JP6511745B2 - Chuck device and loader device - Google Patents

Description

  The present invention relates to a chuck device and a loader device.

  The loader apparatus for conveying a workpiece whose outer peripheral surface is circular includes a chuck apparatus for gripping the workpiece. This chuck device is disposed such that the flat claw portion is opposed to the narrow angle side of the V-shaped claw portion, and three points of one point of the flat claw portion and two points of the narrow angle side of the V-shaped claw portion. It is known to hold a work stably at a point (see, for example, Patent Document 1). The chuck device moves the flat claws and the V-shaped claws in opposite directions with respect to the workpiece to grip or release the workpiece.

JP-A-11-104932

  The above-described chuck device is configured to move the flat claws and the V-shaped claws by an equal distance. On the other hand, in the moving direction of the flat claw portion and the V-shaped claw portion, the distance from the axial center of the workpiece to the contact point with each claw portion differs between the flat claw portion and the V-shaped claw portion. As a result, when gripping workpieces having different diameters, even if the flat claws and the V-shaped claws move by an equal distance to grip the workpiece, the axial center of each workpiece relative to the loader head supporting the chuck device There was a problem that it slipped. Such an offset of the axis center requires detailed teaching of the loader device every time the diameter of the workpiece is different, which is a troublesome task for the operator.

  In view of the circumstances as described above, the present invention can provide a chuck device and a loader device capable of suppressing the displacement of the work center axis even when the diameter of the workpiece to be held changes, and requiring no teaching of the loader device. The purpose is to

The chuck device according to the present invention is a chuck device for gripping a work having a circular outer peripheral surface in a first direction by a flat claw portion and a narrow angle side of a V-shaped claw portion, by a driving force of a driving source. A movable body moving in a second direction orthogonal to the first direction, and an L-shaped member rotatably supporting a bending portion, the movable body side end portion being connected to the movable body, and the claw side end portion being flat The first lever is connected to the claw portion and moves the flat claw portion in the first direction by the movement of the movable body in the second direction, and is formed in an L shape, and the bent portion is rotatably supported. And the claw end is connected to the V-shaped claw portion to move the V-shaped claw portion in the first direction opposite to the flat claw portion by the movement of the movable body in the second direction. A plate-like claw portion and a V-shaped claw having a large diameter work and a small diameter work having different outer diameters, and having a lever, with their axis centers aligned. In the case of grasping with the first, the movement distance in the first direction from the position where the flat claws abut against the large diameter work to the position where it abuts the small diameter work is L1, and the V-like claws abut against the large diameter work The moving distance in the first direction from the above position to the position where it abuts the small-diameter work is L2, and the angle between the radial direction passing through the point where the V-shaped claw contacts the large-diameter work or the small-diameter work and the first direction Letting θ be L1, L2 = cosθ, and the ratio of the length L3 from the rotation center of the first lever to the claw end and the length L4 from the rotation center of the second lever to the claw end Are set to L3: L4 = L1: L2 , and the moving body has a recess into which the moving body side end of the first lever is inserted and a recess into which the moving body side end of the second lever is inserted. The recesses are arranged to be offset in the second direction .

  Further, the first lever and the second lever may be formed so as to be rotatable around an axis along a third direction orthogonal to any of the first direction and the second direction. Further, the V-shaped claw portion may be arranged to be V-shaped when viewed from the second direction or the third direction.

  A loader apparatus according to the present invention includes a chuck for holding a work, and the above-described chuck apparatus is used as the chuck.

According to the present invention, assuming that the angle between the radial direction passing through the point at which the V-shaped claw portion contacts the large diameter work or the small diameter work and the first direction is θ, the flat claw portion contacts the large diameter work Travel distance L1 in the first direction from the position to contact with the small diameter work, and travel distance in the first direction from the position where the V-shaped claw contacts the large diameter work to the position contact with the small diameter work For L2, L1 = L2 · cos θ, and the ratio of the length L3 from the rotation center of the first lever to the claw end and the length L4 from the rotation center of the second lever to the claw end is , L3: L4 = L1: L2 and therefore, when holding a work having a circular outer peripheral surface between the flat claw portion and the narrow angle side of the V-shaped claw portion, the large diameter work and the small diameter work The axis center may be matched to the extent that teaching of the loader device supporting the chuck becomes unnecessary. Kill. Thereby, even when the diameter of the workpiece to be gripped changes, it is possible to suppress the deviation of the axial center of the workpiece.

