JP6806470B2 - Chucking device and chucking method - Google Patents

Description

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

In order to perform processing such as cutting on the object to be processed, it is necessary to chuck and fix the object to be processed. An example of a conventional chuck device is described in Patent Document 1. In the chuck device of Patent Document 1, the work holding surface of each finger is composed of a single flat surface.

JP-A-2002-36011

However, such a conventional chuck device has a problem that it is difficult to properly grip the object to be gripped when a force is applied to the object to be gripped.

For example, when the gripping object is gripped by a single plane as in Patent Document 1, the contact portion between the finger and the gripping object becomes a point or a line, so that the gripping force is weakened.

The present invention has been made to solve such a problem, and an object of the present invention is to provide a chuck device and a chuck method capable of appropriately gripping an object to be gripped even when a force is applied to the object to be gripped.

In order to solve the above-mentioned problems, the chuck device according to the present invention has a nut portion capable of gripping a nut or having a part having the same shape as the nut of an object having the same shape as the nut. A chuck device that can be gripped
With multiple fingers that are movable and can contact the nut or nut part,
A guide hole that allows you to insert the nut or nut part in the axial direction,
A rotary drive mechanism that rotates the nut, nut part or guide hole around the axis,
An insertion drive mechanism that moves the nut, nut part or guide hole and inserts the nut or nut part into the guide hole.
With
The nut-side or nut-part-side end of each finger has an end shape that corresponds to a portion of the outer circumference of the dodecagonal nut.
In certain embodiments,
The chuck device is
A nut insertion step in which the nut or nut part is inserted into the guide hole by the insertion drive mechanism while rotating the nut, nut part or guide hole by the rotary drive mechanism.
After the nut insertion step, a finger contact step of moving each finger toward the nut or nut portion to bring it into contact with the nut or nut portion can be performed.
In certain embodiments, the end shape of each finger includes a recess in a shape corresponding to a convex portion of the dodecagon nut.
In certain embodiments, the end shape of each finger comprises two protrusions of a shape corresponding to the recesses on either side of the protrusion of the dodecagon nut.
Further, in the chuck method according to the present invention, a nut is gripped by using a chuck device, or a nut portion having the same shape as a nut of an object having a part having the same shape as the nut by using the chuck device. It is a chuck method to grip
The chuck device includes a plurality of fingers, and the end portion of each finger on the nut side or the nut portion side has a shape corresponding to a part of the outer circumference of the dodecagonal nut.
The method is
With the nut insertion step, which inserts the nut or nut part into the guide hole by rotating and moving the nut, nut part or guide hole,
After the nut insertion step, a finger contact step is provided in which each finger is moved to come into contact with the nut or the nut portion.

According to the present invention, for a gripping object having the same outer peripheral shape as the dodecagonal nut, the contact area between the finger and the gripping object is larger, so that a strong gripping force is realized and the gripping object is appropriately gripped. can do.

It is a figure which shows the example of the structure of the chuck device which concerns on Embodiment 1 of this invention. It is a figure which shows the schematic example of the functional structure of the chuck device of FIG. It is a figure explaining the operation of the chuck device of FIG. It is a figure which shows the shape of the finger of FIG. It is an enlarged view of the gripping end portion of the finger of FIG. It is a figure which shows the shape of a dodecagon nut. It is a figure which shows the state which a finger holds a dodecagon nut. It is a figure which shows the state which the dodecagon nut is inserted into a guide hole. It is a figure which shows the state which each finger is in contact with a dodecagon nut. It is a figure which shows the schematic example of the functional structure of the chuck device which concerns on Embodiment 2. FIG. It is a figure explaining the operation of the chuck device of FIG. It is a figure which shows the schematic example of the functional structure of the chuck device which concerns on Embodiment 3. FIG. It is a figure which shows the state which the finger holds the nut of the shape which a part of the dodecagonal nut is missing.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
Embodiment 1.
FIG. 1 shows the configuration of the chuck device 10 according to the present invention. The chuck device 10 is a device capable of gripping a nut. Further, the chuck method according to the present invention is a method of gripping a nut using a chuck device 10. By directly gripping the nut, the chuck device 10 can indirectly fix the entire structure to which the nut is fixed. Further, the chuck device 10 can indirectly fix the whole structure or the like having the same shape as the nut by grasping the portion (nut portion) having the same shape as the nut. .. In the following, the case of gripping the nut and the case of gripping the nut portion having the same shape as the nut will be described without particular distinction.

