral edge of the inner cylinder A rotating shaft that rotates, and
Two or more pairs of shallow grooves opposed to the upper peripheral edge, a rotation shaft operating hole, a stop member that restricts vertical movement of the outer cylinder, and a protrusion having a rod through hole, and adjacent to the shallow groove in plan view The inner cylinders provided with the same central angle between the grooves and provided with inclined surfaces inclined in the same direction between the shallow grooves,
One or more pairs of deep grooves opposed to the upper peripheral edge, one or more pairs of shallow grooves opposed to the upper peripheral edge, and a notch for fitting the stop member in the lower portion, each of the deep grooves and the shallow grooves Are arranged alternately, and the central angles formed by the deep grooves and the shallow grooves adjacent to each other in plan view are the same , inclined in the same direction between the grooves, and of the inner cylinder. The outer cylinder provided with an inclined surface inclined in the same direction as the inclined surface ;
A flange with a pair of brackets having a hand opening and closing roller;
A pair of sliders having through holes in the rod and a slope;
The rod inserted into the through hole of the protrusion and the through hole of the slider;
A pair of springs biasing each of the pair of sliders toward the center;
A pair of locking plates for locking the rod and the pair of springs;
The number of the shallow grooves disposed in the inner cylinder, the total number of the deep grooves and the shallow grooves disposed in the outer cylinder are provided with a gripping portion including a pair of bases and a pair of hands. Are the same, and each of the central angles is arranged in phase,
A workpiece gripping device , wherein a gap is provided between the hand opening / closing roller and the slope of the slider to securely grip the workpiece when gripping the workpiece.

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