  Further, in the case where the first lever and the second lever are formed so as to be rotatable about an axis along a third direction orthogonal to any of the first direction and the second direction, the first lever and the second lever in the second direction The movement can be efficiently converted to the movement of the first and second claws in the first direction. In addition, the V-shaped claw portion can be gripped at the end portion of the work when arranged in a V shape when viewed in the second direction or the third direction, or from the side of the work By gripping, it is possible to grip the central portion in the longitudinal direction of the work or the like.

  Since the loader apparatus according to the present invention uses the chucking apparatus capable of suppressing the shift of the work center axis even when the diameter of the work to be gripped changes, the work center axis shift can be corrected when the work diameter is different. There is no need to include teaching, and the burden on the operator can be reduced.

It is a figure showing an example of the zipper device concerning a 1st embodiment of the present invention. It is sectional drawing along the AA of FIG. It is a figure which expands and shows a part of chuck | zipper apparatus. It is a figure which shows an example of operation | movement of a chuck apparatus. It is a figure which shows an example of operation | movement of a chuck apparatus. It is a figure showing an example of the loader device concerning a 2nd embodiment of the present invention. It is a perspective view showing an example of a zipper device concerning a modification .

FIG. 1 is a view showing an example of a chuck device 100 according to the first embodiment.
As shown in FIG. 1, the chuck device 100 has a base 10, a flat claw 20, and a V-shaped claw 30. The chuck device 100 grips a work whose outer peripheral surface is formed in a circular shape by the flat claws 20 and the V-shaped claws 30. In the present embodiment, the case of gripping the end of a workpiece having different diameters (large diameter workpiece W1 and small diameter workpiece W2) will be described as an example. In FIG. 1, the axis center O1 of the large diameter work W1 and the axis center O2 of the small diameter work W2 are shown to be in agreement.

  The base 10 has a drive mechanism 11. The drive mechanism 11 moves the flat claws 20 and the V-shaped claws 30 in opposite directions with respect to the large diameter work W1 and the small diameter work W2. In the following description, the moving direction of the flat claw portion 20 and the V-shaped claw portion 30 is the first direction D1, and the axis centers O1 and O2 of the large diameter work W1 and the small diameter work W2 orthogonal to the first direction D1. A direction parallel to the axial direction is taken as a second direction D2, and a direction orthogonal to both the first direction D1 and the second direction D2 is taken as a third direction D3. The drive mechanism 11 has a drive source 12, a movable body 13, a first lever 14 and a second lever 15.

The driving source 12 reciprocates the moving body 13 in the second direction D2, and for example, a fluid pressure cylinder mechanism such as an air cylinder mechanism is used. The drive source 12 includes a cylinder 16, a piston 17, a fluid communication unit 18, and a transmission lever 19.
The cylinder 16 is formed, for example, at one end (upper side in FIG. 1) of the base 10 in the first direction D1. The cylinder 16 may be disposed along a direction different from the first direction D1, such as the second direction D2 or the third direction D3.

  The piston 17 is provided movably along the first direction D1. The piston 17 has a proximal end 17a and a rod portion 17b. The proximal end 17 a is disposed in the cylinder 16. A space K1 is formed inside the cylinder 16 by the base end 17a. In the space K1, a fluid such as air for driving the piston 17 in the first direction D1 is supplied or recovered.

  The rod portion 17b is integrally formed with the proximal end portion 17a, and protrudes in the first direction D1 (lower side in FIG. 1) with respect to the proximal end portion 17a. The rod portion 17 b is provided with a recess 17 d. The recess 17 d is formed so that the rod side end 19 b of the transmission lever 19 described later can be inserted.

  The fluid communication unit 18 is connected to the space K1 in the cylinder 16. The fluid circulating unit 18 circulates the fluid for driving the piston, which is supplied (indicated by a solid arrow in FIG. 1) or recovered (indicated by a dashed arrow in FIG. 1) to the space K1. The supply and recovery of the fluid to and from the space K1 are performed by a fluid driving unit (not shown). By supplying the fluid to the space K1, the piston 17 moves to the end side (upper side in FIG. 1) of the base 10 in the first direction D1. Further, by recovering the fluid from the space K1, the piston 17 moves to the center side (downward in FIG. 1) of the base 10 in the first direction D1.