FIG. 1 is a view seen from a direction orthogonal to the axis of the nut (however, the nut is not shown). The specific shape of the nut will be described with reference to the example of the dodecagonal nut in the present embodiment, but the present invention may be similarly applicable to the hexagon nut or other shapes. In the present specification, when the meanings of "axis", "axial direction", "diameter direction" and "circumferential direction" are not clear from the context, each nut is in a state of being gripped by the chuck device 10. Means the axis, axial direction, radial direction and circumferential direction of.

The chuck device 10 includes a guide hole 11. The guide hole 11 has an inner peripheral shape that matches at least a part of the outer peripheral shape of the nut, and the nut can be inserted in the axial direction. In the example of FIG. 1, the nut can be inserted from the front side to the back side of the paper surface. The "inner circumference shape that matches the outer circumference shape of the nut" may include a clearance or taper that allows the nut to move in the axial direction while being inserted into the guide hole 11.

The chuck device 10 includes a plurality of fingers 20. The fingers 20 are arranged at equal angles in the circumferential direction, centered on the guide hole 11, for example. Each finger 20 can move in a direction toward or away from each other (direction of arrow A1 in the example of FIG. 1). The direction in which each finger 20 can move is, for example, the radial direction, but it does not have to be strictly the radial direction as long as it contains a radial component.

A finger accommodating groove 12 is formed in the chuck device 10. The finger 20 is accommodated in the finger accommodating groove 12. The fingers 20 are arranged so that, for example, a part thereof can be slidably moved in the finger accommodating groove 12. In this way, each finger 20 is movably fixed to the guide member 30 described later.

Hereinafter, in this embodiment, an example in which the finger accommodating groove 12 is formed will be described, but the chuck device 10 may not include the finger accommodating groove 12. The presence or absence of the finger accommodating groove 12 may be determined according to, for example, the shape or size of the gripping object. For example, when the object to be gripped is a nut and the length (axial dimension) of the convex portion of the head portion of the nut is short, a finger accommodating groove 12 is provided so that the finger 20 operates in the groove accommodating groove 12. Can be designed. On the other hand, when the length (axial dimension) of the convex portion of the head portion of the nut is long, the finger accommodating groove 12 may be omitted.

FIG. 2 shows a schematic example of the functional structure of the chuck device 10. The chuck device 10 includes a guide member 30, and a guide hole 11 is formed in the guide member 30. Further, the chuck device 10 includes a transport grip portion 31, a rotation drive mechanism 32, an insertion drive mechanism 33, a finger drive mechanism 34, and a control device 35.

The transport grip 31 grips and fixes (at least temporarily) the object to be gripped. The rotation drive mechanism 32 rotates the guide member 30 and the guide hole 11 around the axis. The insertion drive mechanism 33 moves the transport grip portion 31 in parallel, for example, slides it in the axial direction.

The operation of the chuck device 10 in a state where the transport gripping portion 31 grips the gripping object 40 will be described with reference to FIG. When the insertion drive mechanism 33 moves the transport grip portion 31 in the axial direction while the transport grip portion 31 grips the grip target object 40, the grip target 40 moves in the axial direction (for example, FIG. 3). (As indicated by the arrow A3). Further, when the rotation drive mechanism 32 rotates the guide member 30, the guide member 30, the guide hole 11, and each finger 20 rotate about the axis (for example, as shown by the arrow A2 in FIG. 3).

