JP7398112B2 - Gripping device and positioning mechanism - Google Patents

Description

The present invention relates to a gripping device and positioning mechanism for gripping a workpiece.

Conventionally, in polishing machines, machining centers, milling machines, lathes, electric discharge machines, and the like, gripping devices are generally used to fix the workpiece to the table of the machine tool when processing the workpiece.

In order to accurately process a workpiece, it is necessary to position and hold the workpiece in a gripping device so that the position of the workpiece relative to the gripping device does not shift during machining. As such a gripping device, there is a vise equipped with a mechanism for adjusting the center position of a workpiece (for example, Patent Document 1).

Japanese Patent Application Publication No. 2017-164846

The gripping device used in the machine tool described above generally has a structure that holds the workpiece from two directions, and the workpiece is held from either the X-axis direction or the Y-axis direction.

For example, when holding a workpiece from the Y-axis direction, when repeatedly placing the workpiece in the gripping device, place a positioning plate in the X-axis direction and place the workpiece in the center of the gripping device. Positioning is being carried out. In this method, when the workpiece is repeatedly placed on the gripping device, the position of the workpiece tends to shift from the center, and the positioning accuracy is not sufficient.

It is an object of the present invention to provide a gripping device and a positioning mechanism that can accurately position and hold workpieces at the same position.

According to one aspect of the disclosure below, a base member having a first guide part extending in a first direction, a second guide part extending in a second direction intersecting the first direction, and the first guide part a first rotating shaft supported by the base member in parallel with the guide portion; and a first rotating shaft supported by the base member parallel to the second guide portion and extending in the first direction and the second direction with respect to the first rotating shaft. a second rotating shaft disposed at a position shifted in a third orthogonal direction; and at least one first movement that is screwed into the first rotating shaft and slides the upper surface of the base member along the first guide part. a base, and at least one second movable base that is screwed into the second rotating shaft and slides on the upper surface of the base member along the second guide part , the first rotating shaft being formed on one end side. the first movable cap is screwed into the right-hand threaded portion and the left-hand threaded portion, respectively; has a right-handed threaded portion formed on one end side and a left-handed threaded portion formed on the other end side, and the second movable cap is screwed into the right-handed threaded portion and the left-handed threaded portion, respectively. , the first rotating shaft and the second rotating shaft each have a first shaft portion and a second shaft portion, and the first shaft portion and the second shaft portion include a joint portion that is separated in the axial direction. The joint portion is connected to a first joint formed on the first shaft portion, a second joint formed on the second shaft portion, and the first joint and the second joint. a support body that supports rotatably and movably in the axial direction; the first joint and the second joint are provided on opposite sides, and have a connecting surface that connects detachably; and a connecting surface that is detachably connected. and a contact surface which is provided on the opposite side and is capable of contacting the support .

According to another aspect of the disclosure, a base member having a first guide portion extending in a first direction and a second guide portion extending in a second direction intersecting the first direction; a first rotating shaft supported by the base member parallel to the first guide portion; and a first rotating shaft supported by the base member parallel to the second guide portion, the first rotating shaft being a second rotation shaft disposed at a position shifted in a third direction perpendicular to the direction; and at least one rotation shaft screwed into the first rotation shaft and sliding on the upper surface of the base member along the first guide part. a recess disposed in a gripping device including at least one second movable cap screwed into the second rotating shaft and sliding the upper surface of the base member along the second guide portion; An alignment mechanism is provided having an alignment part and an alignment block with a coupling part coupled to a recess in the alignment part.

According to the disclosure below, the base member of the gripping device has a first guide part and a second guide part disposed in a direction intersecting the first guide part. A first rotating shaft is supported by the base member parallel to the first guide part, and a second rotating shaft is supported by the base member parallel to the second guide part.

A first movable cap screwed onto the first rotating shaft slides on the upper surface of the base member along the first guide portion. A second movable cap screwed onto the second rotating shaft slides on the upper surface of the base member along the second guide portion.

In one preferred embodiment, a pair of first movable caps are provided on both sides of the first rotating shaft, and a pair of second movable caps are provided on both sides of the second rotating shaft. Thereby, the workpiece can be held from four directions by the pair of first movable jaws and the pair of second movable jaws.

Therefore, when a workpiece is repeatedly placed on the gripping device, it can always be held at the same position in the X-axis direction and the Y-axis direction, and the reproducibility of repeated positioning accuracy is increased.

FIG. 2 is a perspective view showing a gripping device according to an embodiment. FIG. 2 is a perspective view of the gripping device of FIG. 1 seen from below. FIG. 2 is a perspective view showing how each joint of the first rotation shaft and the second rotation shaft of the gripping device of FIG. 1 is supported by a support body. 4A is a perspective view showing a joint portion of the first rotating shaft in FIG. 3, and FIG. 4B is a plan view showing a connecting surface of the second shaft portion in FIG. 4A. FIG. 5A is a plan view showing Modification 1 of the concave portion of the connecting surface of the second shaft portion, and FIG. 5B is a plan view showing Modification 2 of the concave portion of the connecting surface of the second shaft portion. It is an exploded perspective view showing the 1st support body of the grasping device of an embodiment. FIG. 7A is a side view (part 1) showing how a workpiece is gripped by the gripping device of the embodiment, and FIG. 7B is an end view (part 1) showing the joint portion of the second rotating shaft. FIG. 8A is a side view (part 2) showing how a workpiece is gripped by the gripping device of the embodiment, and FIG. 8B is an end view (part 2) showing the state of the joint portion of the second rotating shaft. FIG. 9A is a cross-sectional view showing a slit formed in the movable mouthpiece of the gripping device of the embodiment, and FIG. 9B is a partial cross-sectional view showing a state in which a workpiece is held by the movable mouthpiece of FIG. 9A. FIG. 3 is a plan view showing a workpiece being gripped from four directions by the gripping device of the embodiment. It is a sectional view for explaining an adjustment spacer with which a holding device of an embodiment is provided. It is a schematic diagram which shows the base|cap of the holding device of the 1st modification of embodiment. It is a top view which shows the holding device of the 2nd modification of embodiment. FIG. 14A is a perspective view showing a positioning block for positioning the gripping device of the embodiment, and FIG. 14B is a plan view showing how positioning components are arranged on the gripping device. FIG. 14B is a partial cross-sectional view showing how the alignment block of FIG. 14A is fitted into an alignment component disposed on the gripping device of FIG. 14B. FIG. 7 is a perspective view showing a first movable cap according to a third modification of the embodiment. FIG. 7 is a front view showing a state in which the first movable cap according to a third modification of the embodiment is used. FIG. 7 is a front view showing a first movable cap according to another modification of the third modification of the embodiment.