  The transmission lever 19 is rotated by the movement of the piston 17 in the first direction D1. The transmission lever 19 is formed in an L shape, and has a bending portion 19a, a rod side end 19b, and a moving body side end 19c. The bending portion 19a is supported so that the transmission lever 19 can rotate around the central axis AX3 parallel to the third direction D3. The rod end 19 b is connected to the piston 17 in a state of being inserted into the recess 17 d of the piston 17. In addition, the movable body side end 19 c is connected to the movable body 13 in a state of being inserted into a recess 13 a of the movable body 13 described later.

  The movable body 13 is formed, for example, in a cylindrical shape, and moves in the second direction D2 by the rotation of the transmission lever 19. The movable body 13 has concave portions 13a, 13b and 13c. The recess 13a is formed so as to be insertable into the moving body side end 19c of the transmission lever 19 described above. The recess 13 b is disposed on the opposite side to the recess 13 a in the first direction D1. The recess 13 b is formed so as to be insertable with the movable body side end 14 b of the first lever 14 described later. The recess 13 c is disposed adjacent to the recess 13 a in the second direction D2. The recess 13 c is formed so as to be insertable with the movable body side end 15 b of the second lever 15 described later. The recess 13 c is disposed closer to the claw portion than the recess 13 b. A guide 13 d is provided around the movable body 13. The guide portion 13 d is formed in a cylindrical shape so as to surround the moving body 13. The guide portion 13d guides the movable body 13 in the second direction D2.

  The first lever 14 is rotated by the movement of the movable body 13 in the second direction D2. The first lever 14 has a bending portion 14a, a movable body side end 14b, and a claw side end 14c. The bending portion 14a is rotatably supported around the central axis AX1 parallel to the third direction D3. The movable body side end 14 b is connected to the movable body 13 in a state of being inserted into the recess 13 b of the movable body 13. The claw end 14 c is connected to the first slider 21 in a state of being inserted into a recess 21 a of the first slider 21 described later.

  The second lever 15 rotates in the opposite direction to the first lever 14 by the movement of the movable body 13 in the second direction D2. The second lever 15 is connected to the moving body 13 and converts movement of the moving body 13 in the second direction D2 into movement in the rotational direction. The second lever 15 has a bending portion 15a, a moving body side end 15b, and a claw side end 15c. The bending portion 15a is rotatably supported around the central axis AX2 parallel to the third direction D3. The movable body side end 15 b is connected to the movable body 13 in a state of being inserted into the recess 13 c of the movable body 13. The claw side end 15 c is connected to the second slider 31 in a state of being inserted into a recess 31 a of the second slider 31 described later.

  The flat claw portion 20 has a first slider 21 and a first grasping claw 22. The first slider 21 is attached to the base 10 and movably provided along the first direction D1. The first slider 21 has a recess 21 a on the end face on the base 10 side. The recess 21 a is formed to be insertable into the claw end 14 c of the first lever 14. For example, a portion for holding a work is formed in a flat plate shape (see FIG. 2), and the first holding claw 22 is exchangeably mounted on the first slider 21.

  The V-shaped claw portion 30 has a second slider 31 and a second grasping claw 32. The second slider 31 is attached to the base 10 and movably provided along the first direction D1. The second slider 31 has a recess 31 a on the end face on the base 10 side. The recess 31 a is formed to be insertable into the claw end 15 c of the second lever 15. The second holding claw 32 has, for example, a V-shaped portion for holding a work (see FIG. 2), and is exchangeably mounted on the second slider 31.

  In this embodiment, the length from the central axis AX2 of the second lever 15 to the claw end 15c (L4 described later: see FIG. 3) is from the central axis AX1 of the first lever 14 to the claw end 14c. Is longer than the length (L3 described later: see FIG. 3). Specific settings of the lengths L3 and L4 will be described later.

  In the drive mechanism 11 described above, when the piston 17 moves in the first direction D1, the recess 17d moves in the first direction D1, and the rod side end 19b of the transmission lever 19 moves along the recess 17d. By the movement of the rod side end 19b, the transmission lever 19 rotates in the direction around the center axis AX3, and the moving body side end 19c moves in the rotation direction. By the movement of the moving body side end 19c, the moving body 13 moves in the second direction D2.

  The movement of the movable body 13 moves the concave portions 13b and 13c in the second direction D2, and the movable body side end 14b of the first lever 14 and the movable body side end 15b of the second lever 15 move along the concave portions 13b and 13c. Do. The movement of the moving body side end 14b and the moving body side end 15b causes the first lever 14 to rotate about the central axis AX1, and the second lever 15 to rotate about the central axis AX2. At this time, the pivoting direction of the first lever 14 and the pivoting direction of the second lever 15 are opposite to each other.

