JP6979762B2 - Gripper - Google Patents

Description

The present invention relates to a gripper capable of delivering a work to a rotating chuck in a machine tool.

Conventionally, for example, the machine tool (NC lathe) disclosed in Patent Document 1 is provided with a pair of chucks that are coaxially arranged to face each other and can grip a work, and both of them are provided for the purpose of shortening the cycle time. The work can be transferred from one chuck to the other chuck in a state where the chucks are rotated at the same speed and synchronized.

By the way, in recent years, in order to further shorten the cycle time in the machining process, for example, a work to be conveyed by a gripper such as Patent Document 2 attached to the tip of an arm of an industrial robot is rotated by a chuck in a machine tool. There is a demand to significantly reduce the work transfer time by delivering the work in its original state.

Japanese Unexamined Patent Publication No. 2004-122272 Japanese Unexamined Patent Publication No. 2016-120532

However, since the control unit of the industrial robot and the machine tool are independent of each other, for example, even if the industrial robot is provided with a drive unit for rotating the gripper, the gripper and the chuck in the machine tool rotate at the same speed. In addition to being difficult to synchronize with the robot, there is a problem that the cost increases due to the provision of the drive unit in the industrial robot. Further, since the rotation axis of the gripper and the rotation axis of the chuck in the machine tool are not arranged coaxially in advance unlike both chucks of the machine tool in Patent Document 1, if the gripper and the chuck in the machine tool are assumed to be. Even if the rotation can be synchronized at the same speed, when the work is handed over from the gripper to the chuck, the rotation axis of the gripper and the rotation axis of the machine tool chuck are misaligned, and the chuck During the gripping operation, the outer peripheral surface of the work may be scratched or the outer shape of the work may be deformed.

The present invention has been made in view of such a point, and an object of the present invention is that the work can be smoothly delivered to the chuck in a rotating state without causing scratches or deformation on the work. The purpose is to provide low-cost grippers.

In order to achieve the above object, the present invention has a rotatable structure in which the gripper is not connected to a drive unit, the gripper is provided with a positioning means for a machine tool, and the rotational operation of the chuck is used. It is characterized by devising ways to synchronize the rotation of the gripper and chuck.

Specifically, the following solutions have been taken for grippers that can deliver workpieces to chucks in a rotating state in machine tools.

That is, in the first invention, the base body attached to the attached body, the rotating body rotatably attached to the base body and having the holding means capable of holding the work, and the chuck in the rotated state are attached to the chuck. When the mounting body is brought close to the machine, the positioning means for aligning the rotation axis of the chuck with the rotation axis of the rotating body by linking with the machine tool, and the rotation so as to rotate integrally with the rotating body. When the attached body is brought close to the chuck in a rotating state while the positioning means is attached to the body and is linked to the machine tool, the pressure contact means is in a pressure contact state with respect to a portion other than the grip portion of the chuck. It is characterized by having and.

In the second invention, in the first invention, the positioning means is formed on the machine tool when the attached body approaches the chuck along the rotation axis of the chuck, and is formed on the chuck. It is characterized in that it is configured to be linked to the machine tool by coming into contact with a reference portion extending along a rotation axis.

In the third aspect of the invention, in the second invention, the reference portion is provided in a portion of the machine tool other than the chuck, and the positioning means is provided in the base body.

In the fourth aspect of the invention, in the third aspect, the reference portions are provided around the rotation axis of the chuck, and are provided on the inner peripheral surface of the fitting hole opened along the rotation axis of the chuck. The positioning means is characterized by having a plurality of fitting pins that can be fitted into each of the fitting holes.

In the fifth aspect of the invention, in the third aspect, the reference portion is a flat surface provided around the rotation axis of the chuck and extending along the rotation axis of the chuck, and the positioning means is the positioning means. It is characterized by being a plurality of leaf spring members that extend along the rotation axis of the rotating body and are in sliding contact with each of the flat surfaces when the attached body is brought close to the chuck.

In the sixth invention, in the third invention, the reference portion is an inner peripheral surface of a positioning hole provided on the rotation axis of the chuck and opened along the rotation axis of the chuck. The positioning means is provided on a rod member extending on the rotation axis of the rotating body and having a tapered guide surface at the tip portion, and on the tip end side of the rod member, and the rotation axis of the rotating body. A cylindrical body composed of a plurality of divided portions divided at equal intervals around the cylinder and an urging means for urging each divided portion of the cylindrical body toward the rotation axis side of the rotating body are provided. It is characterized in that a curved surface that is slidably in contact with the guide surface is formed on the inside.

In a seventh aspect of the invention, in the second aspect, the positioning means is attached to the rotating body so as to rotate integrally with the rotating body on the rotation axis of the rotating body, and is open to the tip thereof. A positioning rod having an engaging hole whose inner peripheral surface is tapered, and the reference portion is attached to the chuck so as to be located on the rotation axis of the chuck and to rotate integrally with the chuck. It is a reference pin that is attached and has a tapered surface corresponding to the inner peripheral surface of the engaging hole on the outer peripheral surface on the tip end side thereof, and the pressure welding means is characterized by being composed of the inner peripheral surface of the engaging hole in the positioning rod. And.

In the eighth invention, in any one of the first to seventh inventions, the pressure contact means is a pressing portion that presses a portion other than the grip portion of the chuck by the approaching operation of the attached body to the chuck. And, the pressing portion is provided with an urging portion for urging the chuck side.

In the ninth aspect of the invention, in the eighth aspect of the invention, the pressing portion has a ring shape whose center coincides with the rotation axis of the rotating body, and the urging portion is around the rotation axis of the rotating body. It is characterized in that a plurality of them are provided at equal intervals.

In the tenth invention, in any one of the first to ninth inventions, the base body has a ring shape whose center line coincides with the rotation axis of the rotating body, and the rotating body is inwardly formed. It is characterized by having a support that rotatably supports the.

In the eleventh invention, in the tenth invention, the base body includes a base plate fixed to the attached body and an elastic body provided between the support and the base plate, and the positioning means. Is provided on either one of the support and the rotating body.

In the first invention, when the attached body approaches the chuck in the rotating state, first, the positioning means of the gripper cooperates with the machine tool, so that the rotation axis of the chuck and the rotation axis of the gripper coincide with each other. In this state, when the attached body further approaches the chuck, the gripper pressure contacting means comes into contact with a portion other than the grip portion of the chuck. Then, a force is applied to the rotating body in the rotational direction due to the dynamic friction force generated by the sliding contact of the chuck in the rotating state with the rotating body. After that, as the pressure contact force of the gripper with respect to the chuck increases, the dynamic friction force between the rotating body and the chuck gradually increases, and the number of rotations of the rotating body gradually increases, and finally the chuck slides against the rotating body. It disappears and the chuck and the rotating body rotate as one. After that, the gripping portion of the chuck grips the work, and the gripper holding means releases the holding state of the work, so that the delivery of the work is completed. In this way, the rotation axis of the rotating body in the gripper can be aligned with the rotation axis of the chuck in the rotating state, and further, even if there is no control unit on the gripper side, the rotating body and the chuck in the gripper can be aligned with each other. Can be synchronized at the same speed of rotation, so that the work can be smoothly delivered without causing scratches or deformation on the work. Further, since the rotating operation of the rotating body in the gripper does not require a drive source other than the drive source of the machine tool, the gripper can have a low cost structure.