Embodiments will be described below with reference to the accompanying drawings. FIG. 1 is a perspective view showing a gripping device according to an embodiment. As shown in FIG. 1, the gripping device 1 of the embodiment includes a first rotating shaft 11 in the X-axis direction and a second rotating shaft 12 in the Y-axis direction. The first rotating shaft 11 and the second rotating shaft 12 intersect in a three-dimensional manner at the center. Preferably, the first rotating shaft 11 and the second rotating shaft 12 are perpendicular to each other at 90 degrees. In the example of this embodiment, the first direction is the X-axis direction, the second direction is the Y-axis direction, and the third direction is a vertical direction (Z-axis direction) orthogonal to the X-axis direction and the Y-axis direction.

The second rotating shaft 12 is arranged at a position shifted from the first rotating shaft 11 in a third direction (vertical direction) orthogonal to the first direction (X-axis direction) and the second direction (Y-axis direction). . The first rotating shaft 11 and the second rotating shaft 12 are arranged to intersect with each other in a three-dimensional manner, with the second rotating shaft 12 facing upward.

A pair of opposing first movable bases 21a and 21b are connected to both sides of the first rotating shaft 11, respectively. One first movable mouthpiece 21a includes a main body part 21x that comes into contact with the workpiece, and a connecting part 21y that is wider than the main body part 21x.

A connecting portion 21y of the first movable base 21a is screwed into one threaded portion of the first rotating shaft 11. The other first movable cap 21b, which is the opposing cap, also has the same structure and is screwed into the other threaded portion of the first rotating shaft 11.

A pair of opposing second movable bases 22a and 22b are connected to both sides of the second rotating shaft 12, respectively. Second movable caps 22a and 22b connected to the second rotating shaft 12 in the Y-axis direction function as main caps. One of the second movable mouthpieces 22a includes a main body portion 22x that comes into contact with the workpiece. The second movable cap 22a includes a pair of L-shaped rail coupling portions 22y arranged at both ends of the lower surface of the main body portion 22x.

The second movable cap 22a includes a connecting portion 22z extending downward from the center of the lower surface of the main body portion 22x. A connecting portion 22z of the second movable cap 22a is screwed into one threaded portion of the second rotating shaft 12. The other second movable cap 22b, which is the opposing cap, also has the same structure and is screwed into the other threaded portion of the second rotating shaft 12.

The gripping device 1 of the embodiment includes a base member 40. The base member 40 has a housing portion inside and is integrally formed from a bottom member 42, side members 44, and a top member 46. The top member 46 of the base member 40 is each formed with a first guide portion G1 extending inward in the X-axis direction from the opposing outer periphery. The first guide portion G1 consists of a rail-shaped opening.

The main body portion 21x of one first movable cap 21a is arranged on one first guide portion G1 of the base member 40. Thereby, the first movable cap 21a can slide along the first guide portion G1 of the base member 40. The other first movable cap 21b also has the same structure, and is disposed on the other first guide portion G1 (not shown) of the base member 40.

In the base member 40, rail guide portions G2x extending in the Y-axis direction are formed at the upper ends of the side members 44 on two opposing sides. The top member 46 of the base member 40 is formed with opening guide portions G2y extending inward in the Y-axis direction from the opposing outer peripheries.

In this way, the base member 40 includes the second guide section G2 consisting of the rail guide section G2x and the opening guide section G2y. The rail guide portion G2x of the base member 40 is fitted into the rail coupling portion 22y of one of the second movable bases 22a. The connecting portion 22z of the second movable cap 22a is arranged in the opening guide portion G2y of the base member 40.

Thereby, one of the second movable caps 22a can slide along the second guide part G2 of the base member 40, which is made up of one of the rail guide parts G2x and the opening guide part G2y. The other second movable cap 22b also has the same connection structure with the base member 40, and can move along the other second guide portion G2 (not shown) of the base member 40.

In the gripping device 1 of the embodiment, general structural rolled steel, carbon steel, chromium molybdenum steel, nickel chromium molybdenum steel, carbon tool steel, alloy tool steel, high speed tool steel, high carbon chromium bearing steel, stainless steel, gray cast iron Metal materials such as chromium molybdenum steel, steel, and nickel alloys such as , SCN435, and SCN440 are commonly used.

Such metal materials may be subjected to surface treatments such as heat treatment (quenching) and coating (black dyeing). The first rotating shaft 11, the second rotating shaft 12, the first movable caps 21a, 21b, the second movable caps 22a, 22b, the base member 40, and each element of the gripping device 1, which will be described later, are made of such metal materials. Ru.

FIG. 2 is a perspective view of the gripping device 1 of FIG. 1 seen from below. As will be described later, the housing portion of the base member 40 includes a first support body that supports a joint portion (not shown) of the first rotating shaft 11 and a first support body that supports a joint portion (not shown) of the second rotating shaft 12. The second support is arranged in a stacked manner. In FIG. 2, the first support body 31 that supports the joint portion of the first rotating shaft 11 is disposed in the internal space of the base member 40 closed by the bottom member 42 in a perspective view. The bottom member 42 is screwed to the bottom surface of the side member 44.

As shown in FIG. 2, the first support 31 and the second support placed thereon (not shown in FIG. 2) have screw holes 33 at each of the four corners, and are fixed by screws. . As shown in FIG. 3, which will be described next, in order to position the first support 31 and the second support 32 disposed thereon, each of the four corners of the first support 31 and the second support 32 is A positioning hole 32a is formed inside the screw hole 33. The first support 31 and the second support 32 can be accurately positioned by passing a positioning pin (not shown) through the positioning hole 32a and then screwing them.

Alternatively, a step portion into which the upper end portion of the second support body 32 is fitted may be formed on the top plate of the opening of the base member 40. In this case, the upper end of the second support 32 is fitted into the stepped portion of the top plate of the opening of the base member 40, and the first support 31 is placed below it. Further, after passing the positioning pins through the positioning holes 32a of the first support 31 and the second support 32, the bottom member 42 of the base member 40 is placed in contact with the lower surface of the first support 31. . Also in this case, the first support 31 and the second support 32 can be accurately positioned by the stepped portion of the top plate of the opening of the base member 40 and the positioning pin.

FIG. 3 is a perspective view showing how the respective joint portions of the first rotating shaft 11 and the second rotating shaft 12 in FIG. 2 are supported by the first support body and the second support body. In FIG. 3, the joints of the rotary shaft accommodated in the support are shown in perspective.