  By the rotation of the first lever 14 and the second lever 15, the claw end 14c and the claw end 15c move in the rotation direction. By the movement of the claw end 14c, the first slider 21 and the first grasping claw 22 integrally move in the first direction D1. Further, the second slider 31 and the second grasping claw 32 move integrally in the first direction D1 by the movement of the claw side end 15c. Thus, the flat claw 20 and the V-shaped claw 30 move in conjunction with the first direction D1.

  The claw end 14c and the claw end 15c pivot in opposite directions. For this reason, the flat claw 20 and the V-shaped claw 30 move in the direction opposite to each other in the first direction D1. As described above, the drive mechanism 11 moves the movable body 13 to move the flat claw 20 and the V-shaped claw 30 in the opposite direction to the first direction D1. As a result, it becomes possible to hold or release the large diameter work W1 and the small diameter work W2.

  Further, in the present embodiment, since the length from the central axis AX2 to the claw end 15c is longer than the length from the central axis AX1 to the claw end 14c, the movement distance of the claw end 15c is the claw end It becomes larger than the movement distance of the part 14c. For this reason, the V-shaped claw portion 30 moves larger than the flat claw portion 20.

  FIG. 2 is a view showing a configuration along a cross section A-A in FIG. The case where the flat claw portion 20 and the V-shaped claw portion 30 grip the large diameter work W1 and the small diameter work W2 will be described with reference to FIG. Hereinafter, the case where the axial center O1 of the large diameter work W1 and the axial center O2 of the small diameter work W2 coincide with each other will be described as an example.

  As shown in FIG. 2, the flat claw portion 20 has a gripping surface 22 a. The gripping surface 22a is provided substantially perpendicular to the first direction D1. The V-shaped claw portion 30 is formed in a V-shaped bent state. The V-shaped claw portion 30 has gripping surfaces 32a and 32b. The gripping surface 32a and the gripping surface 32b extend from the center of the V-shaped claw 30 to both ends of the third direction D3 by an angle θ (0 ° <θ <90 °) with respect to a plane perpendicular to the first direction D1. 1 Grasp the claw 22 side. The flat claw portion 20 and the V-shaped claw portion 30 are disposed such that the gripping surface 22a and the gripping surfaces 32a and 32b face each other in the first direction D1. Therefore, the narrow angle side of the V-shaped claw portion 30 is directed to the flat claw portion 20.

  In this configuration, for example, when gripping the large diameter work W1, the flat claw portion 20 contacts the outer periphery of the large diameter work W1 at the contact position P1 on the gripping surface 22a. Further, the V-shaped claw portion 30 abuts on the outer periphery of the large-diameter work W1 at an abutting position P2 on the gripping surface 32a and an abutting position P3 on the gripping surface 32b. As described above, the flat claw portion 20 and the V-shaped claw portion 30 grip the large diameter work W1 at the three contact positions P1 to P3. At this time, the gripping surfaces 22a, 32a and 32b are in contact with the outer periphery of the large-diameter work W1 at each of the contact positions P1 to P3.

  When gripping a small diameter work W2 having a diameter smaller than that of the large diameter work W1, the flat claw portion 20 abuts on the outer periphery of the small diameter work W2 at the contact position P1 as in the case of gripping the large diameter work W1. . Further, unlike the case where the large diameter work W2 is gripped, the V-shaped claw portion 30 abuts on the outer periphery of the small diameter work W2 at the contact position P4 on the holding surface 32a and the contact position P5 on the holding surface 32b. As described above, when gripping the small diameter work W2, the V-shaped claw portion 30 abuts on the small diameter work W2 at different contact positions P4 and P5 with respect to the contact positions P2 and P3 with the large diameter work W1. At this time, the gripping surfaces 22a, 32a and 32b are in contact with the outer periphery of the small diameter work W2 at the respective abutting positions P1, P4 and P5.

  Here, the flat claw portion 20 is displaced by the distance L1 in the first direction D1 in the case of contacting the large diameter work W1 and in the case of contacting the small diameter work W2. This distance L1 is equal to the difference between the diameter of the large diameter work W1 and the diameter of the small diameter work W2.

On the other hand, the V-shaped claw portion 30 is displaced by a distance L2 in the first direction D1 when in contact with the large diameter work W1 and in contact with the small diameter work W2. The distance L2 is a value different from the distance L1 which is the difference between the diameter of the large diameter work W1 and the diameter of the small diameter work W2, and is a value larger than the distance L1. Between this distance L1 and the distance L2,
L1 = L2 · cos θ (Equation 1)
Is established.