In the second invention, since the position of the rotating body with respect to the chuck is determined when the attached body is brought close to the chuck, the rotation axis of the rotating body is used by utilizing the time required for the attached body to approach the chuck. Can be aligned with the center of rotation of the chuck, and the time required for delivery of the work can be shortened.

In the third invention, since the rotating body is positioned with respect to the chuck by using the non-rotating portion, it is possible to prevent the rotating body from being deformed or damaged due to the rotational operation when the rotating body is positioned with respect to the chuck. , The failure of the gripper can be reduced.

In the fourth invention, since the rotation axis of the rotating body can be aligned with the rotation axis of the chuck with a simple structure, a low-cost gripper can be obtained.

In the fifth invention, when each leaf spring member comes into contact with each flat surface and the leaf spring member bends, the restoring force of each bent leaf spring member is applied to the rotating body, and the rotation axis of the rotating body is changed. Since it comes closer to the rotation axis of the chuck, the rotation axis of the chuck and the rotation axis of the rotating body can be accurately matched.

In the sixth invention, when the mounted body is brought close to the chuck and the cylindrical body is inserted into the positioning hole and brought into contact with the bottom surface of the positioning hole, the curved surface of each divided portion of the cylindrical body is a rod member. By sliding contact with the guide surface, each divided portion of the cylindrical body is guided to the base end side of the rod member by the guide surface, and in a direction away from the rotation axis of the rotating body against the urging force of the urging means. It moves and comes into pressure contact with the inner peripheral surface of the positioning hole. When the position of each divided portion is determined with respect to the inner peripheral surface of the positioning hole, the rod member moves while sliding in contact with the curved surface of each divided portion, so that the rotation axis of the rotating body approaches the rotation axis of the chuck. Therefore, the rotation axis of the rotating body can be accurately aligned with the rotation axis of the chuck.

In the seventh invention, when the mounted body is brought close to the chuck and the reference pin is engaged with the engaging hole, the tapered surface of the reference pin is guided to the inner peripheral surface forming the tapered shape of the engaging hole. , The rotation axis of the rotating body coincides with the rotation axis of the chuck. Then, when the mounted body is further pushed into the chuck, a force is applied to the rotating body in the rotational direction due to the dynamic friction force generated by the inner peripheral surface of the engaging hole in sliding contact with the tapered surface of the reference pin. .. After that, as the pressure contact force of the tapered surface of the reference pin with respect to the inner peripheral surface of the engaging hole increases, the dynamic frictional force between the inner peripheral surface of the engaging hole and the tapered surface of the reference pin gradually increases, and the rotation speed of the rotating body gradually increases. Finally, the chuck does not slide against the rotating body of the gripper, and the chuck and the rotating body of the gripper rotate as one. In this way, the positioning of the rotating body with respect to the chuck and the pressure welding of the rotating body with respect to the chuck can be performed with the same parts, so that the number of parts can be reduced and a low-cost gripper can be obtained.

In the eighth invention, when the pressing portion of the pressure contact means comes into contact with the machine tool, the pressing portion moves to the opposite side of the machine tool against the urging force of the urging portion. Therefore, the impact generated at the time of contact between the pressing portion of the pressure contact means and the machine tool is absorbed, and the failure generated in the gripper can be reduced.

In the ninth invention, when the pressing portion of the pressure contact means comes into contact with the machine tool, the reaction force when the pressing portion presses the chuck is evenly applied to the rotating body around the rotation axis of the rotating body. It will be easier. Therefore, the rotational force of the chuck can be efficiently transmitted to the rotating body of the gripper, and the chuck and the rotating body of the gripper can be smoothly and integrally rotated when the work is transferred.

In the tenth invention, since the rotating body is located inside the support, the dimension of the gripper in the direction along the rotation axis of the rotating body is shortened, and a compact gripper can be obtained.

In the eleventh invention, when the position of the rotating body with respect to the chuck is determined by the positioning means, or when the pressure contact means presses against the chuck, even if the rotating body is slightly tilted with respect to the chuck, the elastic body contracts. Will correct the tilt of the rotating body with respect to the chuck. Therefore, the rotation axis of the rotating body can be aligned with the rotation axis of the chuck without applying unnecessary load to the gripper and the machine tool.

It is a front view of the gripper which concerns on Embodiment 1 of this invention. FIG. 3 is a cross-sectional view taken along the line II-II of FIG. FIG. 3 is a cross-sectional view taken along the line III-III of FIG. It is schematic cross-sectional view which shows the state just before handing over a work to the chuck in a rotating state using the gripper which concerns on Embodiment 1 of this invention. After FIG. 4, it is a schematic cross-sectional view showing a state in which a work is being handed over to a chuck in a rotating state by using the gripper according to the first embodiment of the present invention. After FIG. 5, it is a schematic cross-sectional view showing a state immediately after handing over a work to a chuck in a rotating state using the gripper according to the first embodiment of the present invention. FIG. 2 is a view corresponding to FIG. 2 according to the second embodiment of the present invention, and is an enlarged view of only the outer peripheral portion of the rotating body. It is a figure corresponding to FIG. 3 which concerns on Embodiment 3 of this invention. It is a figure corresponding to FIG. 4 which concerns on Embodiment 4 of this invention. It is sectional drawing in X-X line of FIG. It is a figure corresponding to FIG. 5 which concerns on Embodiment 4 of this invention. It is a figure corresponding to FIG. 4 which concerns on Embodiment 5 of this invention. It is a figure corresponding to FIG. 5 which concerns on Embodiment 5 of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. It should be noted that the following description of the preferred embodiment is essentially merely an example.

<< Embodiment 1 of the invention >>
1 and 2 show the gripper 1 according to the first embodiment of the present invention. The gripper 1 can sandwich the work W1 and can deliver the work W1 to the chuck 10 (see FIG. 4) in a rotating state in the machine tool M1. In the present invention, it is assumed that the machine tool M1 includes the chuck 10.

The gripper 1 includes a base body 2 attached to an arm tip R1 (attached body) in an industrial robot R, and a rotating body 3 rotatably attached to the base body 2.