As shown in FIG. 3, the first rotating shaft 11 is separated into a first shaft portion 11a and a second shaft portion 11b. The first shaft portion 11a and the second shaft portion 11b are connected via a joint portion C1 separated in the axial direction. The joint portion C1 of the first rotating shaft 11 is accommodated and supported within the first support body 31.

Similarly, the second rotating shaft 12 is separated into a first shaft portion 12a and a second shaft portion 12b. The first shaft portion 12a and the second shaft portion 12b are connected via a joint portion C2 separated in the axial direction. The joint portion C2 of the second rotating shaft 12 is accommodated and supported within the second support body 32. A second support 32 is stacked and arranged on the first support 31 .

If there is a gap between the first rotating shaft 11 and the first supporting body 31 in the two through holes 31x (FIG. 3) of the first supporting body 31 into which the first rotating shaft 11 is inserted. When processing the workpiece gripped by the gripping device 1, there is a possibility that cutting powder or the like may enter the first support body 31. If cutting powder or the like enters the joint C1 of the first rotating shaft 11, the accuracy of the gripping device 1 may decrease.

For this reason, grease may be put into the through hole 31x of the first support body 31, or an O-ring may be placed therein. Alternatively, a ring-shaped protrusion with a diameter larger than the main body is formed on the first rotating shaft 11 closest to the outside of the through hole 31x of the first support 31, and the ring-shaped protrusion of the first rotating shaft 11 is attached to the first rotating shaft 11. It may be sealed by contacting the side surface of 31. The same applies to the two through holes 32x (FIG. 3) of the second support body 32 into which the second rotating shaft 12 is inserted.

FIG. 4A shows a state in which the joint portion C2 of the second rotating shaft 12 of FIG. 3 is separated. A first joint Cx is formed on the first shaft portion 12a, and a second joint Cy is formed on the second shaft portion 12b. A joint portion C2 is constructed by connecting the first joint Cx of the first shaft portion 12a and the second joint Cy of the second shaft portion 12b.

The first joint Cx of the first shaft portion 12a and the second joint Cy of the second shaft portion 12b are connected to connecting surfaces D1 and D2 provided on opposite sides and removably connected to each other, and the opposite side of the connecting surfaces D1 and D2. Contact surfaces E1 and E2 provided on the sides and capable of contacting the first support body 31 are provided, respectively. The first joint Cx of the first shaft portion 12a and the second joint Cy of the second shaft portion 12b are formed as large diameter portions having a larger diameter than the shaft main body.

In FIG. 3 described above, the second support body 32 is in a state in which the first joint Cx of the first shaft portion 12a and the second joint Cy of the second shaft portion 12b in FIG. 4A are rotatable and movable in the axial direction. I support it.

As shown in FIG. 4A, a convex portion A is provided on the connecting surface D1 of the first joint Cx of the first shaft portion 12a. On the other hand, a recess B is provided in the connecting surface D2 of the second joint Cy of the second shaft portion 12b.

FIG. 4B is a plan view of the second joint Cy of the second shaft portion 12b in FIG. 4A viewed from the lateral direction. Referring to FIG. 4A and FIG. 4B, the recess B of the second shaft portion 12b is formed in the shape of a groove extending vertically in plan view, and the two opposing side surfaces S are inclined inward from the open end toward the bottom surface. It has a sloped surface. In this way, the side surface of the recess B has a tapered shape in which the opening width decreases from the opening end toward the bottom surface. The convex portion A is formed corresponding to the shape of the concave portion B.

As will be described later, when the first joint Cx of the first shaft portion 12a and the second joint Cy of the second shaft portion 12b move outward and separate, the movement of the second movable caps 22a and 22b due to play in the screws is prevented. can be stopped. By tapering the side surface S of the recess B, the first joint Cx of the first shaft portion 12a and the second joint Cy of the second shaft portion 12b can be easily separated.

As shown in Modification 1 of FIG. 5A, the recess B may have a cross shape in plan view. Also in this case, the side surface S of the cross-shaped recess B is formed in the tapered shape as described above. Alternatively, as shown in Modification 2 of FIG. 5B, a notched recess B may be formed from the outer periphery of the second joint Cy of the second shaft portion 12b to the distal end surface. The notch-shaped recesses B are arranged at two or four opposing locations on the connecting surface D2 of the second joint Cy of the second shaft portion 12b. Also in this case, the side surface S of the notched recess B is formed in the tapered shape as described above.

In this way, the concave portion B may have a tapered side surface S so that the first shaft portion 12a and the second shaft portion 12b can be combined and rotated, and can be easily separated in the axial direction. can be adopted.

In the examples shown in FIGS. 4B, 5A, and 5B, a convex portion A is formed in the first joint Cx of the first shaft portion 12a of the second rotating shaft 12, and a concave portion B is formed in the second joint Cy of the second shaft portion 12b. is forming. On the contrary, a concave portion may be formed in the first joint Cx of the first shaft portion 12a, and a convex portion may be formed in the second joint Cy of the second shaft portion 12b. The joint portion C1 of the first rotating shaft 11 in FIG. 3 is also formed with the same structure as the joint portion C2 of the second rotating shaft 12.

Next, the structure of the first support body 31 shown in FIG. 3 described above will be explained in more detail. FIG. 6 is an exploded perspective view showing the first support body 31 of FIG. 3. As shown in FIG. 6, the first support body 31 is formed from a lower member 31a and an upper member 31b. A cavity 31c (concavity) having a quadrangular prism shape in plan view is formed in the center of the lower member 31a.

Grooves 31g are formed on the upper surface of both sides of the cavity 31c of the lower member 31a. The groove 31g has a semi-cylindrical shape when viewed in cross section, and is formed to communicate with both ends of the cavity 31c. The depth of the groove 31g is set to be shallower than the depth of the cavity 31c.

The upper member 31b is formed with the same structure as the lower member 31a. A joint portion C1 (FIG. 3) in which the first joint Cx of the first shaft portion 11a of the first rotating shaft 11 and the second joint Cy of the second shaft portion 11b are coupled is arranged in the cavity 31c of the lower member 31a. . At this time, the first shaft portion 11a and the second shaft portion 11b of the first rotating shaft 11 are arranged in the groove 31g of the lower member 31a.

Next, the first support 31 shown in FIG. 3 is obtained by stacking and arranging the surface of the upper member 31b on which the cavity 31c is formed on the lower member 31a.