  Therefore, in order to grip the large diameter work W1 and the small diameter work W2 having different diameters at a position where the respective axial centers O1 and O2 coincide with each other, the movement distance of the flat claw 20 and the movement of the V-shaped claw 30 It is necessary to move the flat claw 20 and the V-shaped claw 30 so that the distance is L1: L2.

In addition, according to the above (formula 1),
L1: L2 = L2 cos θ: L2 = cos θ: 1 (2)
It is. Therefore, the ratio of the movement distance between the flat claw portion 20 and the V-shaped claw portion 30 is set in accordance with the inclination angle θ of the gripping surfaces 32a and 32b.

FIG. 3 is an enlarged view of a part of the drive mechanism 11 (the moving body 13, the first lever 14, the second lever 15), and the flat claw 20 and the V-shaped claw 30. As shown in FIG.
As shown in FIG. 3, the length from the central axis AX1 of the first lever 14 to the claw end 14c is L3, and the length from the central axis AX2 of the second lever 15 to the claw end 15c is L4. Then, the lengths L3 and L4 are set to satisfy, for example, L3: L4 = L1: L2 (= cos θ: 1).

  Therefore, in the present embodiment, when the moving body 13 moves, the claw end 14c and the claw end 15c have the rotation axes AX1, respectively, such that the ratio of movement distance becomes L1: L2 (= cos θ: 1). It interlocks and rotates around AX2. Therefore, the flat claw portion 20 and the V-shaped claw portion 30 are interlocked and moved in the opposite direction of the first direction D1 so that the ratio of the movement distance becomes approximately L1: L2 (= cos θ: 1). With such a configuration, the flat claw portion 20 and the V-shaped claw portion 30 can grip the large diameter work W1 and the small diameter work W2 having different diameters at a position where the axial centers O1 and O2 coincide with each other. There is.

Next, the operation of the chuck device 100 configured as described above will be briefly described.
FIGS. 4 and 5 are diagrams showing an example of an operation of gripping the large diameter work W1 and the small diameter work W2 having different diameters by the chuck device 100. FIG.

  First, for example, when the large-diameter work W1 is gripped, the fluid is recovered from the space K1 by a fluid driving unit (not shown). As a result, the piston 17 moves in the first direction D1 to the central portion side (the lower side in FIGS. 4 and 5) of the base 10 and the movable body 13 moves to the claw portion side. The V-shaped claws 30 move away from each other. In this operation, the distance between the flat claw portion 20 and the V-shaped claw portion 30 is made larger than the diameter of the large diameter work W1. The flat claws 20 and the V-shaped claws 30 are disposed on both sides of the large diameter work W1 in the first direction D1. Thereafter, as shown in FIG. 4, the piston 17 is moved to the end side (upper side in FIG. 4) of the base 10 along the first direction D1 by supplying fluid to the space K1 by a fluid drive unit (not shown) Let As a result, the movable body 13 moves to the piston 17 side, so the flat claws 20 and the V-shaped claws 30 move in directions approaching each other to grip the large diameter work W1. Thereafter, by recovering the fluid from the space K1 again by the fluid drive unit (not shown), the flat claw 20 and the V-shaped claw 30 can be moved in the direction to separate them, and the large diameter work W1 can be released.

  Next, for example, when gripping the small diameter work W2, the flat claws 20 and the V-shaped claw 30 are disposed on both sides of the small diameter work W2 in the first direction D1. Then, by supplying fluid to the space K1 by a fluid drive unit (not shown), as shown in FIG. 5, the piston 17 is moved along the first direction D1 to the end of the base 10 (upper side in FIG. 5) Let As a result, the movable body 13 moves to the piston 17 side, so that the flat claw 20 and the V-shaped claw 30 move in the approaching direction to grip the small diameter work W2.

  As described above, when holding the small diameter work W2 having a diameter different from that of the large diameter work W1, the ratio of the movement distance of the flat claw portion 20 and the V shaped claw portion 30 is approximately L1: L2 (= cos θ To move in the opposite direction of the first direction D1 so as to be: 1). For this reason, the axial center O2 of the small diameter work W2 does not deviate from the axial center O1 of the large diameter work W1 (see FIG. 4), that is, the axial center O2 deviates with respect to a loader head described later holding the chuck device 100. Instead, the small diameter work W2 can be gripped.

