JPH05228876A - Work holder - Google Patents

Abstract

PURPOSE:To make a work hold performable so surely and the stability of work setting improvable without entailing any slippage in a work at the time of unclamping as well as to enable a work holder to set the work on such a pallet as inferior in positional accuracy. CONSTITUTION:In a work holder made up so as to hold a work after inserting each tip of at least a pair of clampers into a hole formed in this work, two clampers 21a, 21b are pivoted each to a tip plate 18 connected to a base plate 12 being attached to an operating unit. Simultaneously with this, each end of these clampers 21a, 21b is connected to an operating rod of a clamp cylinder 20 via two links 23a, 23b, and with operation of the clamp cylinder, respective tip parts of these paired clampers 21a, 21b is made so as to be tilted in direction of approaching or separating to or from each other. In addition, as for the work inferior in positional accuracy, a separate hand 11 with a floating mechanism is used for that.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a bearing cap,
The present invention relates to a work gripping device for gripping a work such as a cylinder block and transferring it to a predetermined processing position or the like.

[0002]

2. Description of the Related Art Generally, a robot is used to take out a work such as the bearing cap from a pallet placed at a predetermined position and mount it on a processing device or load a processed work into the pallet. Has been adopted.
That is, a work gripping device is attached to the wrist of a robot, the work is gripped by the work gripping device, and the gripped work is transferred to a predetermined position by the operation of the robot.

FIG. 9 is a diagram showing a schematic structure of the above-mentioned conventional work gripping device. The work gripping device has a pair of clampers 1 and 2, one of which is a wrist 3 of a robot. It is fixed. The clampers 1 and 2 have predetermined holes W ₁ and W ₂ for the work W at their tips.
Clamper pins 1a and 2a that can be inserted and engaged with the clampers 1 and 2a are attached to the clampers 1 and 2a, and the tips of the levers 1b and 2b projecting laterally from the tips of the clampers 1 and 2 are orthogonal to the axes of the clampers 1 and 2. Is connected via a pin 4 extending in the direction of the arrow, and the clamper 2 can swing with respect to the clamper 1 about the pin 4.

On the other hand, a clamp cylinder 5 is mounted on the base end side (upper part in the figure) of the clamper 1, and the tip of the operating rod 5a of the clamp cylinder 5 is connected to the other clamper 2. Further, a compression spring 6 is interposed between the clampers 1 and 2.

Therefore, the work W is held by the gripping device.
To grip the robot, the wrist part 3 of the robot is moved so that both clampers 1 and 2 are positioned above the work W at a predetermined position, and further moved downward through the wrist part 3 of the robot to obtain the clamper. pin 1a, 2a to be inserted in a predetermined hole W _1, W ₂ of the workpiece W.

Therefore, when the clamp cylinder 5 is actuated to extend the actuating rod 5a, the clamper 2 tilts around the pin 4 and the work W can be held between the clamper pins 1a and 2a. The work W can be transported to a predetermined processing position or the like.

[0007]

However, in such a gripping device, the hole surface of the work W is pressed against the side surface of the other clamper pin 1a by the tip of the clamper pin 2a due to the tilting of the one clamper 2. Therefore, in the case of a work such that a gripping surface of the work is slippery, such as sintered metal, the grip is not sufficient, and there is a problem that the work may be displaced or dropped.

Further, when the clamper pin is pulled out from the hole of the work after the work is mounted on the processing machine or the like, the work may be dragged by the clamper pin. Further, when a finished product is stored in a pallet, if the positional accuracy of the pallet is not reliable, there is a problem that the work may not always be placed at a predetermined position in the pallet.

In view of the above points, an object of the present invention is to provide a work gripping device which can surely grip a work and does not have the above-mentioned problems.

[0010]

The present invention is used by being attached to an operating device such as a wrist portion of a robot, so that the distal end portions of a pair of clampers are inserted into holes formed in a workpiece to grip the workpiece. In the work gripping device
The clamper is pivotally attached to a tip plate connected to a base plate attached to the wrist of the robot, and the base end of each clamper is connected to an operating rod of a clamp cylinder via a link. Is operated to tilt the pair of clampers in a direction in which the tips of the clampers approach or separate from each other.

According to a second aspect of the present invention, a work pad, which abuts against a work end face, is fitted onto a clamper pin mounted on the tip of the clamper so as to be slidable in the axial direction, and between the work pad and the tip of the clamper. It is characterized in that a spring is interposed in the.

A third aspect of the present invention further connects the intermediate plate to the base plate so that the intermediate plate can be selected in a floating state or a fixed state, and the intermediate plate is engaged with the inner peripheral edge of the upper end of the partition member of the pallet at the tip end surface. The floating guide that surrounds the clamper having the inclined surface formed therein is connected so as to be movable in a direction parallel to the central axis of the clamper.