As described above, the cavity 31c of the upper member 31b is arranged above the cavity 31c of the lower member 31a, thereby forming a housing portion. In this way, the joint portion C1 of the first rotation shaft 11 is accommodated in the accommodation portion of the first support body 31.

The groove 31g of the upper member 31b is arranged above the groove 31g of the lower member 31a, thereby forming the through hole 31x. The first shaft portion 11a and the second shaft portion 11b of the first rotating shaft 11 are inserted into the through holes 31x of the first support body.

The second support body 32 is formed from the same structure as the first support body 31 described above. The second support body 32 is arranged on the first support body 31 in a state rotated by 90 degrees with respect to the first support body 31 . Similar to the first support body 31, the joint portion C2 of the second rotating shaft 12 is accommodated in the second support body 32. Actually, assembly is performed within the housing portion of the base member 40, and the first support 31 is assembled under the second support 32 and screwed into the screw hole 33 shown in FIG. 2 described above.

In this way, the first rotation shaft 11 and the second rotation shaft 12 are accommodated and supported by the first support body 31 and the second support body 32, respectively, so as to be perpendicular to each other. The joint portion C1 of the first rotating shaft 11 and the joint portion C2 of the second rotating shaft 12 are arranged at positions that overlap in plan view.

In the example of this embodiment, as shown in FIG. 1, the second movable mouthpieces 22a and 22b arranged in the Y-axis direction have the area of the surface facing the workpiece the same as the first movable mouthpieces 22a and 22b arranged in the X-axis direction. It is set larger than the movable caps 21a and 21b. Therefore, the second movable caps 22a, 22b function as main gripping means, and the first movable caps 21a, 21b function as auxiliary gripping means.

The closer the distance from the second rotating shaft 12 to the workpiece is, the more accurately the gripping precision of the movable mouthpiece can be improved. From this point of view, as illustrated in FIG. 3, the first movable caps 21a, 21b connect the joint C2 of the second rotating shaft 12 to which the second movable caps 22a, 22b functioning as main gripping means are connected. It is preferable to arrange it on the joint part C1 of the connected first rotating shaft 11.

Note that the first movable bases 21a and 21b in the X-axis direction may be detachably attached to the first rotating shaft 11 and the base member 40. The first movable caps 21a, 21b can be removed from the first rotating shaft 11 by rotating the first rotating shaft 11 in a direction opposite to the direction of rotation in which the first movable caps 21a, 21b are tightened. In this way, the workpiece 5 may be gripped only by the second movable mouthpieces 22a and 22b in the Y-axis direction.

Alternatively, the second movable caps 22a and 22b in the Y-axis direction may be detachably attached to the second rotating shaft 12 and the base member 40. In this case, the workpiece 5 is gripped only by the first movable mouthpieces 21a and 21b in the X-axis direction.

In FIG. 1 described above, the threaded portion of the first shaft portion 11a and the threaded portion of the second shaft portion 11b of the first rotating shaft 11 have threads formed in opposite directions, and have a reverse thread relationship with each other. It has become. In this way, the first rotating shaft 11 has a right-handed threaded portion formed on one end side and a left-handed threaded portion formed on the other end side.

By making the threaded portion of the first shaft portion 11a and the threaded portion of the second shaft portion 11b have a reverse thread relationship, when the first rotating shaft 11 is rotated in a predetermined direction, the pair of first movable bases 21a, 21b move inward together. Similarly, in the second rotating shaft 12, the threaded portion of the first shaft portion 12a and the threaded portion of the second shaft portion 12b are formed with threads in opposite directions, and have a mutually opposite thread relationship. ing.

In this way, the second rotating shaft 12 has a right-handed threaded portion formed at one end and a left-handed threaded portion formed at the other end. By making the threaded portion of the first shaft portion 12a and the threaded portion of the second shaft portion 12b have a reverse thread relationship, when the second rotating shaft 12 is rotated in a predetermined direction, the pair of second movable bases 22a, 22b move inward together.

FIG. 7A shows how the workpiece 5 is gripped by the second movable mouthpieces 22a and 22b arranged in the Y-axis direction. As shown in FIG. 7A, when the second rotating shaft 12 is rotated, the second movable mouthpiece 22a connected to the threaded portion of the first shaft portion 12a (FIG. 3) moves inward toward the workpiece 5. . At the same time, the second shaft part 12b (FIG. 3) rotates in conjunction with the rotation of the first shaft part 12a, and the second movable mouthpiece 22b connected to the second shaft part 12b moves inward toward the workpiece 5. Moving.

Referring to FIG. 7A in addition to FIG. 1, when the first rotating shaft 11 is rotated, a pair of first movable caps 21a and 21b screwed onto both sides of the first rotating shaft 11 are covered by the same principle. simultaneously move inward toward the workpiece 5.

At this time, as shown in FIG. 7B, the convex part A of the first joint Cx of the first shaft part 12a is coupled with the recess part B of the second joint Cy of the second shaft part 12b. A gap H1 is provided between the inner wall W of the second support body 32 in FIG. 3 described above and the contact surface E1 of the first joint Cx of the first shaft portion 12a. Similarly, a gap H1 is provided between the inner wall W of the second support body 32 and the contact surface E2 of the second joint Cy of the second shaft portion 12b.

Further, as shown in FIG. 8A, when the second rotating shaft 12 is rotated, the holding surfaces of the pair of second movable ferrules 22a and 22b abut against both side surfaces of the workpiece 5 in the Y-axis direction. In this way, the second rotating shaft 12 is rotated to tighten the side surface of the workpiece 5 with the pair of second movable mouthpieces 22a and 22b. As a result, the pair of second movable mouthpieces 22a and 22b are in a state where they grip the workpiece 5 from the Y-axis direction with a strong force.

Referring to FIG. 8A in addition to FIG. 1 described above, when the first rotating shaft 11 is rotated, the pair of first movable ferrules 21a and 21b come into contact with both side surfaces of the workpiece 5 in the X-axis direction. Thereby, the workpiece 5 is gripped from the X-axis direction by the pair of first movable mouthpieces 21a and 21b.

At this time, if the workpiece 5 is only held by the pair of second moving ferrules 22a and 22b, the second movement will not be possible by the amount of play in the threaded portions of the first and second shaft portions 12a and 12b of the second rotating shaft 12. The connecting portion 22z of the caps 22a and 22b will move in the horizontal direction.