  As described above, according to the present embodiment, the large-diameter work W1 and the small-diameter work W2 having a circular outer peripheral surface are formed by the flat plate-like claw portion 20 and the narrow angle side of the V-shaped V-shaped claw portion 30. When holding the moving body 13 in the second direction D2, the V-shaped claw portion 30 can be moved more largely than the flat claw portion 20. Thereby, even when the diameter of the workpiece changes from the large diameter workpiece W1 to the small diameter workpiece W2, for example, it is possible to suppress the deviation of the axial centers O1 and O2 with respect to the loader head described later holding the chuck device 100.

  Further, in the present embodiment, the ratio of the movement distance L1 of the flat claw portion 20 to the movement distance L2 of the V-shaped claw portion 30 is a length L3 from the center axis AX1 of the first lever 14 to the claw end 14c. And the length L4 from the center axis AX2 of the second lever 15 to the claw side end 15c is equal to the ratio of the length L4 to the claw side end portion 15c. The axial centers of the large diameter work W1 and the small diameter work W2 can be matched to the extent that teaching of the loader device described later becomes unnecessary.

Second Embodiment
FIG. 6 is a view showing an example of a loader device 200 according to the second embodiment. In FIG. 6, the directions in the figure may be described using an XYZ coordinate system. In this XYZ coordinate system, a plane parallel to a horizontal plane (for example, a floor plane) is taken as an XZ plane. An arbitrary direction parallel to the XZ plane is referred to as a Z direction, and a direction orthogonal to the Z direction is referred to as an X direction. The direction perpendicular to the XZ plane is referred to as the Y direction. In each of the X direction, the Y direction, and the Z direction, the direction of the arrow in the figure is the + direction, and the direction opposite to the direction of the arrow is the − direction.

  The loader device 200 includes a loader head 110 and a head drive unit 120. In addition, the loader device 200 has a control unit (not shown) that comprehensively instructs the loader head 110 and the head driving unit 120.

The loader head 110 has a chuck holding portion 111, chucks 112 and 113, and a rotation mechanism 114.
The chuck holding unit 111 holds the chucks 112 and 113. The chuck holding portion 111 is rotatable around an axis (shown by an alternate long and short dash line in FIG. 6) inclined at a predetermined angle (eg, 45 °) with respect to the floor surface.

  The chucks 112 and 113 are disposed such that one is directed downward (the attitude facing the floor surface) and the other is oriented horizontally (the attitude along the floor surface). In FIG. 6, the chuck 112 is disposed in the posture directed downward, and the chuck 113 is disposed in the posture oriented horizontally. The chuck device 1 described above is used as the chucks 112 and 113.

  The rotation mechanism 114 rotates the chuck holding portion 111 around the axis AX. The rotation mechanism 114 has a drive source (not shown) such as, for example, a motor. The two chucks 112 and 113 can be interchanged with each other by rotating the chuck holder 111 by 180 ° around the axis AX by the rotation mechanism 114.

The head drive unit 120 moves the loader head 110. The head drive unit 120 includes an X drive unit 121, a Z drive unit 122, and a Y drive unit 123.
The X driving unit 121 includes an X moving body 121 a and a guide rail 121 b. The guide rails 121b extend in parallel to the X direction and are fixed to a fixing portion (not shown). The guide rail 121b guides the X moving body 121a. The X mover 121a is movable in the X direction along the guide rail 121b by a drive source (not shown).

  The Z drive unit 122 has a Z moving body 122a and a guide unit 122b. The guide portion 122 b extends in the Z direction and is fixed to the X moving body 121 a. The guide portion 122b guides the Z moving body 122a. The Z mover 122a is movable in the Z direction along the guide portion 122b by a drive source (not shown).

  The Y drive unit 123 includes a Y mover 123a and a guide unit 123b. The guide portion 123b extends in parallel to the Y direction, and is fixed to the Z moving body 122a. The guide part 123b guides the Y moving body 123a. The Y moving body 123a is formed in a rod shape. The Y moving body 123a is movable in the Y direction along the guide portion 123b by a drive source (not shown). The loader head 110 is fixed to the -Y side end of the Y moving body 123a.

  The head drive unit 120 has a drive source (not shown) for driving the X moving body 121a, the Z moving body 122a, and the Y moving body 123a. When moving the loader head 110 in the X direction, the head drive unit 120 moves the X moving body 121 a in the X direction. At this time, the Z mover 122a and the Y mover 123a move in the X direction integrally with the X mover 121a. In this movement, relative movement does not occur between the X mover 121a, the Z mover 122a, and the Y mover 123a.