The base body 2 includes a base plate 21 having a substantially C shape when viewed from the front, and the base plate 21 is fixed to the arm tip R1.

A rectangular plate-shaped sub-plate 21c is fixed to the middle part of the base plate 21 along the outer peripheral edge portion of the base plate 21, and is formed between the middle part on one end side and the middle part on the other end side of the base plate 21. , Each through hole 21a is formed.

Further, a pair of screw holes 21b are formed on both sides of each through hole 21a on one end side and the other end side of the base plate 21.

A substantially ring-shaped support frame 22 (support body) having a rotation support hole 22a penetrating in the plate thickness direction of the base plate 21 is disposed inside the base plate 21.

The support frame 22 includes a frame main body 23 located on the opposite side of the arm tip R1 and a covering 24 located on the arm tip R1 side.

On the arm tip R1 side of the outer peripheral edge of the frame main body 23, a pair of overhanging plate portions 23a are formed so as to project from each other in a direction orthogonal to the center line of the support frame 22, and both overhangs are formed. The plate portion 23a is located on the arm tip R1 side of the base plate 21.

The outer peripheral edge portion of each of the overhanging plate portions 23a has a curved shape corresponding to one end side and the other end side of the base plate 21 when viewed from the front.

As shown in FIG. 3, the position corresponding to each through hole 21a of the base plate 21 in each of the overhanging plate portions 23a is elongated so as to extend away from the arm tip R1 along the center line of the support frame 22. The fitting pin 4 (positioning means) is fixed, and each fitting pin 4 is loosely fitted in each of the through holes 21a.

Further, as shown in FIGS. 1 and 2, mounting holes 23c are formed in the positions corresponding to the screw holes 21b of the overhanging plate portions 23a, and each mounting hole 23c has a cylinder. A rubber member 25 (elastic body) having a shape is fitted therein.

Then, by inserting the fastening bolts 20a into the rubber members 25 and screwing the fastening bolts 20a into the screwing holes 21b, the rubber members 25 are sandwiched between the frame body 23 and the base plate 21. The frame main body 23 can be attached to the base plate 21 in a state where the rubber is interposed.

Further, as shown in FIG. 2, six circular recesses 23b opening on the arm tip R1 side are formed in the frame main body 23 around the center line of the support frame 22 at predetermined intervals.

A piston cover 26 having a slide hole 26a in the center is fitted into the opening portion of each of the circular recesses 23b, and a portion surrounded by the piston cover 26 and the inner peripheral surface of the circular recess 23b becomes a cylinder chamber S1. There is.

The cylinder chamber S1 houses a piston 27 having a substantially T-shape when viewed from the side.

The piston 27 has a disk portion 27a that divides the cylinder chamber S1 into the arm tip R1 side and the opposite side of the arm tip R1, and projects from the central portion of the disk portion 27a to the arm tip R1 side. It is provided with a slide shaft portion 27b.

The slide shaft portion 27b is slidably inserted into the slide hole 26a of the piston cover 26, and the slide shaft portion 27b is formed with a screw hole 27c that opens at the protruding end of the slide shaft portion 27b. ..

The piston 27 slides along the center line of the support frame 22 by supplying and discharging air to the cylinder chamber S1 through an air supply / discharge passage (not shown).

The cover ring 24 is fixed to the arm tip R1 side of the frame body 23.

A communication hole 24a communicating with the slide hole 26a is formed at a position corresponding to each slide hole 26a of the cover ring 24, and the protruding end side of the slide shaft portion 27b can slide in each communication hole 24a. It is inserted in.

Further, a peripheral wall portion 24b extending toward the arm tip R1 side is formed on the outer peripheral edge portion of the covering 24, and a rubber annular seal member 28 is fitted on the inner peripheral surface of the peripheral wall portion 24b.

A pair of bearings B1 are fitted on the inner peripheral surface of the frame body 23 in an adjacent state.

The rotating body 3 includes an annular rotating frame 31 and a rotating plunger 32 located inside the rotating frame 31.

The rotating frame 31 has a substantially disk-shaped first rotating portion 31a that covers the opening on the opposite side of the arm tip R1 in the frame body 23, and a cylindrical shape that extends from the first rotating portion 31a toward the arm tip R1 side. The second rotating portion 31b is provided, and the cylinder center line of the second rotating portion 31b coincides with the center line of the support frame 22.

The second rotating portion 31b is fitted inside both bearings B1, and the rotating frame 31 rotates with the cylinder center line of the second rotating portion 31b as the rotation axis C1 by the both bearings B1. It is adapted to rotate around the axis C1 with respect to the support frame 22.

That is, the support frame 22 rotatably supports the rotating body 3 located inside the support frame 22.

At the center of the first rotating portion 31a, an fitting hole 31c communicating with the inside of the second rotating portion 31b is formed.

Further, on the opposite side of the second rotating portion 31b of the first rotating portion 31a, three guide grooves 31d having a substantially T-shaped cross section extending in a direction orthogonal to the rotating axis C1 are formed on the rotating axis C1. The guide grooves 31d are formed around at equal intervals, and one end of the guide groove 31d is open to the fitting hole 31c, while the other end of the guide groove 31d is open to the outer peripheral edge of the first rotating portion 31a.

Further, in the first rotating portion 31a, three guide holes 31e opening on the opposite side of the second rotating portion 31b are formed at equal intervals around the rotation axis C1, and each of the guide holes 31e is formed in each of the above. They are located between the guide grooves 31d.

A square bar-shaped master jaw 33 having a substantially T-shaped cross section is slidably inserted into each of the guide grooves 31d, and each master jaw 33 is orthogonal to the rotation axis C1 by the guide grooves 31d. It is designed to be guided in the direction.

On the rotation axis C1 side of each master jaw 33, a notch groove 33a having a substantially T-shaped cross section in a direction orthogonal to the rotation axis C1 is formed, and the notch groove 33a is the arm. It has a shape that gradually inclines and extends away from the rotation axis C1 toward the tip R1 side.

The rotary plunger 32 is provided at the rotary shaft portion 32a slidably inserted into the fitting insertion hole 31c and the end portion of the rotary shaft portion 32a on the opposite side of the arm tip R1 to the rotary shaft center C1. It is provided with three extension portions 32b extending radially when viewed from the extension direction.

On the extension end side of each of the extension portions 32b, a fitting slide portion 32c having a substantially T-shaped cross section corresponding to the notch groove 33a is formed, and each fitting slide portion 32c has each notch. Each of the grooves 33a is slidably fitted.

A pair of bearings B2 are fitted on the outer peripheral surface of the rotating shaft portion 32a in an adjacent state.

A front cover 34 having a substantially disk shape is attached to the first rotating portion 31a so as to cover the first rotating portion 31a from the opposite side of the second rotating portion 31b.