At least a part of the outer shape of the gripping object 40 has the same shape as at least a part of the outer shape of the dodecagon nut. In the present embodiment, such a portion of the gripping object 40 is referred to as a dodecagon nut 50. For example, by attaching and fixing a dodecagonal nut to an arbitrary object, the gripping object 40 including the dodecagonal nut 50 can be configured.

The finger drive mechanism 34 drives and moves the finger 20. For example, it is moved in the direction of arrow A1 in FIG. The control device 35 controls the operation of the entire chuck device 10 by controlling the operations of the rotation drive mechanism 32, the insertion drive mechanism 33, and the finger drive mechanism 34. In addition, although only two fingers 20 are shown in FIGS. 2 and 3 and only one of them is connected to the finger drive mechanism 34, in reality, all the fingers 20 shown in FIG. 1 have the same finger drive mechanism. It is connected to 34. This also applies to FIGS. 8 to 12 described later.

4 and 5 show the shape of the finger 20. The finger 20 includes a gripping end 21 that can come into contact with the nut. The grip end 21 is the end of the finger 20 on the nut side. FIG. 5 shows an enlarged view of the gripping end portion 21. 5 (a) is a perspective view, and FIG. 5 (b) is a view seen from an axial direction (that is, the same direction as in FIGS. 1 and 4).

The gripping end portion 21 includes a concave portion 22 and a convex portion 23. In the present embodiment, both the concave portion 22 and the convex portion 23 are represented by a straight line formed by intersecting two planes (or a line segment formed by contacting two planes). However, the concave portion 22 and the convex portion 23 do not have to be strictly straight lines, and may have a geometric shape such as a curved surface or a curved surface as long as the structure can connect two planes. Further, in the present embodiment, as shown in FIG. 5B, the two planes forming the concave portion 22 form an angle of 120 ° with each other, and the two planes forming the convex portion 23 form an angle of 150 ° with each other. Eggplant.

FIG. 6 shows the shape of the dodecagon nut 50. FIG. 6A is a perspective view, and FIG. 6B is a view seen from the axial direction. As described above, the dodecagon nut 50 constitutes a part of the gripping object 40, but in FIG. 6, for convenience of explanation, the parts other than the dodecagon nut 50 are not shown. ..

The shape of the dodecagon nut 50 is not limited to the specific shape shown in FIG. 6, and may be the same shape as other known dodecagon nuts, and is one of the shapes of other known dodecagon nuts. It may have a part. Further, FIG. 6 particularly shows the outer peripheral shape of the dodecagon nut 50, and the shape other than the outer peripheral portion is not shown (for example, it may have a hole through which a bolt can be inserted).

The dodecagon nut 50 has a shape in which two regular hexagons are overlapped when viewed from the axial direction. More precisely, it has a shape in which a regular hexagon is rotated by 30 ° around the center of symmetry and superposed on the original regular hexagon. This shape is, so to speak, a star-shaped regular dodecagon.

The dodecagon nut 50 includes a convex portion 52 and a concave portion 53. In the present embodiment, both the convex portion 52 and the concave portion 53 are represented by a straight line formed by intersecting two planes (or a line segment formed by contacting two planes). However, the convex portion 52 and the concave portion 53 do not have to be strictly straight lines, and may have a geometric shape such as a curved surface or a curved surface as long as the structure can connect two planes.

In the present embodiment, as shown in FIG. 6B, the two planes forming the convex portion 52 form an angle of 120 ° with each other, and the two planes forming the concave portion 53 form an angle of 150 ° with each other. Further, the two adjacent convex portions 52 are separated by 30 ° in the circumferential direction, and the two adjacent concave portions 53 are also separated by 30 ° in the circumferential direction.

FIG. 7 shows a state in which the finger 20 grips the dodecagon nut 50. The fingers 20 abut on the dodecagonal nut 50 from the outside to the inside in the radial direction so as to apply a force. In particular, the gripping end 21 comes into contact with the outer circumference of the dodecagon nut 50.