  Further, when moving the loader head 110 in the Z direction, the head drive unit 120 moves the Z moving body 122 a in the Z direction. At this time, the Y mover 123a moves in the Z direction integrally with the Z mover 122a, but the X mover 121a does not move. Therefore, by the movement of the Z moving body 122a, the Y moving body 123a moves in the Z direction with respect to the X moving body 121a.

  When moving the loader head 110 in the Y direction, the head drive unit 120 moves the Y moving body 123a in the Y direction. At this time, the X mover 121a and the Z mover 122a do not move. Therefore, with the movement of the Y moving body 123a, the Y moving body 123a moves in the Y direction with respect to both the X moving body 121a and the Z moving body 122a.

  The head drive unit 120 moves the loader head 110 three-dimensionally in each of the X direction, the Z direction, and the Y direction by these operations. Thus, the head drive unit 120 transports the work from the loading unit to the transport destination along a predetermined transport path.

  Further, for example, when the chuck 112 holds the work in the state shown in FIG. 6, the ratio of the movement distance of the flat claw portion 20 and the V-shaped claw portion 30 is approximately L1: L2 (= cos θ: It moves interlockingly in the opposite direction of the Y direction so that it becomes 1). Further, in the state shown in FIG. 6, when the chuck 113 holds the work, the ratio of the movement distance of the flat claw portion 20 and the V-shaped claw portion 30 is approximately L1: L2 (= cos θ: 1) To move in the opposite direction to the Z direction. Thereby, even when holding workpieces having different diameters, each workpiece can be gripped at a position where the respective axial centers coincide.

  As described above, since the loader apparatus 200 according to the present embodiment uses the chuck apparatus 100 capable of suppressing the displacement of the axial center of the workpiece even when the diameter of the workpiece to be gripped changes, the diameter of the workpiece is different. This eliminates the need for teaching including misalignment of the work center axis, which can reduce the burden on the operator.

As mentioned above, although embodiment was described, this invention is not limited to the description mentioned above, A various change is possible in the range which does not deviate from the summary of this invention.
For example, although the case where the chuck device 100 grips the ends of the large diameter work W1 and the small diameter work W2 has been described as an example in the above embodiment, the present invention is not limited to this.

FIG. 7 is a perspective view showing an example of a chuck device 100A according to a modification.
As shown in FIG. 7, the chuck device 100 </ b> A includes a base 10, a flat plate-like claw portion 20 </ b> A, and a V-shaped V-shaped claw portion 30 </ b> A. In the chuck device 100A, the work W is gripped from the side by the flat claw portion 20A and the V-shaped claw portion 30A.

  In the above embodiment, the V-shaped claw portion 30 is arranged to be V-shaped when viewed in the second direction D2. However, in the present modification, the V-shaped claw portion 30A is formed in the third direction D3. It is arranged to be V-shaped when viewed from. The flat claw portion 20A and the V-shaped claw portion 30A are configured such that an end in the second direction D2 is connected to the base 10 and can be moved in the first direction D1. With such a configuration, since the workpiece W can be gripped from the side, it is possible to grip not only the end of the workpiece W but also other portions such as the central portion in the longitudinal direction of the workpiece W. When holding the work W by the flat claw portion 20A and the V-shaped claw portion 30A, the axial center O3 of the work W is disposed, for example, along the third direction D3.

  In the case where the workpiece W is gripped by the chuck device 100A, the flat claws 20A and the V-shaped claws 30A are moved in the first direction D1 so that the ratio of movement distance is approximately L1: L2 (= cos θ: 1). Move in the opposite direction of. For this reason, even when the diameter of the workpiece W changes, each workpiece W can be gripped without the respective axial centers (O3) being shifted with respect to the central axis of the chuck device 100A.

  In the above embodiment, the ratio between the length L3 from the center axis AX1 of the first lever 14 to the claw end 14c and the length L4 from the center axis AX2 of the second lever 15 to the claw end 15c Has been described as an example of a configuration in which the ratio between the distance L1 and the distance L2 is set to be equal to one another. However, the present invention is not limited to this.

  In the above embodiment or modification, the length from the central axis AX2 of the second lever 15 to the claw end 15c is longer than the length from the central axis AX1 of the first lever 14 to the claw end 15c. The length from the central axis AX2 to the movable body side end 15b may be shorter than the length from the central axis AX1 to the movable body side end 14b. In this case, the length of each may be set such that the ratio of the movement distance of the flat claw 20 to the movement distance of the V-shaped claw 30 is L1: L2.