A first opening 34a corresponding to the fitting hole 31c of the first rotating portion 31a is formed in the center of the front cover 34, and the first opening 34a is viewed from the extension direction of the rotation axis C1. It is covered with a triangular first cover plate 35.

Further, a second opening 34b is formed at a position corresponding to each of the guide grooves 31d of the front cover 34, and a third opening is formed at a position corresponding to each of the guide holes 31e of the front cover 34. The portion 34c is formed.

On the opposite side of the second rotating portion 31b in each of the master jaws 33, a substantially square bar-shaped top jaw 36 (holding means) extending in a direction orthogonal to the rotation axis C1 passes through the second opening 34b. It is attached so that it can be attached and detached.

A slide rod 37 is slidably inserted into each guide hole 31e of the first rotating portion 31a via the third opening 34c.

The slide rod 37 is formed with a spring recess 37a that opens on the arm tip R1 side, and the spring recess 37a abuts on the bottom surface of the spring recess 37a and the bottom surface of the guide hole 31e, respectively. A coil spring 38 (urging portion) is housed.

A ring member 39 (pressing portion) whose center coincides with the rotation axis C1 is attached to the opposite side of the second rotating portion 31b of each slide rod 37, and the ring member 39 is described above from each of the top jaws 36. It is located on the opposite side of the arm tip R1.

The ring member 39 and the coil spring 38 constitute the pressure contact means 30 of the present invention, and each coil spring 38 urges the ring member 39 in a direction away from the arm tip R1.

At the position corresponding to each top jaw 36 of the ring member 39, when the ring member 39 moves toward the arm tip R1 side against the urging force of each coil spring 38, the contact with each top jaw 36 is made. Interference avoidance recesses 39a to avoid are formed respectively.

A non-rotating plunger 29 having a substantially T-shape when viewed from the side is arranged on the arm tip R1 side of the rotary plunger 32.

The non-rotating plunger 29 is orthogonal to the rotation axis C1 from the cylindrical portion 29a slidably inserted inward of the second rotating portion 31b and the end portion of the cylindrical portion 29a on the arm tip R1 side. A flange portion 29b extending in the direction is provided, and the outer peripheral edge portion of the flange portion 29b is in sliding contact with the annular seal member 28.

Both bearings B2 are fitted on the inner peripheral surface of the cylindrical portion 29a so that the rotary plunger 32 rotates about the rotation axis C1 with respect to the non-rotating plunger 29 by the bearings B2. It has become.

That is, the rotating frame 31 and the rotating plunger 32 rotate around the rotation axis C1 with respect to the support frame 22 and the non-rotating plunger 29.

Further, the opening of the cylindrical portion 29a on the arm tip R1 side is covered with the second cover plate 29c.

A screw insertion hole 29d is formed at a position corresponding to each piston 27 of the flange portion 29b, and the fastening bolt 20b is inserted into the screw insertion hole 29d and screwed into the screw hole 27c. The piston 27 and the non-rotating plunger 29 are integrally fixed, and the rotary plunger 32 and the non-rotating plunger 29 rotate as the piston 27 slides in the cylinder chamber S1. It is designed to slide along the axis C1.

Then, when the rotary plunger 32 and the non-rotating plunger 29 are slid toward the arm tip R1, as shown in FIG. 4, the fitting slide portion 32c of each extension portion 32b of the rotation plunger 32 becomes the master jaw. The master jaw 33 is pressed toward the rotation axis C1 side while sliding in contact with the notch groove 33a of the 33.

When the master jaws 33 are pressed toward the rotation axis C1 by the fitting slide portion 32c, the master jaws 33 are guided by the guide grooves 31d and approach the rotation axis C1 so that the top jaws 36 come close to each other. The work W1 is sandwiched.

On the other hand, when the rotary plunger 32 and the non-rotating plunger 29 are slid to the opposite side of the arm tip R1, as shown in FIG. The master jaw 33 is pressed to the opposite side of the rotation axis C1 while sliding in contact with the notch groove 33a of the master jaw 33.

When the master jaw 33 is pressed to the opposite side of the rotation axis C1 by the fitting slide portion 32c, the master jaws 33 are guided by the guide grooves 31d and separated from the rotation axis C1 to be separated from the top jaws. 36 is designed to release the pinched state of the work W1.

In the gripper 1 of the first embodiment of the present invention, each top jaw 36 presses the work W1 from the outer peripheral surface side thereof and sandwiches the work W1 by bringing each master jaw 33 closer to the rotation axis C1. When an internal space having an opening is provided in the work W1, each top jaw 36 of the gripper 1 is inserted into the internal space of the work W1 from the opening, and each master jaw 33 is separated from the rotation axis C1. As a result, each top jaw 36 can press and hold the work W1 from its inner peripheral surface side.

That is, in the gripper 1 of the first embodiment of the present invention, each of the extending portions 32b causes each of the master jaws 33 along the respective guide grooves 31d by the sliding operation of the rotating plunger 32 and the non-rotating plunger 29. By moving the work W1 to one side, each of the top jaws 36 sandwiches the work W1 or releases the sandwiched state of the work W1.

The chuck 10 is attached to the main body portion of the machine tool M1, and as shown in FIGS. 4 to 6, the chuck main body 11 having a short columnar shape that can rotate around the rotation axis C2, and the chuck main body 11 It is provided on the front surface and includes three claw members 12 (grip portions) capable of gripping the work W1, and the claw members 12 are arranged around the rotation axis C2 at equal intervals.

On the front surface of the chuck main body 11, three protrusions 11a are provided so as to project around the rotation axis C2 at equal intervals.

Each of the protruding portions 11a is located between the claw members 12, and the protruding end surface thereof is a position protruding from the claw members 12.

Further, a pair of fitting holes 13 are formed around the rotation axis C2 in the portion of the machine tool M1 other than the chuck 10, and both fitting holes 13 are bordered by the rotation axis C2. It is located symmetrically to.

Each of the fitting holes 13 is opened along the rotation axis C2, and when the arm tip R1 is brought close to the rotating chuck 10 along the rotation axis C2, FIG. As shown in the above, each of the fitting pins 4 is fitted into each of the fitting holes 13 so that the rotation axis C1 of the rotating body 3 and the rotation axis C2 of the chuck 10 coincide with each other. There is.

That is, the inner peripheral surface 13a of each fitting hole 13 constitutes the reference portion of the present invention, and when the arm tip R1 is brought close to the chuck 10 in the rotating state, the outer peripheral surface of each fitting pin 4 becomes. By contacting the inner peripheral surface of each of the fitting holes 13, the gripper 1 is linked to the machine tool M1 so that the rotation axis C1 and C2 coincide with each other.