The shape of the end portion of the finger 20, that is, the shape of the gripping end portion 21, corresponds to a part of the outer circumference of the dodecagon nut 50. For example, at least a part of the shape of the grip end portion 21 may be formed along a part of the outer circumference of the dodecagon nut 50. In this case, as shown in FIG. 7, at least a part of the grip end portion 21 can be joined to a part of the outer circumference of the dodecagon nut 50 without substantially a gap.

For example, the recess 22 of the grip end 21 has a shape corresponding to the convex 52 of the dodecagon nut 50. In the example of FIG. 7, the concave portion 22 of the grip end portion 21 is along the convex portion 52 of the dodecagon nut 50, and can be joined without a gap. Further, for example, the convex portion 23 of the grip end portion 21 has a shape corresponding to the concave portion 53 of the dodecagon nut 50. In the example of FIG. 7, the convex portion 23 of the grip end portion 21 is along the concave portion 53 of the dodecagon nut 50, and can be joined without a gap.

In the present embodiment, the gripping end portion 21 includes two convex portions 23, and these two convex portions 23 correspond to concave portions 53 on both sides of the convex portion 52 having the dodecagon nut 50, respectively.

The operation of the chuck device 10 configured as described above will be described below. First, the transport grip portion 31 grips the gripping object 40. In this state, the control device 35 controls the rotation drive mechanism 32 and the insertion drive mechanism 33 to insert the dodecagon nut 50 into the guide hole 11. For example, in a state where the rotation drive mechanism 32 rotates the guide member 30 and the guide hole 11, the insertion drive mechanism 33 aligns the dodecagon nut 50 and the guide hole 11 to guide the dodecagon nut 50. Move it so that it is inserted into the hole 11.

If the initial position of the gripping portion 31 for transportation is set according to the shapes of the gripping object 40 and the dodecagon nut 50, the gripping object 40 is inserted into the guide hole 11 by simply moving it in the axial direction. be able to. Further, by rotating the guide member 30 and the guide hole 11, it is not necessary to strictly control the circumferential direction of the dodecagon nut 50. That is, if the guide member 30 and the guide hole 11 are rotated around the axis while applying an axial force to the gripping object 40 in a state where the axes of the guide hole 11 and the dodecagon nut 50 are aligned, The dodecagonal nut 50 is inserted into the guide hole 11 when the directions of the guide hole 11 and the dodecagonal nut 50 in the circumferential direction match, and at that time, the rotation of the guide member 30 and the guide hole 11 is stopped. Become.

By inserting the dodecagonal nut 50 into the guide hole 11 while rotating the guide member 30 and the guide hole 11 in this way, the rotation phase (relative angular position) between the guide hole 11 and the dodecagonal nut 50. The situation that the nut cannot be inserted due to misalignment is avoided.

Here, the control device 35 may determine whether or not the dodecagonal nut 50 has been inserted into the guide hole 11, and after it is determined that the dodecagon nut 50 has been inserted, the rotation of the guide member 30 and the guide hole 11 is stopped. May be good. Further, the control device 35 may include a configuration (sensor or the like) necessary for determining whether or not the dodecagonal nut 50 has been inserted into the guide hole 11.

FIG. 8 shows a state in which the dodecagon nut 50 is inserted into the guide hole 11. In this way, the chuck device 10 can execute the nut insertion step of inserting the dodecagonal nut 50 into the guide hole by the insertion drive mechanism 33 while rotating the guide member 30 and the guide hole 11 by the rotation drive mechanism 32. is there. Further, the chuck method executed by the chuck device 10 includes the nut insertion step.

Next, the control device 35 controls the finger drive mechanism 34 to move the finger 20 inward in the radial direction. As a result, each finger 20 comes into contact with the dodecagon nut 50. In this way, the chuck device 10 can execute the finger contact step in which each finger 20 is moved toward the dodecagon nut 50 and brought into contact with the dodecagon nut 50. Further, the chucking method executed by the chucking device 10 includes the finger contact step.