Because the effective diameters of the "male thread" and "female thread" are different so that the threaded part of the second rotating shaft 12 is smoothly fitted into the threaded hole of the second movable cap 22a, play in the thread occurs. . If there is play in the screw, the connecting portions 22z of the second movable caps 22a, 22b connected to the second rotating shaft 12 will move, deteriorating the holding accuracy. It is necessary to stop the movement of 22b.

In this embodiment, as shown in FIG. 7B described above, the first joint Cx of the first shaft portion 12a of the second rotating shaft 12 and the second joint Cy of the second shaft portion 12b are coupled in a separable state. ing.

Paying attention to FIG. 8B, when the pair of second movable mouthpieces 22a, 22b grip and tighten the workpiece 5, the reaction force from the workpiece 5 causes the connecting portion 22z of the second movable mouthpieces 22a, 22b (see FIG. 1) A force that presses outward is applied.

Therefore, the first shaft portion 12a and the second shaft portion 12b of the second rotating shaft 12 connected to the second movable bases 22a, 22b are separated, and both are moved outward in the horizontal direction and separated. As a result, a gap H2 is created between the first joint Cx of the first shaft portion 12a of the second rotating shaft 12 and the second joint Cy of the second shaft portion 12b. At this time, the first joint Cx and the second joint Cy of the second rotating shaft 12 are pushed away from each other in the rotational direction, and the slope S of one of the concave portions B of the second joint Cy and the convex surface of the first joint Cx are separated. This is the line or surface where part A comes into linear contact.

The contact surfaces E1 and E2 of the first joint Cx of the first shaft portion 12a of the second rotating shaft 12 and the second joint Cy of the second shaft portion 12b respectively abut against the inner wall W of the second support body 32 and stop. Thereby, movement of the second movable caps 22a, 22b due to backlash in the threaded portion of the second rotating shaft 12 can be stopped.

At this time, the connecting portion 22z of the second movable jaws 22a, 22b moves slightly outward, but the workpiece 5 is brought to the center position in the gripping device 1 by strong tightening at the upper part of the second movable jaws 22a, 22b. can be retained.

As described above, when the workpiece 5 is tightened with the pair of second movable jaws 22a, 22b, an outward force is applied to the connecting portion 22z of the second movable jaws 22a, 22b, so that the first shaft portion 12a and The joint portion C2 with the second shaft portion 12b is pushed outward. As a result, the pair of second movable caps 22a and 22b each move outward, and are fixed by coming into contact with the inner wall W of the first support body 31.

In this way, the gripping device 1 of the embodiment has a structure in which the rotating shaft is separated in the axial direction at the center and separated when the rotating shaft (tightening screw) is tightened. This prevents the pair of movable jaws from spreading in an inverted V-shape when holding the workpiece with the pair of movable jaws, and allows the movable jaws to hold the workpiece with high precision.

Unlike this embodiment, in the case where the rotating shaft is a single rod member that is integrally connected, the rotating shaft cannot move outward, so it is difficult to stop the movement of the movable cap due to play in the screw.

Also in the first shaft portion 11a and the second shaft portion 11b of the first rotating shaft 11 in the X-axis direction, the first joint Cx of the first shaft portion 11a and the second joint Cy of the second shaft portion 11b are axially Separated. Therefore, similar to the principle described above, movement of the first movable caps 21a, 21b due to backlash of the screw can be stopped.

FIG. 9A is a partial cross-sectional view showing the second movable cap 22a of the gripping device 1 of the embodiment. As shown in FIG. 9A, the main body portion 22x of the second movable cap 22a includes a holding member 22h connected to a side surface. The outer surface of the holding member 22h is a holding surface Sx, and the holding surface Sx contacts the workpiece 5. The holding member 22h is made of a metal member that is harder than the main body portion 22x of the second movable base 22a.

A convex portion Ax provided on the back surface of the holding member 22h is fitted and connected to a concave portion Bx of the main body portion 22x. The convex portion Ax of the holding member 22h is formed in an inverted tapered shape whose width increases from the base end to the distal end. The joint surface Sy where the holding member 22h and the main body portion 22x are in contact is an inclined surface that slopes from the inside to the outside from the upper end to the lower end.

As shown in the partially enlarged sectional view of FIG. 9A, a plurality of slits 22s are formed in the holding surface Sx of the holding member 22h of the second movable cap 22a from the surface toward the inside. The plurality of slits 22s are arranged to divide the holding surface Sx of the holding member 22h in the vertical direction (third direction).

Each slit 22s is formed so as to be connected to the entire lateral direction of the holding surface Sx of the holding member 22h. Alternatively, each slit 22s may be divided and arranged in the lateral direction of the holding surface Sx of the holding member 22h.

The slit 22s is formed to be inclined downward so that the height position decreases from the back side to the open end side of the front surface.

A similar slit 22s is provided on the holding surface of the other second movable cap 22b in FIG. 1 as well. Furthermore, similar slits 21s are provided on the holding surfaces of the pair of first movable caps 21a and 21b in the X-axis direction in FIG.

As shown in FIG. 9B, when the workpiece 5 is gripped with the second movable mouthpiece 22a having a slit 22s on the holding surface Sx, the workpiece 5 is A force is exerted to hold down 5. This prevents the workpiece 5 from coming off from the second movable mouthpieces 22a, 22b.

In FIG. 10, a workpiece 5 is gripped from four directions by a pair of first movable jaws 21a, 21b and a pair of second movable jaws 22a, 22b using the gripping device 1 of the embodiment of FIG. The situation is shown as seen from a plane. In the example of FIG. 10, the four directions include two directions in the X-axis direction and two directions in the Y-axis direction.

For example, in the gripping device 1 illustrated in FIG. 10, first, the workpiece 5 is lightly tightened with the pair of first movable jaws 21a and 21b in the X-axis direction, and the workpiece 5 is gripped at the center position in the X-axis direction. do. Next, the pair of second movable caps 22a and 22b in the Y-axis direction are used to tighten the screw more tightly than in the X-axis direction. Thereafter, the workpiece 5 is finally tightened simultaneously by the pair of first movable jaws 21a, 21b in the X-axis direction and the pair of second movable jaws 22a, 22b in the Y-axis direction.

Next, the workpiece 5 is fully tightened with the pair of second movable jaws 22a, 22b in the Y-axis direction, and then the workpiece 5 is fully tightened with the pair of first movable jaws 21a, 21b in the X-axis direction. .

By gripping the workpiece 5 from four directions in this manner, it is possible to always hold the workpiece 5 at the same position in the X-axis direction and the Y-axis direction when repeatedly placing the workpiece 5 in the gripping device 1. , the reproducibility of repeat positioning accuracy is increased.