Further, when the arm tip R1 is further brought closer to the rotating chuck 10 with the fitting pins 4 fitted in the fitting holes 13, the ring member 39 presses the protruding ends of the protruding portions 11a. It is designed to do. After that, when the arm tip R1 is further brought closer to the chuck 10 in the rotating state, the ring member 39 is brought into a pressure contact state with each of the projecting portions 11a due to the urging force of each coil spring 38, and is between the ring member 39 and each projecting portion 11a. The rotating body 3 and the chuck 10 are integrally rotated by the frictional force generated in the above.

Then, as shown in FIG. 6, in a state where the rotating body 3 and the chuck 10 are rotating integrally, the work W1 is gripped by the three claw members 12 of the chuck 10, while each of the grippers 1 is gripped. By releasing the holding state of the work W1 of the top jaw 36, the work W1 held by the gripper 1 can be delivered to the chuck 10.

Next, the delivery of the work W1 sandwiched between the grippers 1 to the rotating chuck 10 will be described in detail.

First, as shown in FIG. 4, the industrial robot R sandwiches the work W1 to be passed to the chuck 10 by each top jaw 36 of the gripper 1 attached to the arm tip R1, and the arm tip R1 is transferred to the rotating body 3. The rotation axis C1 is brought close to the chuck 10 in a posture facing the same direction as the rotation axis C2 of the chuck 10. At this time, for example, the rotating body 3 may be rotated around the rotation axis C1 in advance by bringing the outer peripheral portion of the rotating body 3 into contact with the external rotating unit 14 that is constantly rotating.

Next, the arm tip R1 is brought close to the chuck 10 along the rotation axis C1. Then, as shown in FIG. 5, each fitting pin 4 is fitted into each fitting hole 13, and the rotation axis C1 of the gripper 1 and the rotation axis C2 of the chuck 10 coincide with each other.

When the arm tip R1 is further brought closer to the chuck 10 in a state where the rotation axis C1 of the rotating body 3 and the rotation axis C2 of the chuck 10 are aligned, the ring member 39 becomes the machine tool M1 as shown in FIG. Contact each protruding portion 11a of.

Further, when the arm tip R1 is brought close to the chuck 10, the ring member 39 presses each protruding portion 11a while moving toward the arm tip R1 side against the urging force of each coil spring 38. Then, a force is applied to the rotating body 3 in the rotational direction due to the dynamic frictional force generated by the sliding contact of each protruding portion 11a of the chuck 10 in the rotating state with respect to the rotating body 3. After that, as the pressure contact force of the ring member 39 with respect to each projecting portion 11a increases, the dynamic frictional force between the rotating body 3 and each projecting portion 11a also gradually increases, and the number of rotations of the rotating body 3 gradually increases, and finally. Each protruding portion 11a does not slide with respect to the rotating body 3, and the rotating body 3 and the chuck 10 rotate integrally. After that, as shown in FIG. 6, each claw member 12 of the chuck 10 grips the work W1, and each top jaw 36 of the gripper 1 releases the holding state of the work W1, so that the delivery of the work W1 is completed. do. As described above, according to the first embodiment of the present invention, the rotation axis C1 of the rotating body 3 in the gripper 1 is aligned with the rotation axis C2 of the chuck 10 in the rotating state by the fitting pin 4 provided in the gripper 1. Furthermore, even if there is no control unit on the gripper 1 side, the rotating body 3 and the chuck 10 in the gripper 1 can be synchronized at the same speed, so that the work W1 is scratched or deformed. Work W1 can be delivered smoothly without causing the work W1 to be delivered. Further, since the rotating operation of the rotating body 3 in the gripper 1 does not require a drive source other than the drive source of the machine tool M1, the gripper 1 can be made into a low-cost structure.

Further, since the position of the rotating body 3 with respect to the chuck 10 is determined by the fitting pin 4 and the fitting hole 13 when the arm tip R1 is brought close to the chuck 10, it is applied when the arm tip R1 is approaching the chuck 10. The rotation axis C1 of the rotating body 3 can be aligned with the rotation axis C2 of the chuck 10 by utilizing the time, and the time required for delivery of the work W1 can be shortened.

Further, each fitting pin 4 is provided in the base body 2 of the gripper 1, and each fitting hole 13 is provided in a portion of the machine tool M1 other than the chuck 10, and the non-rotating portion is used for the chuck 10. Since the rotating body 3 is positioned, it is possible to prevent the rotating body 3 from being deformed or damaged due to the rotational operation when the rotating body 3 is positioned with respect to the chuck 10, and it is possible to reduce the failure of the gripper 1.

Further, since the positioning of the rotating body 3 with respect to the chuck 10 is performed by each fitting pin 4 and each fitting hole 13, the rotation axis C1 of the rotating body 3 is aligned with the rotation axis C2 of the chuck 10 with a simple structure. It can be made into a low-cost gripper 1.

Further, when the ring member 39 comes into contact with each of the projecting portions 11a, the ring member 39 moves to the opposite side of the machine tool M1 against the urging force of each coil spring 38, so that the ring member 39 and each projecting portion The impact generated at the time of contact with the 11a is absorbed, and the failure generated in the gripper 1 can be reduced.

Further, since the ring member 39 has a ring shape, when the ring member 39 comes into contact with each of the protrusions 11a, the reaction force when the ring member 39 presses each of the protrusions 11a corresponds to the rotating body 3. It becomes easy to evenly apply around the rotation axis C1 of the rotating body 3. Therefore, the rotational force of the chuck 10 is efficiently transmitted to the rotating body 3 of the gripper 1, and when the work W1 is delivered, the chuck 10 and the rotating body 3 of the gripper 1 can be smoothly and integrally rotated. ..

Further, since the base body 2 of the gripper 1 has a ring shape and rotatably supports the rotating body 3 at the inner position thereof, the dimension in the direction along the rotation axis C1 of the gripper 1 is shortened and is compact. It can be a gripper 1.

Further, since the rubber member 25 is interposed between the support frame 22 that supports the rotating body 3 and the base plate 21 fixed to the arm tip R1, each fitting pin 4 and each fitting hole 13 with respect to the chuck 10. Even if the rotating body 3 is slightly tilted with respect to the chuck 10 when the position of the rotating body 3 is determined or when the ring member 39 presses against each protruding portion 11a, the chuck 10 is retracted by the rubber member 25. The inclination of the rotating body 3 with respect to the relative body 3 is corrected. Therefore, the rotation axis C1 of the rotating body 3 can be aligned with the rotation axis C2 of the chuck 10 without applying unnecessary load to the gripper 1 and the machine tool M1.

<< Embodiment 2 of the invention >>
FIG. 7 shows the positioning means of the gripper 1 according to the second embodiment of the present invention. The second embodiment is different from the first embodiment only in that the positioning means does not have a pin shape such as the fitting pin 4 and the reference portion does not have a hole shape such as the fitting hole 13. Since it is the same as the first embodiment, only the parts different from the first embodiment will be described in detail below.