FIG. 9 shows a state in which each finger 20 is in contact with the dodecagon nut 50. When each finger 20 comes into contact with the dodecagon nut 50, the chuck device 10 grips the dodecagon nut 50, whereby the gripping object 40 is gripped and fixed. After that, it is possible to perform arbitrary processing (cutting processing, etc.) on the fixed gripping object 40.

Here, as shown in FIG. 7 and the like, the grip end portion 21 of the finger 20 has a shape corresponding to a part of the outer circumference of the dodecagon nut 50, so that the grip end portion 21 and the dodecagon nut 50 come into contact with each other. The area becomes large, a strong gripping force can be realized, and the gripping object 40 can be appropriately gripped.

Embodiment 2.
In the first embodiment, the guide member 30 is rotated by the rotation drive mechanism 32, whereby the dodecagon nut 50 and the guide hole 11 are relatively rotated. In the second embodiment, the relative rotation of the dodecagonal nut and the guide hole is realized by rotating the gripping object 40. Hereinafter, the differences from the first embodiment will be described.

FIG. 10 shows a schematic example of the functional structure of the chuck device 110 according to the second embodiment. The chuck device 110 includes a guide member 130, and a guide hole 111 is formed in the guide member 130. Further, the chuck device 110 includes a transport grip portion 131, a rotation drive mechanism 132, an insertion drive mechanism 133, a finger drive mechanism 134, and a control device 135.

The transport grip 131 grips and fixes (at least temporarily) the object to be gripped. The rotation drive mechanism 132 rotates the transport grip portion 131 around an axis. The insertion drive mechanism 133 moves the transport grip portion 131 in parallel, for example, slides it in the axial direction.

The operation of the chuck device 110 according to the second embodiment will be described with reference to FIG. When the rotation drive mechanism 132 rotates the transport grip portion 131 while the transport grip portion 131 grips the grip target object 40, the grip target 40 moves around the axis (for example, arrow A5 in FIG. 11). Rotate (as shown by). Further, when the insertion drive mechanism 133 moves the transport grip portion 131 in the axial direction, the gripping object 40 moves in the axial direction (for example, as shown by the arrow A4 in FIG. 11).

With the rotation drive mechanism 132 rotating the gripping object 40, the insertion drive mechanism 133 aligns the dodecagon nut 50 with the guide hole 111, and inserts the dodecagon nut 50 into the guide hole 111. To move. In this way, the control device 135 controls the rotation drive mechanism 132 and the insertion drive mechanism 133 to insert the dodecagonal nut 50 into the guide hole 111.

In the second embodiment, by rotating the gripping object 40, it is not necessary to strictly control the orientation of the dodecagon nut 50 in the circumferential direction. That is, if the axes of the guide hole 111 and the dodecagon nut 50 are aligned and the gripping object 40 is rotated around the axis while applying an axial force to the gripping object 40 (more strictly). (If the dodecagon nut 50 is rotated), the dodecagon nut 50 is inserted into the guide hole 111 when the directions of the guide hole 111 and the dodecagon nut 50 in the circumferential direction match, and at that time, ten The rotation of the square nut 50 will stop.

In this way, the chuck device 110 can execute the nut insertion step of inserting the dodecagonal nut 50 into the guide hole 111 by the insertion drive mechanism 133 while rotating the dodecagonal nut 50 by the rotation drive mechanism 132. .. Further, the chuck method executed by the chuck device 110 includes the nut insertion step.

Next, the control device 135 controls the finger drive mechanism 134 to move the finger 20 inward in the radial direction. As a result, each finger 20 comes into contact with the dodecagon nut 50. In this way, the chuck device 110 can execute the finger contact step in which each finger 20 is moved toward the dodecagon nut 50 and brought into contact with the dodecagon nut 50. Further, the chuck method executed by the chuck device 110 includes the finger contact step.

When each finger 20 comes into contact with the dodecagon nut 50, the chuck device 110 grips the dodecagon nut 50, whereby the gripping object 40 is gripped and fixed. After that, it is possible to perform arbitrary processing (cutting processing, etc.) on the fixed gripping object 40.