  In the above embodiment, the flat claw 20 is formed in a flat plate shape, and the V-shaped claw 30 is formed in a V shape as an example. However, the present invention is not limited to this. The flat claw portion 20 may be formed in a V shape. In this case, the V-shaped claw portion 30 may be formed in a flat plate shape.

  Moreover, although the case where it used without replacing | exchanging the flat-plate-like nail | claw part 20 and the V-shaped nail | claw part 30 was mentioned as the example and demonstrated in the said embodiment, it does not limit to this, You may replace | exchange suitably. In this case, the V-shaped claws 30 can be replaced with claws having different inclination angles θ of the gripping surfaces 32a and 32b depending on the shape and diameter of the workpiece to be gripped. In this case, since the ratio of the movement distance between the flat claw portion 20 and the V-shaped claw portion 30 changes, the movement distance ratio is adjusted by replacing at least one of the first lever 14 and the second lever 15 can do.

  Further, in the above embodiment, the first levers 14 and 14B and the second levers 15 and 15B are rotatable around an axis along the third direction D3 orthogonal to both the first direction D1 and the second direction D2. Although it was set as the structure formed, it does not limit to this. For example, the first levers 14 and 14B and the second levers 15 and 15B may be inclined with respect to the third direction D3.

  Moreover, in the said embodiment, although the workpiece | work in which the outer periphery was formed circularly was mentioned as the example and demonstrated, it does not limit to this. For example, it may be a work in which the outer periphery of the portion to be gripped is formed in a circular shape, and the other portion is formed in a shape different from the circular shape. In addition, the workpiece may be a workpiece whose outer periphery is formed in an elliptical shape, and when the workpiece is gripped, the above description can be applied depending on the gripping direction.

  D1: first direction D2: second direction D3: third direction W: workpiece W1: large diameter workpiece (work) W2: small diameter workpiece (work) L1, L2: distance (moving distance) L3, L4: length 10 Base 12: Drive source 13: Moving body 14, 14B: first lever 15, 15B: second lever 14a, 15a: bent portion 14b, 15b: moving body side end 14c, 15c: claw side end 20, 20A: flat plate V-shaped claw portion 30, 30A: V-shaped claw portion 100, 100A, 100B: chuck device 112, 113: chuck 200: loader device

Claims (4)

A chuck device for gripping a work having a circular outer peripheral surface in a first direction by a flat claw portion and a narrow angle side of a V-shaped claw portion,
A movable body that moves in a second direction orthogonal to the first direction by a driving force of a driving source;
An L-shaped member is rotatably supported at the bending portion, the movable body side end is connected to the movable body, and the claw side end is connected to the flat claw portion, and the movable body in the second direction A first lever for moving the flat claw portion in the first direction by movement;
An L-shaped member is rotatably supported at the bending portion, the movable body side end is connected to the movable body, and the claw side end is connected to the V-shaped claw portion, and the movable body in the second direction And a second lever for moving the V-shaped claw portion in the first direction opposite to the flat claw portion by movement.
When a large diameter work and a small diameter work having different outer diameters are gripped by the flat claw portion and the V-shaped claw portion with their axial centers aligned.
Let L1 be the movement distance in the first direction from the position at which the flat claw portion abuts on the large diameter work to the position at which the flat nail portion abuts on the small diameter work
The moving distance in the first direction from the position where the V-shaped claw portion abuts on the large-diameter workpiece to the position abutted on the small-diameter workpiece is L2.
Assuming that an angle between a radial direction passing through a point at which the V-shaped claw portion contacts the large diameter work or the small diameter work and the first direction is θ, L1 = L2 · cos θ.
The ratio of the length L3 from the rotation center of the first lever to the claw end and the length L4 from the rotation center of the second lever to the claw end is
L3: L4 = L1: L2
Set to
The movable body has a concave portion into which the movable body side end portion of the first lever is inserted, and a concave portion into which the movable body side end portion of the second lever is inserted, and the concave portions are the second Chuck device , which is arranged offset .   2. The chuck device according to claim 1, wherein the first lever and the second lever are formed so as to be rotatable about an axis along a third direction orthogonal to any of the first direction and the second direction.   The chuck device according to claim 2, wherein the V-shaped claw portion is disposed in a V shape when viewed from the second direction or the third direction. Equipped with a chuck for holding the work,
The loader apparatus in which the chuck apparatus of any one of Claims 1-3 is used as said chuck | zipper.

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