JPH0333436Y2 - - Google Patents

Description

[Detailed description of the invention] The present invention relates to a workpiece gripping device, and more specifically, a workpiece gripping device that has a positioning member protruding from the tip of an arm of an industrial robot, etc., and grips and transfers a workpiece by remote control. The present invention relates to a workpiece gripping device having a pair of gripping members and a positioning member removably provided on a workpiece contact surface perpendicular to the workpiece gripping surface.

The prior art of work gripping device is JP-A-49-
There is one shown in Publication No. 3354. The prior art described above includes a pair of gripping members for gripping a workpiece, and the pair of gripping members are movable toward and away from the action of a hydraulic cylinder. Therefore, with the pair of gripping members separated, the workpiece is positioned between the pair of gripping members, and the fluid pressure cylinder is appropriately operated to bring the pair of gripping members closer together. It is capable of gripping a workpiece.

However, the workpiece gripping device described above has a problem in that if the gripping force of the gripping member is not sufficient, the workpiece gripping device cannot be raised to lift the workpiece.

Therefore, in order to solve the above-mentioned problems, there is a work gripping device disclosed in Japanese Patent Publication No. 56-8732 as a prior art.

The workpiece gripping device includes a pair of gripping members that grip the side surfaces of the workpiece, and a positioning member that can be freely engaged and detached from a pilot hole formed in the workpiece. By appropriately operating one actuating device such as a fluid pressure cylinder, the pair of gripping members can be moved toward and away from each other.
The positioning member is moved up and down in conjunction with the movement of the pair of gripping members.

Therefore, by moving the pair of gripping members toward each other and lowering the positioning member toward the pilot hole of the workpiece in conjunction with this movement, the sides of the workpiece can be gripped by the pair of gripping members. At the same time, the positioning member can be engaged with the pilot hole of the workpiece. Therefore, even when the gripping force of the gripping member is insufficient, the workpiece gripping device can be raised to lift the workpiece.

However, the workpiece gripping device disclosed in Japanese Patent Publication No. 56-8732 has a structure in which the positioning member moves up and down in conjunction with the movement of the pair of gripping members toward and away from each other as described above. If the positioning member is not appropriate, the workpiece may not be gripped by the pair of gripping members even though the positioning member has engaged with the pilot hole of the workpiece. This has resulted in the disadvantage that adjustment of the interlocking mechanism is troublesome.

The present invention has been made to solve the above-mentioned disadvantages of the conventional device, and preferred embodiments will be described in detail below based on the drawings.

First, a workpiece gripping device 1 generally shown as a reference example has a base 5 at the tip of an arm 3 of a robot or the like.
It is attached to the front end plate 7 of the arm 3 via.

In the reference example shown in FIGS. 1 and 2, the pair of gripping members 9 are swingable relative to the gripping device main body 13 around a shaft pin 11 at approximately the center in the vertical direction, and gripping claws 15 are provided at the lower ends. is provided to be inclined upwardly with respect to the center of the gripping device main body 13.

Gripping device main body 1 above the above-mentioned shaft pin 11
3 is provided with a fluid pressure cylinder 17 in the horizontal direction, and a piston 19 of the same size and shape is connected to the fluid pressure supply hole 2.
1, the piston rods 23 are driven to move away from each other in the left-right direction in FIG.

Further, a bullet 25 is compressed and fitted into the gripping device main body 13 at a position below the shaft pin 11, and its biasing force acts to separate the gripping claws 15 at the lower end of the gripping member 9 from each other. are doing.

Furthermore, the workpiece contact surface 2 on the lower surface of the gripping device main body 13
A plurality of positioning members 29 are provided vertically protruding downward from 7 and are engaged with pilot holes 33 provided in the workpiece 31.

Thus, in the apparatus of the reference example shown in FIGS. 1 and 2, the workpiece 31 is placed in the upper position with the pilot hole 33 provided in the workpiece 31 and the positioning member 29 provided in the workpiece contact surface 27 aligned. Since the wide gripping claws 15 grip the workpiece in close contact with the contact surface 27, one fluid pressure cylinder 17
Separate pistons 19 are built in on the left and right sides of the workpiece 3.
1 is the gripping surface 35 of the workpiece 31 that has different shapes and dimensions on the left and right sides shown in FIG. 2, or is in contact with the gripping claw 15.
Even if the pistons 19 are not parallel and the stroke lengths of the pistons 19 are different, reliable gripping is possible.

The workpiece gripping device 1 according to the embodiment shown in FIGS. 3, 4, and 5 is basically the same as the reference example shown in FIGS. They are very different devices.

The fluid pressure cylinder 17 is provided vertically, and fluid pressure is supplied from one of the fluid pressure supply holes 21 to the upper and lower surfaces of the piston 19 to cause the piston rod 23 to reciprocate.

The upper end of the gripping member 9 is connected to the lower end of the piston rod 23 via a yoke-shaped shift member 37, and the gripping claw 15 at the lower end of the gripping member 9 bent at approximately 90 degrees holds the workpiece 31. and press it against the workpiece contact surface 27.

The plurality of positioning members 29 of the device according to the present embodiment each include an independent vertical fluid pressure cylinder 39, each of which connects a fluid pressure supply hole 41 to a piston 4.
As the piston 43 moves up and down, the piston rod 45 that vertically penetrates the fluid pressure cylinder 39 also moves up and down.