[0013]

When a predetermined work is gripped by the work gripping device, the work gripping device is moved to a position directly above the work by the operation of a robot or the like, and then the work gripping device is lowered to form a pair of clampers. Inserting the clamper pin at the tip of each into the pair of holes of the work, and operating the clamp cylinder there, the clampers of each pair tilt in opposite directions, and the clamper pins move toward or away from each other. The clamper pins are pressed against the inner surface of the hole in the opposite directions, and the work is gripped by the clamper.

Further, when the clamper is pulled out from the work, the work pad is pressed against the work surface until the clamper pin is completely pulled out from the hole of the work, and the work may move following the movement of the clamper. Absent. Further, when setting the work at a predetermined position in the pallet, if the gripping device is lowered to bring the floating guide close to the pallet, the floating guide is set to the fixed position by the engagement of the slope of the floating guide and the inner peripheral edge of the partition member upper end. The position of the tip of the clamper is also adjusted accordingly, and the work can be placed at a predetermined position on the pallet by unclamping there.

[0015]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 and FIG. 2 are a partial vertical sectional front view and a partial vertical sectional side view showing a schematic structure of a work gripping device of the present invention. A work set hand 11 for a non-reliable place is provided as one set.

In the figure, reference numerals 12 and 13 are base plates of the fixed-position gripping hand 10 and the work set hand 11, respectively.
3 are arranged in parallel with each other and are integrally connected to each other by a connecting member 14, and the connecting member 14 is the connecting member 1.
5 is mounted on a hand operating device such as a robot (not shown).

The base plate 12 of the fixed-position gripping hand 10 is connected to the intermediate plate 17 by four connecting rods 16.
Are connected in parallel with the base plate 12, and a tip plate 18 arranged in parallel with the intermediate plate 17 is connected to the intermediate plate 17 by four connecting rods 19.

A clamp cylinder 20 is attached to the base plate 12 side of the tip plate 18,
The operating rod 20a of the clamp cylinder 20 extends in a direction orthogonal to the plane of the tip plate 18, and is projected from the inside of the central opening 17a (see FIG. 3) of the intermediate plate 17 toward the base plate 12. A pair of plate-shaped clampers 21a and 21b, which are arranged in parallel with each other, are inserted through the central opening 17a of the intermediate plate 17, and the tip end portions of both clampers 21a and 21b are respectively inserted. Pins 22a and 22b that are orthogonal to the axes of the clampers 21a and 21b are pivotally attached to opposite portions of the tip plate 18. On the other hand, the base ends of the clampers 21a and 21b (the base plate 12
One end of each of the links 23a and 23b is pivotally attached to the side), and the other ends of both links 23a and 23b are pivotally attached to the operating rod 20a of the clamp cylinder 20.

By operating the clamp cylinder 20 and moving the operating rod 20a forward and backward, the link 23
Both clampers 21a, 21b can be swung in opposite directions about the pins 22a, 22b via a, 23b.

By the way, the clampers 21a and 21b are provided.
At the tip end surface of each of the clampers 21a and 21b, a plurality (in FIG. 2 and FIG.
Clamper pins 24a and 24b are attached to each. That is, as shown in FIG. 3, the clampers 21a, 2
The tip surface of 1b has the clamper pins 24a,
The base end of 24b is inserted and mounted, and is fixed by fixing screws 25a and 25b. Further, a work pad 26 having a collar-shaped portion 26a at the tip thereof is provided on each of the clamper pins 24a, 24b.
4b is slidably fitted between the work pad 26 and the clampers 21a, 21b, and a spring 27 for biasing the work pad 26 toward the tip ends of the clamper pins 24a, 24b is interposed. ing.

On the other hand, an intermediate plate 31 is connected to the base plate 13 of the work set hand 11 by four guide bars 30 (see FIGS. 2 and 5), and the intermediate plate 31 is further connected to the tip by a connecting rod 32. The plates 33 are connected.

A clamp cylinder 34 is attached to the base plate 13 side of the tip plate 33,
An operating rod 34a of the clamp cylinder 34 extends in a direction orthogonal to the plane of the tip plate 33 and projects from the center opening 31a of the intermediate plate 31 toward the base plate 13.