Also in the second embodiment, as in the first embodiment, as shown in FIG. 7 and the like, the gripping end portion 21 of the finger 20 has a shape corresponding to a part of the outer circumference of the dodecagonal nut 50, and therefore the gripping end portion 21. The contact area between the portion 21 and the dodecagonal nut 50 becomes large, and a strong gripping force can be realized to appropriately grip the gripping object 40.

Embodiment 3.
In the first embodiment, the insertion drive mechanism 33 moves the transport grip portion 31 in order to insert the dodecagonal nut into the guide hole. In the third embodiment, the insertion drive mechanism moves the guide member. Hereinafter, the differences from the first embodiment will be described.

FIG. 12 shows a schematic example of the functional structure of the chuck device 210 according to the third embodiment. Instead of the transport grip portion 31 of the first embodiment, a fixed grip portion 231 that does not move is provided to grip and fix the gripping object. Further, in the first embodiment, the insertion drive mechanism 33 for moving the transport grip portion 31 is provided, but in the third embodiment, the insertion drive mechanism 233 for moving the guide member 230 and the guide hole 211 is provided instead. Provided.

The operation of the chuck device 210 configured as described above will be described below. First, the fixed grip portion 231 grips the gripping object. In this state, the control device 235 controls the rotation drive mechanism 232 and the insertion drive mechanism 233 to insert the dodecagon nut 50 (not shown in FIG. 12) into the guide hole 211. For example, while the rotation drive mechanism 232 is rotating the guide member 230 and the guide hole 211, the insertion drive mechanism 233 aligns the dodecagon nut 50 and the guide hole 211 to guide the dodecagon nut 50. The guide member 230 and the guide hole 211 are moved so as to be inserted into the hole 211.

The chuck device 210 can execute a nut insertion step of inserting the dodecagonal nut 50 into the guide hole by the insertion drive mechanism 233 while rotating the guide member 230 and the guide hole 211 by the rotation drive mechanism 232. Further, the chuck method executed by the chuck device 210 includes the nut insertion step.

Next, the control device 235 controls the finger drive mechanism 234 to move the finger 20 inward in the radial direction. As a result, each finger 20 comes into contact with the dodecagon nut 50. In this way, the chuck device 210 can execute the finger contact step in which each finger 20 is moved toward the dodecagon nut 50 and brought into contact with the dodecagon nut 50. Further, the chuck method executed by the chuck device 210 includes the finger contact step.

In this way, the chuck device 210 grips the dodecagon nut 50, whereby the gripping object 40 (not shown in FIG. 12) is gripped and fixed. After that, it is possible to perform arbitrary processing (cutting processing, etc.) on the fixed gripping object 40.

Also in the third embodiment, as in the first embodiment, as shown in FIG. 7 and the like, the gripping end portion 21 of the finger 20 has a shape corresponding to a part of the outer circumference of the dodecagonal nut 50, and thus the gripping end portion 21. The contact area between the portion 21 and the dodecagonal nut 50 becomes large, and a strong gripping force can be realized to appropriately grip the gripping object 40.

In the third embodiment described above, the insertion drive mechanism is deformed so as to move the guide member in the first embodiment, but similarly in the second embodiment, the insertion drive mechanism moves the guide member. It is possible to transform it.

In the first to third embodiments, an example of gripping the dodecagon nut 50 having the shape shown in FIG. 6 has been described, but the gripped structure is not limited to the shape shown in FIG. When the gripping object has an outer peripheral shape common to the dodecagonal nut at least in part, some effect can be obtained.

FIG. 13 shows an example in which a nut 150 having a shape different from that of the dodecagonal nut 50 is gripped. In this example, it can be said that the nut 150 has a shape in which a part of the dodecagonal nut is missing. The nut 150 has a linear defect portion 151 in a part when viewed from the axial direction, and has a shape common to the dodecagonal nut 50 in the other part. With respect to such a nut 150, if a part of the outer circumference thereof is common to the dodecagonal nut, the same effect as that of the first to third embodiments can be obtained. In the example of FIG. 13, the convex portion on the outer circumference of the nut 150 is in contact with the concave portion 22 of the gripping end portion 21.