Therefore, the positioning member 29 forming the lower end of the piston rod 45 can protrude downward through the workpiece abutting surface 27 or can be retracted into the workpiece abutting surface 27 . Note that the workpiece 31 has a pilot hole 33.
are formed.

The upper end of the piston rod 45 is connected to the gripping device main body 13.
For example, as shown in FIG. 8, when a workpiece 31 is gripped, the positioning member 29 is lowered to place an assembly part such as a bolt at a specific position. It can also be attached.

As mentioned above, in the embodiment apparatus shown in FIGS. 3, 4, and 5, there is no problem even if the shaft pins 11 of the gripping member 9 are not parallel, so for example, three plates as shown in FIG. It has a unique effect in gripping a non-parallel gripping surface 35 when gripping a cam etc. that is fixed by the spot welding part 49 and transferring it to a welding machine, or when carrying it out after welding. The diamond head pin 51 shown in (1) is effective for aligning a plurality of structural members by passing the positioning member 29 through the diamond head pin 33, and as shown in FIG. By using the remaining pin with the round head 53 shown in (2), even when the workpiece 31 is not directly under the plurality of positioning members 29, it can be aligned with the tip protrusion of the diamond head pin 51.

As described above, the gist of the present invention is as described in the utility model registration, so with the workpiece in contact with the workpiece contact surface, the piston is moved outward by appropriately operating the fluid pressure cylinder. By protruding to , the gripping claws of the plurality of gripping members can be brought close to each other to grip the workpiece. Further, by appropriately operating each projecting/retracting actuating device to cause the plurality of positioning members to protrude from the workpiece contact surface, the plurality of positioning members are engaged with the corresponding pilot holes in the workpiece. At this time, if the pilot hole corresponding to the positioning member is not formed in the workpiece, the ejection/retraction actuating device does not operate the positioning member,
Activate only the other retracting actuators and engage only the other positioning members with the corresponding pilot holes.

To release the gripping state of the workpiece, the fluid pressure cylinder is appropriately operated to separate the gripping claws of the plurality of gripping members, and the respective protrusion/retraction actuation devices are appropriately operated to insert the gripper into the plurality of pilot holes of the workpiece. The plurality of engaged positioning members are recessed into the workpiece contact surface and removed from the pilot hole.

Therefore, according to the present invention, since the positioning member is engaged with the pilot hole of the workpiece, even when the gripping force of the plurality of gripping members is insufficient, the workpiece gripping device can be raised to hold the workpiece. What you can lift, you can do. In addition, the gripping member and the positioning member are not interlocked, but the gripping member is operated by a fluid pressure cylinder, and the positioning member is operated by a retraction/extension actuator, making it difficult to adjust the interlocking mechanism. The conventional inconvenience of having one is resolved.

Furthermore, by providing a plurality of positioning members that can be freely engaged and detached from the plurality of pilot holes formed in the workpiece, the gripping position of the gripping claws of the gripping member can be changed after the plurality of positioning members are engaged with the corresponding pilot holes. Even if this is not appropriate, the workpiece will not work in the gripping direction of the multiple gripping jaws or in a direction that crosses this gripping direction.

In addition, each positioning member can be moved in and out of the workpiece contact surface by selecting multiple positioning members depending on the situation of the pilot hole of the workpiece. It is possible to do so. Therefore, for example, for a workpiece having only one pilot hole, only the positioning member corresponding to the pilot hole should be made to protrude from the workpiece contact surface,
It can be engaged with the pilot hole.

Note that the present invention is not limited to the above-mentioned embodiments, but can be implemented in other embodiments by making appropriate changes.

[Brief explanation of the drawing]

Figure 1 is an explanatory diagram of the situation in which the reference example device is worn;
2 is a front view of the center cross section of FIG. 1, FIG. 3 is a plan view of the embodiment device, FIG. FIG. 6 is an explanatory diagram of the gripping state of the embodiment device, FIG. 7 is an explanatory diagram of the type of the tip of the positioning member, and FIG. 8 is an explanatory diagram of the case of safety confirmation using the embodiment device. 9...Gripping member, 13...Gripping device main body, 15
... Gripping claw, 19 ... Piston, 23 ... Piston rod, 27 ... Work contact surface, 29 ... Positioning member, 31 ... Work, 33 ... Pilot hole.

Claims (1)

[Scope of utility model registration request] Gripping device body 1 provided at the tip of arm 3
3, a plurality of positioning members 29 are provided which are retractable from the workpiece contact surface 27 formed on the lower surface of the gripping device main body 13 and are removable from the plurality of pilot holes 33 formed in the workpiece 31. A projecting/retracting actuating device 39 for projecting and retracting the member 29 is individually operable, and the workpiece 31 in a state in which it is in contact with the workpiece contact surface 27 and the positioning member 29 is engaged with the pilot hole 33 is viewed from the side. A plurality of gripping members 9 each having gripping claws 15 at the lower part thereof are pivotally mounted oppositely on both sides of the gripping device main body 13, and a piston 19 for actuating each of the gripping members 9 is provided. A fluid pressure cylinder 1 equipped with
7 and a piston rod 23 protruding outward from the piston 19 is appropriately connected to the upper side of each gripping member 9.