The gripping device 1 of the embodiment firmly holds the workpiece 5 from four directions, and high positional accuracy of the workpiece 5 can be obtained. Therefore, it can be used as a high-precision machine vise for 3-axis, 5-axis, etc. processing machines. Examples of the machine include a milling machine, a polishing machine, a machining center, a lathe, an electrical discharge machine, a wire electrical discharge machine, or a measuring instrument.

As a modification, the top member 46 of the base member 40 in FIG. 1 described above may be formed as an inclined surface that slopes downward from the outer periphery toward the center.

As a result, as the workpiece 5 is tightened by the first movable mouthpieces 21a, 21b and the second movable mouthpieces 22a, 22b, the workpiece 5 is firmly held downward. Therefore, even if the workpiece 5 rotates or tilts during machining, the workpiece 5 is prevented from falling out.

In the example of FIG. 10, a circular cylindrical member is illustrated as the workpiece 5 when viewed from above, but members having various shapes such as a quadrangular cube or a rectangular parallelepiped when viewed from above may be used.

FIG. 11 shows an adjustment spacer 50 included in the gripping device 1 of the embodiment. In FIG. 11, the region of the top member 46 of the base member 40 is partially shown. As shown in FIG. 11, the adjustment spacer 50 is arranged between the workpiece 5 and the base member 40, and is arranged to adjust the height position of the workpiece 5. An opening hole 46x is formed in the top member 46 of the base member 40. The opening hole 46x is formed from the surface of the top member 46 to the middle of its thickness.

The adjustment spacer 50 has a protruding pin 52 on its lower surface that can be inserted into an opening hole 46x provided on the upper surface of the base member 40. The protruding pin 52 of the adjustment spacer 50 is inserted into the opening hole 46x of the base member 40, and the adjustment spacer 50 is placed on the base member 40.

An example in which the gripping device 1 of the embodiment is used as a machine vise used in a 5-axis processing machine will be described. A 5-axis processing machine is a machine that has two rotational axes added to three linear axes (X-axis, Y-axis, Z-axis), and can perform more flexible processing. By adding a rotating shaft, many parts of the workpiece can be machined in one setup.

In a 5-axis processing machine, processing is performed while a table to which a gripping device is fixed moves in an inclined state and rotates. Therefore, when the above-mentioned adjustment spacer 50 is used in a state where it is simply placed on the base member 40, the adjustment spacer 50 flies off from the area between the first movable bases 21a, 21b and the second movable bases 22a, 22b. There is a risk of falling.

In the gripping device 1 of the embodiment, the protruding pin 52 of the adjustment spacer 50 is inserted into the opening hole 46x of the base member 40, and the adjustment spacer 50 is held and fixed by the workpiece 5.

As a result, in the gripping device 1 of the embodiment, even if the gripping device 1 rotates in an inclined state, since the protruding pin 52 of the adjustment spacer 50 is coupled to the base member 40, there is no risk of it falling. By using adjustment spacers 50 having different heights, the height position of the workpiece 5 can be easily adjusted.

In a structure in which the first movable mouthpieces 21a, 21b and the second movable mouthpieces 22a, 22b are arranged over the entire height direction of the side surface of the workpiece 5, the head unit of the processing machine It hits the two moving caps 22a and 22b and becomes a hindrance. For this reason, there is a demand for gripping the workpiece 5 while protruding upward from the gripping device 1.

Alternatively, if it is not necessary to use the adjustment spacer 50, the workpiece 5 may be placed directly on the base member 40 of the gripping device 1.

FIG. 12 is a sectional view schematically showing a pair of opposing caps of a gripping device according to a first modification of the embodiment. As shown in FIG. 12, in the gripping device 1a of the first modification, the first movable cap 21b, which is the opposing cap in FIG. 1 described above, may be replaced by a first fixed cap 21f.

The first fixed cap 21f is integrally formed with the base member 40 and is fixed to the base member 40. In FIG. 12, only the portion of the base member 40 connected to the first fixed cap 21f is shown, and other regions are omitted. A first movable base 21 a is screwed into one end of the first rotating shaft 11 . The other end side of the first rotating shaft 11 is supported by the base member 40 via a bearing (not shown). The first rotating shaft 11 is formed of a single rod member that is integrally connected. By rotating the first rotating shaft 11, only the first movable die 21a moves toward the workpiece 5, and the first fixed die 21f does not move. Similarly, the second movable cap 22b, which is the opposing cap in FIG. 1 described above, may be a second fixed cap fixed to the base member 40.

In this way, the workpiece can be moved from four directions by the first movable cap 21a and the first fixed cap 21f arranged in the X-axis direction, and the second movable cap 22a and the second fixed cap arranged in the Y-axis direction. 5 may be held. Alternatively, the movable mouthpiece and the fixed mouthpiece may be arranged in either the X-axis direction or the Y-axis direction, and the workpiece 5 may be gripped from two directions.

FIG. 13 is a plan view showing a gripping device according to a second modification of the embodiment. As shown in FIG. 13, in the gripping device 1b of the second modification, the pair of movable jaws 22a, 22b in the Y-axis direction includes a base 23a connected to the main body 22x, and a plurality of movable jaws 22a, 22b extending from the base 23a toward the workpiece 5 A connecting bar 23b, and a gripping portion 23c connected to the tip of the connecting bar 23b.

The base portion 23a is formed to extend in the same direction as the main body portion 22x, and is curved toward the workpiece 5 side. An opening is arranged between the base 23a and the main body 22x. Further, the grip portion 23c is formed to extend in the same direction as the base portion 23a. A plurality of openings are arranged between the base 23a and the gripping part 23c because the base 23a and the gripping part 23c are connected by the plurality of connecting bars 23b.

In the gripping device 1b of the second modification, since the base portions 23a of the movable mouthpieces 22a and 22b are curved in an arched shape, when the gripping portion 23c comes into contact with the workpiece 5, the force received from the connecting bar 23b causes the base portions 23a to deforms elastically. Therefore, even if the workpiece 5 and the gripping portions 23c of the movable jaws 22a, 22b are not parallel, the movable jaws 22a, 22b are elastically deformed, so that the workpiece 5 and the movable jaws 22a, 22b are The discrepancy between is eliminated.

As another aspect, two movable caps 22a are connected in series to one main body portion 22x, two movable caps 22b are connected in series to the other main body portion 22x, and the pair of movable caps 22a and movable caps 22b are connected to each other in series. Two sets of combinations may be formed. Two sets of movable mouthpieces 22a and movable mouthpieces 22b each grip a workpiece, thereby making it possible to grip two workpieces. Furthermore, an alignment block, which will be described later, may be placed between the two workpieces.