Further, in the case of a shape that is not rotationally symmetric as shown in FIG. 13, there is a problem that the accuracy of centering (centering after gripping) is low if a conventional chuck device is used. On the other hand, according to the chuck device 10 according to the present application, the nut 150 is inserted into the guide hole 11 before the gripping operation, and in a state where the temporary positioning of the centering has already been completed, the gripping end portion 21 and the nut 150 are further inserted. Since the nut 150 is gripped so that the contact area with the nut 150 becomes large, the nut 150 can be positioned more precisely, and the centering accuracy is improved.

Since the gripping end portion 21 having the shape according to the first to third embodiments has a shape corresponding not only to the dodecagonal nut but also to the outer circumference of the hexagon nut, the hexagon nut can be gripped in the same manner. .. Further, even if the nut has another shape, a higher gripping force can be realized as compared with the conventional technique by bringing the concave portion 22 of the gripping end portion 21 into contact with the convex portion on the outer circumference of the nut.

In the first to third embodiments, the grip end portion 21 has the shape shown in FIG. 5 and the like, but the specific shape of the grip end portion 21 is not limited to this. For example, if the concave portion 22 is provided, the convex portion 23 may not be provided, and conversely, if the convex portion 23 is provided, the concave portion 22 may not be provided. Further, in the example of FIG. 5, the gripping end portion 21 includes two convex portions 23, but the convex portion 23 may be a single one. For example, the gripping end portion may be formed in a wedge shape of 150 °, and the convex portion forming the apex of the wedge may be configured to abut on the concave portion 53 of the dodecagonal nut 50.

10,110,210 Chuck device, 11,111,211 Guide hole, 20 fingers, 21 gripping end (end on the nut side of the finger), 22 concave (concave corresponding to the convex part of the dodecagon nut), 23 Convex part (convex part corresponding to the concave part of the dodecagon nut), 32,132,232 rotation drive mechanism, 33,133,233 insertion drive mechanism, 50 dodecagonal nut (nut), 52 convex part (12-sided) Convex part of nut), 53 concave part (concave part of dodecagonal nut), 150 nut.

Claims (4)

A chuck device capable of gripping a nut, or a chuck device capable of gripping a nut portion having the same shape as the nut of an object having the same shape as the nut in part.
With multiple fingers that are movable and can contact the nut or nut part,
A guide hole that allows you to insert the nut or nut part in the axial direction,
A rotary drive mechanism that rotates the nut, nut part or guide hole around the axis,
An insertion drive mechanism that moves the nut, nut part or guide hole and inserts the nut or nut part into the guide hole.
With
End of the nut side or nut portion side of each finger, have a edge shape corresponding to a portion of the outer periphery of the dodecagonal nut,
A nut insertion step in which the nut or nut portion is inserted into the guide hole by the insertion drive mechanism while rotating the nut, nut portion or guide hole by the rotation drive mechanism.
After the nut insertion step, each finger is moved toward the nut or nut portion to bring it into contact with the nut or nut portion.
Is feasible,
Chuck device. The chuck device according to claim 1 , wherein the end shape of each finger includes a concave portion having a shape corresponding to a convex portion of a dodecagonal nut. The chuck device according to claim 2 , wherein the end shape of each finger includes two convex portions having a shape corresponding to the concave portions on both sides of the convex portion of the dodecagon nut. A chuck method in which a nut is gripped using a chuck device, or a nut portion having the same shape as the nut of an object having the same shape as the nut is partially gripped by using the chuck device.
The chuck device includes a plurality of fingers, and the end portion of each finger on the nut side or the nut portion side has a shape corresponding to a part of the outer circumference of the dodecagonal nut.
The method is
With the nut insertion step, which inserts the nut or nut part into the guide hole by rotating and moving the nut, nut part or guide hole,
A method comprising, after the nut insertion step, a finger contact step in which each finger is moved to abut the nut or nut portion.

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