The machine tool M1 of the second embodiment is provided with three plate members 15 extending along the rotation axis C2 of the chuck 10 around the rotation axis C2, and the outer flat surface 15a of each plate member 15 is the main. It constitutes the reference part of the invention.

Further, in the gripper 1 of the second embodiment, the positions corresponding to the three screw holes 21b among the four screw holes 21b formed in the double overhanging plate portion 23a are located along the rotation axis C1 as described above. An elongated leaf spring member 4a (positioning means) extending away from the arm tip R1 is fixed, and each leaf spring member 4a is at a position corresponding to each of the plate members 15.

Then, when the tip R1 of the arm is brought close to the chuck 10 in the rotating state, the tip portion of each leaf spring member 4a is in sliding contact with the flat surface 15a of each plate member 15, respectively, and the rotation axis of the rotating body 3 is C1 and the rotation axis C2 of the chuck 10 coincide with each other.

From the above, according to the second embodiment of the present invention, when the gripper 1 is positioned with respect to the chuck 10, when each leaf spring member 4a comes into contact with each flat surface 15a and the leaf spring member 4a bends, it bends. Since the restoring force of each leaf spring member 4a is applied to the rotating body 3 and the rotation axis C1 of the rotating body 3 approaches the rotation axis C2 of the chuck 10, the rotation axis C1 and the chuck 10 of the rotating body are brought closer to each other. The rotation axis C2 of the above can be matched with high accuracy.

<< Embodiment 3 of the invention >>
FIG. 8 shows the positioning means of the gripper 1 according to the third embodiment of the present invention. In the third embodiment, the reference portion is not the fitting hole 13 as in the first embodiment but the flat surface 15a of the plate member 15 as in the second embodiment, and three plate members 15 are provided around the rotation axis C2. Three fitting pins 4 are provided so as to correspond to the respective plate members 15, and when the arm tip R1 is brought close to the rotating chuck 10, the tip of each fitting pin 4 is provided. The first embodiment is that the outer peripheral surface of the portion is in sliding contact with the flat surface 15a of each plate member 15 so that the rotation axis C1 of the rotating body 3 and the rotation axis C2 of the chuck 10 are aligned with each other. Since the rest is the same as that of the first embodiment except for the difference, detailed description thereof will be omitted below.

From the above, according to the third embodiment of the present invention, the same effect as that of the first embodiment can be obtained even if the reference portion of the machine tool M1 is changed to a flat shape.

<< Embodiment 4 of the invention >>
FIG. 9 shows the gripper 1 and the chuck 10 according to the fourth embodiment of the present invention. In the fourth embodiment, the shape of the work W1 to be delivered, the structure of the pressure welding means 30, the structure of the fitting pin 4, and a partial structure of the machine tool M1 are different from those of the first embodiment, and the others are different from the first embodiment. Since it is the same as the above, only the parts different from the first embodiment will be described in detail below.

The work W1 to be delivered in the fourth embodiment has a cylindrical shape having a central hole W2 inside.

Further, the ring member 39 of the fourth embodiment includes a cylindrical pressing portion 39b whose cylinder center line coincides with the rotation axis C1, and both ends of the pressing portion 39b extend along the rotation axis C1. An opening pin insertion hole 39c is formed on the rotation axis C1.

Three extension portions 39d extending radially outward are formed on the peripheral edge of the opening on the base end side of the pressing portion 39b, and the extension end side of each extension portion 39d is the arm tip R1 in each slide rod 37. It is fixed on the other side of.

The pressing portion 39b can be inserted into the central hole W2 of the work W1 from its tip side, and the tip portion protrudes from the opening portion of the center hole W2 in a state of being inserted into the center hole W2. There is.

The fitting pin 4 of the fourth embodiment is located on the rotation axis C1 and is fixed to the non-rotation plunger 29, passes through the inside of the rotation plunger 32, and the tip end side is the central portion of the front cover 34. Jumping out of. That is, the rotating body 3 rotates around the fitting pin 4.

The fitting pin 4 includes a rod member 41 provided on the rotation axis C1. The rod member 41 is slidably fitted into the pin insertion hole 39c of the pressing portion 39b, and a tapered guide surface 41a is formed on the tip end side thereof.

The rod member 41 is formed with a screw mounting hole 41b that opens at the tip thereof, and a bolt 41c is screwed into the screw mounting hole 41b.

As shown in FIGS. 9 and 10, a cylindrical body 42 composed of four divided portions 42a divided at equal intervals around the rotation axis C1 of the rotating body 3 is provided on the tip end side of the rod member 41. Inside each of the divided portions 42a, a curved surface 42b that is in sliding contact with the guide surface 41a is formed.

Further, wide concave grooves 42c extending around the rotation axis C1 are formed in the middle of the outer peripheral surface of each of the divided portions 42a, and the concave grooves 42c of the adjacent divided portions 42a are located at positions corresponding to each other. ..

A coil spring 43 (urging means) spirally extending around the rotation axis C1 is fitted in each of the concave grooves 42c, and the coil spring 43 attaches each division portion 42a to the rotation axis C1 side. It is gaining momentum.

In the chuck 10 of the fourth embodiment, a support shaft accommodating hole 10a is formed on the rotation axis C2, and the rotation support shaft 16 is accommodated in the support shaft accommodating hole 10a.

A pair of bearings B3 are attached between the outer peripheral surface of the rotary support shaft 16 and the inner peripheral surface of the support shaft accommodating hole 10a at a predetermined interval in the extension direction of the rotary shaft center C2, and the chuck 10 is attached. Is adapted to rotate around the rotation support shaft 16.

The rotation support shaft 16 is formed with an accommodating recess 16a that opens on the front surface side of the chuck 10, and a bottomed cylindrical pin receiving member 17 having a positioning hole 17a opens the opening portion in the accommodating recess 16a. It is housed in a posture toward the front side of the chuck 10.

The positioning hole 17a is provided on the rotation axis C2 and is open along the rotation axis C2.

Further, the accommodating recess 16a accommodates a coil spring 18 that urges the pin receiving member 17 to the front surface side of the chuck 10.