A pair of plate-shaped clampers 35a and 35b, which are arranged in parallel with each other, are inserted through the central opening 31a of the intermediate plate 31, and the tips of both clampers 35a and 35b are inserted. Clamps 35 are provided on the portions of the tip plate 33 facing each other.
It is pivotally attached by pins 36a and 36b orthogonal to the axes of a and 35b. On the other hand, both the clampers 35a, 3
One ends of links 37a and 37b are pivotally attached to the base ends of the 5b (on the side of the base plate 13), respectively.
The other end of 37b is pivotally attached to the operating rod 34a of the clamp cylinder 34.

Then, the clampers 35a, 35b
Similarly to the fixed position gripping hand, by operating the clamp cylinder 34 and moving the operating rod 34a forward and backward, the pins 36a and 36b are connected via the links 37a and 37b.
Can be swung in opposite directions.

Further, a plurality of (four in the figure) clamper pins 38a, 38b are inserted in rows at the tip surfaces of the clampers 35a, 35b, respectively, in a plane parallel to the planes of the clampers 35a, 35b. It is installed.

As shown in FIG. 2, one end of each guide bar 30 is mounted on the base plate 13 by a spherical bearing 40 so as to be swingable with respect to the base plate 13. The end is also connected to the intermediate plate 31 via the spherical bearing 41. That is, the sleeve 4 is attached to the tip of the guide bar 30.
2 is fitted so as to be slidable in the axial direction, and its moving end is restricted by the retaining member 43 attached to the end of the guide bar 30. Then, the spherical bearing 41 is fitted and mounted on the sleeve 42, the spherical bearing 41 is mounted on the intermediate plate 31, and a guide bar is provided between the spring bearing 44 arranged at the end of the sleeve 42 and the base plate 13. A spring 45 is provided so as to surround 30.

Therefore, the intermediate plate 31 can move to the front and rear, right and left to some extent with respect to the base plate 13, and also in the axial direction of the guide bar 30 against the spring 45, and is connected to the base plate 13 in a floating manner. Has been done.

A lock cylinder 46 is mounted on the side opposite to the base plate 13 at approximately the center of two opposite sides of the intermediate plate 31, and the operating rod 46a of the lock cylinder 46 has a lock cylinder 46 of the intermediate plate 31. A positioning pin 48 is mounted which is guided by a pin guide 47 provided on the other surface and is slidable in a direction toward or away from the base plate 13. On the other hand, the base plate 13 has a pin hole 49 into which the positioning pin 48 is inserted and engaged at a position facing the positioning pin 48.
A positioning seat 49 having a is attached.

Four guide bars 50 extending in a direction parallel to the axis of the clamp cylinder 34 are mounted on the intermediate plate 31 so as to be slidable in the axial direction. Clampers 35a and 35b are attached to the tips of the guide bars 50. The surrounding frame-shaped floating guide 51 for positioning is attached,
A spring 52 interposed between the floating guide 51 and the intermediate plate 31 biases the floating guide 51 toward the work side (a direction away from the base plate 13).

Further, an inclined surface 51a which engages with the inner peripheral edge of the upper end of the partitioning member of the pallet for accumulating the works W is formed on the front end surface of the floating guide 51.

Therefore, when the work W at a fixed position is gripped by the gripping device, the robot 10 is turned over from the state shown in FIGS. 1 and 2 so that the fixed position gripping hand 10 faces downward. After the fixed-position gripping hand 10 is moved to a position directly above the work W by an operating device such as the wrist of the operator, the clamper pins 24a, 2 are lowered.
4b is inserted into the predetermined holes W ₁ and W ₂ of the work W. Therefore, when the clamper cylinder 20 is operated, the upper end side of the clampers 21a and 21b is moved by the operation rod 20a via the links 23a and 23b in a direction in which the upper ends of the clampers 21a and 21b are expanded, and the pair of clampers 21a and 21b are opposed to each other with the pins 22a and 22b as the center. The pair of clamper pins 24a and 24b tilting in the direction and facing each other are moved in the directions approaching each other. Therefore, the work W is clamped by the clamper pins 24a and 24b that are biased so as to approach each other, and the gripping is performed. Therefore, the work W can be transported to a predetermined position by moving the gripping device by a robot or the like.

In the above embodiment, the work is grasped by bringing the clamper pins close to each other. However, the clamper pins are moved in opposite directions, and the clamper pins are pressed outward to the inner surfaces of the holes of the work. However, the grip can be performed.

On the other hand, when releasing the work held by the holding device, the clamper cylinder 20
The clamper pin 24a,
After releasing the pressure contact state of the work W of 24b to the inner surface of the hole,
The work can be unclamped by moving the gripping device in the axial direction of the clamper pin, for example, upward. In this case, Kuranpapin 24a, 24b hole W ₁ of the workpiece W, W is from ₂ to about exiting the workpiece W and a work pad 26 by the elastic force of the spring 27
The workpiece W is pressed against the support surface via the pin and prevents the work W from being pulled up by the movement of the clamper pins 24a and 24b.