The gripping device 1b of the second modification is the same as the gripping device 1 of FIG. 10 described above except for the movable bases 22a and 22b in the Y-axis direction.

Next, a method for aligning the gripping device 1 of the embodiment with the center position of the stage of a processing machine will be described. FIG. 14A is a perspective view showing the alignment block 60 applied to the gripping device of the embodiment. The alignment block 60 may be included in a processing machine (not shown) or may be part of an independent alignment mechanism. As shown in FIG. 14A, the alignment block 60 includes a block body 62 and a connecting member 64 connected to the upper surface of the block body 62, and a spring mechanism 66 is provided in the connecting member 64. Alignment block 60 is coupled to the processing machine via a spring mechanism 66.

The block body 62 has a shape similar to a rectangular parallelepiped, and four inclined surfaces 62s are formed at the lower part of the rectangular parallelepiped. The four inclined surfaces 62s of the block body 62 are each inclined inward from the middle of the four side surfaces. A portion of the alignment block 60 that is an inverted quadrangular pyramid formed with four inclined surfaces 62s serves as a connecting portion 62a.

The alignment block 60 is positioned such that the position of the alignment block 60 corresponds to the center position of the stage of the processing machine. Since the alignment block 60 includes the spring mechanism 66, it is possible to buffer the impact when the alignment block 60 is fitted into a positioning component to be described later.

FIG. 14B is a plan view showing how the alignment components are arranged on the gripping device. As shown in FIG. 14B, before the gripping device 1 grips and processes the workpiece, a positioning component 70 is placed on the gripping device 1. The alignment component 70 is held and fixed by the pair of first movable caps 21a, 21b and the pair of second movable caps 22a, 22b of the gripping device 1.

The alignment component 70 has a rectangular recess 72 in the central main part, and the recess 72 is formed from a bottom surface 72a and four inclined surfaces 72s that slope from the outside to the inside from the top end toward the bottom surface 72a. The recessed portion 72 of the alignment component 70 is formed in a shape corresponding to the connecting portion 62a of the alignment block 60 described above. As described above, the alignment mechanism of the embodiment includes the alignment component 70 provided with the recess 72 disposed in the gripping device 1, and the alignment block provided with the connecting portion 62a connected to the recess 72 of the alignment component 70. 60.

As shown in FIG. 15, the gripping device 1 gripping the alignment component 70 is placed on a stage (not shown) of a processing machine. Further, the connection portion 62a of the alignment block 60 of FIG. 14A described above is fitted into the recess 72 of the alignment component 70 and connected. The alignment component 70 and the first movable bases 21a and 21b in FIG. 15 correspond to a cross section taken along the line XX in FIG. 14B.

At this time, if the gripping device 1 is displaced from the center position of the stage of the processing machine, the tip corner of the connecting portion 62a of the alignment block 60 comes into contact with the inclined surface 72s of the recess 72 of the alignment component 70, It slides on the inclined surface 72s and is placed on the lower bottom surface 72a.

As a result, the misaligned gripping device 1 moves to the reference position of the alignment block 60 in a self-aligned manner, and is aligned with the center position of the stage of the processing machine. In addition, since the spring mechanism 66 is provided on the connecting member 64 of the alignment block 60, the impact applied to the alignment block 60 and the gripping device 1 is buffered when the alignment block 60 is fitted into the alignment component 70. be able to.

In this way, by fitting the positioning block 60 into the positioning component 70 fixed to the gripping device 1, the gripping device 1 can be accurately placed at the center position of the stage of the processing machine, and repeatable positioning accuracy is achieved. The reproducibility of is also increased.

Next, a modification of the movable cap will be described. FIG. 16 is a perspective view showing a first movable cap 74 according to a modification. Although one first movable cap 74 is shown in FIG. 16, it can be applied to the first movable caps 21a and 21b in FIG. The first movable cap 74 includes a main body portion 75, an intermediate member 76, and a holding member 77. The main body part 75 is a substantially rectangular parallelepiped member that is long in the Z-axis direction, and a connecting part 78 that fits into the first guide part G1 is integrally provided at the lower part. The connecting portion 78 is formed with a female thread 79 into which the first rotating shaft 11 is screwed. The central axis of the female thread 79 is arranged parallel to the X-axis direction.

A holding member 77 is provided above the surface of the main body 75 intersecting the X-axis with an intermediate member 76 interposed therebetween. The intermediate member 76 is a substantially rectangular parallelepiped member, and a convex portion 81 provided on a back surface 80 fits into a concave portion 82 of the main body portion 75 and is connected thereto. The holding member 77 is provided on the front surface 84 of the intermediate member 76 via a connecting mechanism 83. The coupling mechanism 83 includes a columnar protrusion 85 and a groove 86 in which the protrusion 85 is accommodated.

In the case of FIG. 16, a plate-shaped protrusion 88 whose base end is connected is provided at the center in the Z-axis direction of the back surface 87 of the holding member 77, and a protrusion 85 is provided at the tip of the protrusion 88. There is. An opening 89 extending in the Y-axis direction is formed in the front surface 84 of the intermediate member 76, and a groove 86 is integrally formed at the back of the opening 89. The length of the opening 89 in the Z-axis direction is longer than the thickness of the protrusion 88 . The protrusions 85 and the grooves 86 are arranged so that their central axes 83A are parallel to the Y-axis direction. The connection mechanism 83 is rotatably connected by sliding the protrusion 85 and the groove 86 in the Y-axis direction and fitting the protrusion 85 into the groove 86. A predetermined gap is formed between the back surface 87 of the holding member 77 and the front surface 84 of the intermediate member 76. A predetermined gap is formed between the protrusion 88 and the opening 89.

As shown in FIG. 17, the holding member 77 rotates relative to the main body 75 with respect to the central axis 83A of the protrusion 85 and the groove 86 until the protrusion 88 comes into contact with the surface of the opening 89. It is possible. When the first movable mouthpiece 74 grips a workpiece, a force from the first rotating shaft 11 on the inside in the X-axis direction is applied to the connecting portion 78 at the lower part, and a reaction force is received from the workpiece at the holding member 77 at the upper part. A force on the outside in the X-axis direction is generated at the same time. Therefore, when the first movable mouthpiece 74 grips a workpiece, it may deform into an inverted V-shape (in the direction of the arrow in FIG. 17) when viewed from the Y-axis direction.