Then, when the arm tip R1 is brought close to the rotating chuck 10, the cylindrical body 42 is inserted into the positioning hole 17a and comes into contact with the bottom surface of the positioning hole 17a as shown in FIGS. 9 and 11. It is designed to do. Then, the pin receiving member 17 moves in a direction away from the arm tip R1 against the urging force of the coil spring 18, and the curved surface 42b of each divided portion 42a in the cylindrical body 42 with respect to the guide surface 41a of the rod member 41. The direction in which each divided portion 42a of the cylindrical body 42 is guided to the base end side of the rod member 41 by the guide surface 41a and is separated from the rotation axis C1 of the rotating body 3 against the urging force of the coil spring 43. The inner peripheral surface 17b (reference portion) of the positioning hole 17a is pressed against the inner peripheral surface 17b (reference portion). When the position of each divided portion 42a is determined with respect to the inner peripheral surface 17b of the positioning hole 17a, the rod member 41 moves while sliding in contact with the curved surface 42b of each of the divided portions 42a, whereby the rotating shaft of the rotating body 3 is rotated. Since the center C1 comes closer to the rotation axis C2 of the chuck 10, the rotation axis C1 of the rotating body 3 can be accurately matched with the rotation axis C2 of the chuck 10.

Further, when the arm tip R1 is further brought closer to the rotating chuck 10 with the cylindrical body 42 fitted in the positioning hole 17a, the pressing portion 39b of the ring member 39 becomes the claw member 12 of the chuck 10. It is designed to press the part except for. After that, when the arm tip R1 is further brought closer to the chuck 10 in the rotating state, the pressing portion 39b of the ring member 39 is brought into a pressure contact state with the portion of the chuck 10 other than each claw member 12 due to the urging force of each coil spring 38, and the ring is formed. The rotating body 3 and the chuck 10 are integrally rotated by the frictional force between the pressing portion 39b of the member 39 and the portion of the chuck 10 other than each claw member 12.

Then, while gripping the work W1 with the three claw members 12 of the chuck 10, the work W1 held by the gripper 1 is held by the chuck by releasing the holding state of the work W1 of each top jaw 36 in the gripper 1. It can be handed over to 10.

As described above, in the fourth embodiment of the present invention, when the arm tip R1 is brought close to the rotating chuck 10, one fitting pin 4 provided on the gripper 1 is used with respect to the rotation axis C2 of the chuck 10. The rotation axis C1 of the rotating body 3 can be accurately matched.

<< Embodiment 5 of the invention >>
12 and 13 show the gripper 1 and the chuck 10 according to the fifth embodiment of the present invention. In the fifth embodiment, the structure of the positioning means, the structure of the pressure welding means, and a partial structure of the machine tool M1 are different from those of the first embodiment, and the others are the same as those of the first embodiment. Only the parts that differ from the above will be explained in detail.

The work W1 to be delivered in the fifth embodiment has a cylindrical shape having a central hole W2 inside.

The fifth embodiment does not have the fitting pin 4 as in the first embodiment, and one positioning rod 5 (positioning means) is provided in the central portion of the front cover 34.

The base end portion of the positioning rod 5 is fixed to the front cover 34 so as to rotate integrally around the rotating body 3 and the rotation axis C1. That is, the positioning means of the fifth embodiment is provided on the rotating body 3.

Further, the positioning rod 5 is fitted into the center hole W2 of the work W1 in a state of being sandwiched between the top jaws 36.

Further, an engaging hole 5a having a tapered inner peripheral surface is formed at the tip of the positioning rod 5, and the inner peripheral surface 5b of the engaging hole 5a constitutes the pressure welding means of the present invention.

In the chuck 10 of the fifth embodiment, a pin accommodating hole 10b is formed on the rotation axis C2, and an outer ring protrusion extending around the rotation axis C2 is formed in the middle of the inner peripheral surface of the pin accommodating hole 10b. 10c is formed.

In the pin accommodating hole 10b, a reference pin 6 (reference portion) having a substantially pen shape is slidably accommodated in a direction along the rotation axis C2, and the outer peripheral surface of the reference pin 6 is an outer ring protrusion. It is in contact with the protruding surface of the portion 10c so as to be slidable.

Further, the reference pin 6 is configured to rotate integrally with the chuck 10 around the rotation axis C2.

Further, a tapered surface 6a (reference portion) corresponding to the inner peripheral surface of the engagement hole 5a is formed on the outer peripheral surface on the tip end side of the reference pin 6.

In addition, an inner ring ridge 6b extending around the rotation axis C2 is formed in the middle of the outer peripheral surface of the reference pin 6, and the inner ring ridge 6b is the outer ring ridge 6b. It is located on the opposite side of the arm tip R1 from 10c.

A coil spring 7 is housed in the base end side of the reference pin 6 in the pin accommodating hole 10b, and the coil spring 7 urges the reference pin 6 to the front surface side of the chuck 10.

Then, as shown in FIGS. 12 and 13, when the arm tip R1 is brought close to the rotating chuck 10 and the tip portion of the reference pin 6 is fitted into the engagement hole 5a of the positioning rod 5, the reference pin 6 is fitted. By guiding the tapered surface 6a of 6 to the tapered inner peripheral surface 5b of the engaging hole 5a, the rotation axis C1 of the rotating body 3 coincides with the rotation axis C2 of the chuck 10. .. Then, when the arm tip R1 is further pushed against the chuck 10, the dynamic friction force generated by the inner peripheral surface 5b of the engaging hole 5a sliding against the tapered surface 6a of the reference pin 6 with respect to the rotating body 3. A force is applied in the direction of rotation. After that, as the pressure contact force of the tapered surface 6a of the reference pin 6 with respect to the inner peripheral surface 5b of the engaging hole 5a increases, the dynamic frictional force between the inner peripheral surface 5b of the engaging hole 5a and the tapered surface 6a of the reference pin 6 gradually increases. The rotation speed of the rotating body 3 gradually increases, and finally, the chuck 10 does not slide with the rotating body 3 of the gripper 1 so that the chuck 10 and the rotating body 3 of the gripper 1 rotate integrally. It has become.

Then, while gripping the work W1 with the three claw members 12 of the chuck 10, the work W1 held by the gripper 1 is held by the chuck by releasing the holding state of the work W1 of each top jaw 36 in the gripper 1. It can be handed over to 10.

As described above, according to the fifth embodiment of the present invention, the positioning of the rotating body 3 with respect to the chuck 10 and the pressure contact of the rotating body 3 with respect to the chuck 10 can be performed with the same parts, so that the number of parts can be reduced and the low cost gripper can be used. Can be 1.

In the first to fifth embodiments of the present invention, the gripper 1 is attached to the arm tip R1 of the industrial robot R, but the present invention is not limited to this. For example, the gripper 1 is attached to an automatic machine or the like for use. You may.

Further, in the first to fifth embodiments of the present invention, three guide grooves 31d are provided around the rotation axis C1, but a structure may be provided in which only two are provided around the rotation axis C1. It may have a structure provided with one or more.

The present invention is suitable for a gripper capable of delivering a work to a rotating chuck in a machine tool.

1 Gripper 2 Base body 3 Rotating body 4 Fitting pin (positioning means)
5 Positioning rod (positioning means)
5b Inner peripheral surface of engagement hole (pressure welding means)
6 Reference pin (reference part)
6a Tapered surface 10 Chuck 12 Claw member (grip part)
13a Inner peripheral surface of fitting hole (reference part)
15a Flat surface (reference part)
17b Inner peripheral surface of positioning hole (reference part)
21 Base plate 22 Support frame (support)
25 Rubber member (elastic body)
30 Pressure welding means 36 Top jaw (pinching means)
38 Coil spring (urging part)
39 Ring member (pressing part)
41 Bar member 41a Guide surface 42 Cylindrical body 42a Divided part 42b Curved surface 43 Coil spring (urging means)
C1 Rotating axis of rotating body C2 Rotating axis of chuck M1 Machine tool R1 Arm tip (attached body)
W1 work

Claims (5)

A gripper that can deliver work to a rotating chuck in a machine tool.
The base body that can be attached to the attached body and
A rotating body rotatably attached to the base body and having a holding means capable of holding the work, and a rotating body.
A positioning means for aligning the rotation axis of the chuck with the rotation axis of the rotating body by linking with the machine tool when the attached body is brought close to the chuck in the rotating state.
When the attached body is brought close to the rotating chuck in a state where it is attached to the rotating body so as to rotate integrally with the rotating body and the positioning means is linked to the machine tool, the grip portion of the chuck. Equipped with a pressure welding means that is in a pressure welding state with respect to the part other than
The positioning means comes into contact with a reference portion formed on the machine tool and extending along the rotation axis of the chuck when the attached body approaches the chuck along the rotation axis of the chuck. By doing so, it is configured to be linked to the above machine tools.
The reference portion is a portion of the machine tool excluding the chuck, and is a flat surface provided around the rotation axis of the chuck and extending along the rotation axis of the chuck.
The positioning means is provided on the base body, extends along the rotation axis of the rotating body, and is a plurality of leaf spring members that are in sliding contact with each of the flat surfaces when the attached body is brought close to the chuck. A gripper characterized by that. A gripper that can deliver work to a rotating chuck in a machine tool.
The base body that can be attached to the attached body and
A rotating body rotatably attached to the base body and having a holding means capable of holding the work, and a rotating body.
A positioning means for aligning the rotation axis of the chuck with the rotation axis of the rotating body by linking with the machine tool when the attached body is brought close to the chuck in the rotating state.
When the attached body is brought close to the rotating chuck in a state where it is attached to the rotating body so as to rotate integrally with the rotating body and the positioning means is linked to the machine tool, the grip portion of the chuck. Equipped with a pressure welding means that is in a pressure welding state with respect to the part other than
The positioning means comes into contact with a reference portion formed on the machine tool and extending along the rotation axis of the chuck when the attached body approaches the chuck along the rotation axis of the chuck. By doing so, it is configured to be linked to the above machine tools.
The reference portion is an inner peripheral surface of a positioning hole provided on the chuck on the rotation axis of the chuck and opened along the rotation axis of the chuck.
The positioning means extends on the rotation axis center of the rotating body, and is provided with a rod member having a tapered guide surface at the tip portion and the tip end side of the rod member, and is provided around the rotation axis center of the rotating body. It is provided with a cylindrical body composed of a plurality of divided portions divided at equal intervals, and an urging means for urging each divided portion of the cylindrical body toward the rotation axis side of the rotating body.
A gripper characterized in that a curved surface that is slidably in contact with the guide surface is formed inside each of the divided portions. A gripper that can deliver work to a rotating chuck in a machine tool.
The base body that can be attached to the attached body and
A rotating body rotatably attached to the base body and having a holding means capable of holding the work, and a rotating body.
A positioning means for aligning the rotation axis of the chuck with the rotation axis of the rotating body by linking with the machine tool when the attached body is brought close to the chuck in the rotating state.
When the attached body is brought close to the rotating chuck in a state where it is attached to the rotating body so as to rotate integrally with the rotating body and the positioning means is linked to the machine tool, the grip portion of the chuck. Equipped with a pressure welding means that is in a pressure welding state with respect to the part other than
The positioning means comes into contact with a reference portion formed on the machine tool and extending along the rotation axis of the chuck when the attached body approaches the chuck along the rotation axis of the chuck. By doing so, it is configured to be linked to the above machine tools.
The positioning means is attached to the rotating body so as to rotate integrally with the rotating body on the rotation axis of the rotating body, and has an engaging hole that opens at the tip and has a tapered inner peripheral surface. It is a positioning rod that has
The reference portion is attached to the chuck so as to be located on the rotation axis of the chuck and to rotate integrally with the chuck, and the outer peripheral surface on the tip end side thereof is on the inner peripheral surface of the engagement hole. A reference pin with a corresponding tapered surface,
The pressure welding means is a gripper comprising an inner peripheral surface of an engaging hole in the positioning rod. A gripper that can deliver work to a rotating chuck in a machine tool.
The base body that can be attached to the attached body and
A rotating body rotatably attached to the base body and having a holding means capable of holding the work, and a rotating body.
A positioning means for aligning the rotation axis of the chuck with the rotation axis of the rotating body by linking with the machine tool when the attached body is brought close to the chuck in the rotating state.
When the attached body is brought close to the rotating chuck in a state where it is attached to the rotating body so as to rotate integrally with the rotating body and the positioning means is linked to the machine tool, the grip portion of the chuck. Equipped with a pressure welding means that is in a pressure welding state with respect to the part other than
The pressure contact means includes a pressing portion that presses a portion other than the grip portion of the chuck by the approaching operation of the attached body to the chuck, and an urging portion that urges the pressing portion to the chuck side. ,
The pressing portion has a ring shape whose center coincides with the rotation axis of the rotating body.
The gripper is characterized in that a plurality of the urging portions are provided around the rotation axis of the rotating body. A gripper that can deliver work to a rotating chuck in a machine tool.
The base body that can be attached to the attached body and
A rotating body rotatably attached to the base body and having a holding means capable of holding the work, and a rotating body.
A positioning means for aligning the rotation axis of the chuck with the rotation axis of the rotating body by linking with the machine tool when the attached body is brought close to the chuck in the rotating state.
When the attached body is brought close to the rotating chuck in a state where it is attached to the rotating body so as to rotate integrally with the rotating body and the positioning means is linked to the machine tool, the grip portion of the chuck. Equipped with a pressure welding means that is in a pressure welding state with respect to the part other than
The positioning means comes into contact with a reference portion formed on the machine tool and extending along the rotation axis of the chuck when the attached body approaches the chuck along the rotation axis of the chuck. By doing so, it is configured to be linked to the above machine tools.
The base body includes a base plate fixed to the attached body, a support that rotatably supports the rotating body inward, and an elastic body provided between the support and the base plate. ,
The positioning means, the gripper, characterized in that provided on the support.

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