When the movable die without the coupling mechanism 83 is deformed into an inverted V-shape, the holding member lifts the workpiece, resulting in a shift in the height direction (z-axis direction) position of the workpiece.

On the other hand, when the first movable mouthpiece 74 according to this modification is deformed into an inverted V-shape, the lower side of the front surface 90 of the holding member 77 in the Z-axis direction is pushed outward in the X-axis direction by the reaction force received from the workpiece. Then, the holding member 77 rotates about the central axis 83A. By rotating the holding member 77, the front surface 90 is held parallel to the Z-axis direction along the surface of the workpiece and uniformly contacts the workpiece, so that the workpiece can be processed without shifting its position in the height direction. Able to grasp objects.

In the case of this modification, the connection mechanism 83 has been described in which the protruding strip 85 is provided on the holding member 77 and the groove 86 is provided on the intermediate member 76, but the present invention is not limited to this. 86 and the protruding strip 85 may be provided on the intermediate member 76.

In the case of this modification, the front surface of the holding member 77 is not provided with the slit 22S (FIG. 9), but the present invention is not limited to this, and the front surface 90 of the holding member 77 may be provided with the slit 22S.

In the case of this modification, a case has been described in which the holding member 77 is provided on the main body portion 75 via the intermediate member 76, but the present invention is not limited to this. For example, as shown in FIG. 18, the holding member 77 may be provided on the main body portion 75 via a connecting mechanism 83. The main body portion 75 is provided with a groove 86 on the front surface 91 facing the holding member 77 . By sliding the groove 86 and the protrusion 85 in the Y-axis direction and fitting the protrusion 85 into the groove 86, the holding member 77 can be rotatably connected to the main body 75.

Although the case where the coupling mechanism 83 is provided on the first movable base 74 has been described, it may be provided on the second movable base. The second movable mouthpiece differs in that the area of the surface facing the workpiece is set larger than that of the first movable mouthpiece 74 arranged in the X-axis direction, but as in FIGS. 16 and 18, the connection By providing the mechanism 83, effects similar to those of the above modification can be obtained. In this case, the holding member of the second movable cap is provided on the main body via a coupling mechanism that is rotatable about a central axis parallel to the first direction.

DESCRIPTION OF SYMBOLS 1... Gripping device, 5... Workpiece, 11... First rotating shaft, 11a, 12a... First shaft part, 11b, 12b... Second shaft part, 12... Second rotating shaft, 21a, 21b... First movement Base, 21x, 22x...Main body part, 21y, 22z, 62a...Connection part, 21f...First fixed base, 22a, 22b...Second movable base, 22h...Holding member, 22y...Rail coupling part, 22s...Slit, 31 ...first support body, 31c...cavity, 31g...groove, 31a...lower member, 31b...upper member, 31x...through hole, 32...second support body, 32a...positioning hole, 32x...through hole, 33... Screw hole, 40... Base member, 42... Bottom member, 44... Side member, 46... Top member, 46x... Opening hole, 50... Adjustment spacer, 52... Projection pin, 60... Positioning block, 62... Block body, 62a ...Connection part, 62s, 72s...Slanted surface, 64...Connection member, 66...Spring mechanism, 70...Positioning component, 72...Recessed part, 72a...Bottom surface, A, Ax...Convex part, B, Bx...Recessed part, C1, C2...Joint part, Cx...First joint, Cy...Second joint, D1, D2...Connection surface, E1, E2...Contact surface, G1...First guide part, G2...Second guide part, G2x...Rail guide part , G2y...opening guide part, H1, H2...gap, S...side surface, Sx...holding surface, Sy...coupling surface

Claims (6)

a base member having a first guide portion extending in a first direction and a second guide portion extending in a second direction intersecting the first direction;
a first rotating shaft supported by the base member in parallel with the first guide part;
a second rotating shaft supported by the base member in parallel with the second guide portion and disposed at a position shifted in a third direction perpendicular to the first direction and the second direction with respect to the first rotating shaft; and,
at least one first movable cap screwed into the first rotating shaft and sliding on the upper surface of the base member along the first guide portion;
at least one second movable base screwed into the second rotating shaft and sliding on the upper surface of the base member along the second guide part ;
The first rotating shaft has a right-handed threaded portion formed on one end side and a left-handed threaded portion formed on the other end side, and the first movable base is attached to the right-handed threaded portion and the left-handed threaded portion, respectively. is screwed in,
The second rotating shaft has a right-handed threaded portion formed on one end side and a left-handed threaded portion formed on the other end side, and the second movable cap is attached to the right-handed threaded portion and the left-handed threaded portion, respectively. is screwed in,
The first rotation shaft and the second rotation shaft each have a first shaft portion and a second shaft portion,
The first shaft portion and the second shaft portion are connected via a joint portion separated in the axial direction,
The joint portion is
a first joint formed on the first shaft portion;
a second joint formed on the second shaft portion;
a support body that rotatably and axially movably supports the first joint and the second joint;
has
The first joint and the second joint are
connecting surfaces provided on opposite sides and removably connected;
a contact surface provided on the opposite side of the connection surface and capable of contacting the support body;
A gripping device comprising : The gripping device according to claim 1 , wherein the first movable mouthpiece and the second movable mouthpiece have a slit that divides a holding surface in contact with the workpiece in the third direction. an adjustment spacer disposed between the workpiece and the base member;
3. The gripping device according to claim 1, wherein the adjustment spacer has a protruding pin that can be inserted into an opening provided on the upper surface of the base member. According to any one of claims 1 to 3 , the first movable cap is provided with a holding member via a coupling mechanism that rotates about a central axis parallel to the second direction. gripping device. According to any one of claims 1 to 4 , the second movable cap is provided with a holding member via a coupling mechanism that rotates about a central axis parallel to the first direction. gripping device. a base member having a first guide portion extending in a first direction and a second guide portion extending in a second direction intersecting the first direction;
a first rotating shaft supported by the base member in parallel with the first guide part;
a second rotating shaft supported by the base member in parallel with the second guide portion and disposed at a position shifted in a third direction perpendicular to the first direction and the second direction with respect to the first rotating shaft; and,
at least one first movable cap screwed into the first rotating shaft and sliding on the upper surface of the base member along the first guide portion;
an alignment component having a recess disposed in a gripping device including at least one second movable cap screwed into the second rotating shaft and sliding on the upper surface of the base member along the second guide portion;
and an alignment block having a connecting portion connected to the recess of the alignment component.

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