On the other hand, as shown in FIG. 7, when the positional accuracy of the pallet 60 accommodating the work W is not reliable, the work setting hand 11 can be used.

That is, in this case, as shown in FIGS. 1 and 2, when the work set hand 11 is lowered so that the work set hand 11 is located downward, first, the tip of the floating guide 51 is moved to the pallet. The floating guide 51 is in contact with the inner peripheral edge of the upper end of the partition member 61 of 60, and then along the inclined surface formed on the tip surface of the floating guide 51 and the inclined surface on the partition member.
Is adjusted back and forth or left and right (see FIG. 8), and the floating guide 51 is set at a predetermined position on the pallet 60.
Along with this, the clamper section is also set at a predetermined position.
Therefore, when the gripping device is further lowered, the intermediate plate 31 is moved along the guide bar 50 against the spring 52.
Then, the tip plate 33 descends, the clamper pins 38a, 38b are inserted into the holes of the work W in the same manner as described above, and the work of the clamper can be held by the operation of the clamper cylinder 34.

On the other hand, when the work is set in the predetermined position of the pallet 60, the floating guide 5 is similarly set.
When 1 is brought closer to the pallet, its position is adjusted by its inclined surface, and when unclamping is performed in that state, the work W can be stored at a predetermined position on the pallet.

When the work is set at a fixed position by the work setting hand 11, the lock cylinder 46 is operated and the tip of the positioning pin 48 is inserted into and engaged with the pin hole 49a of the positioning seat 49. The plate 31 and the base plate 13 are locked, and the same operation as the fixed position gripping hand 10 can be performed.

[0039]

As described above, according to the present invention, the pair of clampers are tilted so that the tips of the clampers approach or expand each other, and the workpieces are gripped by both tips. The gripping force is uniform on the left and right, and even a slippery work is not displaced or dropped, and the reliability of gripping the work can be improved.

Further, in the case where the work pad is provided, the clamper pin can be pulled out while the work is pressed against the supporting surface during unclamping, and the work does not slide when set on a processing machine or the like. Is reliably prevented. Further, by providing the floating guide, it is possible to easily take out the work set or the work on the pallet whose position accuracy is poor.

[Brief description of drawings]

FIG. 1 is a partial sectional front view of a work gripping device of the present invention.

FIG. 2 is a partial sectional side view of a work gripping device of the present invention.

FIG. 3 is an enlarged partial cross-sectional view of a clamper portion of a fixed-position gripping hand.

4 is a view taken along the line IV-IV in FIG.

5 is a sectional view taken along line V-V in FIG.

6 is a sectional view taken along line VI-VI in FIG.

FIG. 7 is a plan view of the pallet.

FIG. 8 is an explanatory view of a work storing state on a pallet.

FIG. 9 is a schematic configuration explanatory view of a conventional work gripping device.

[Explanation of symbols]

 10 Hand for holding fixed position 11 Hand for work set 12, 13 Base plate 17, 31 Intermediate plate 18, 33 Tip plate 20, 34 Clamp cylinder 21a, 21b, 35a, 35b Clamper 24a, 24b, 38a, 38b Clamper pin 26 Workpad 30 Guide bar 40, 41 Spherical bearing 46 Lock cylinder 48 Positioning pin 51 Floating guide

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI technical display location B25J 17/02 H 9147-3F

Claims (3)

[Claims] 1. A work gripping device which is used by being attached to an operating device such as a wrist of a robot, and which grips the work by inserting the tips of a pair of clampers into holes formed in the work. The clamper is pivotally attached to the tip plate connected to the base plate attached to the wrist of the robot, and the base end of each clamper is connected to the working rod of the clamp cylinder via a link, respectively. A work gripping device characterized in that a pair of clampers are tilted in a direction in which their tip ends approach or separate from each other by the operation of a cylinder. 2. A work gripping device which is used by being attached to an operating device such as a wrist of a robot and which grips the work by inserting the tips of a pair of clampers into holes formed in the work. It is characterized in that a work pad, which is in contact with a work end face, is fitted to a clamper pin mounted on the tip of the clamper so as to be slidable in the axial direction, and a spring is interposed between the work pad and the tip of the clamper. Work gripping device. 3. A work gripping device which is used by being attached to an operating device such as a wrist of a robot and which grips the work by inserting the tips of a pair of clampers into holes formed in the work. An intermediate plate is selectively connected to a base plate mounted on the wrist of the robot in a floating state or a fixed state, and the intermediate plate has an inclined surface that engages with the inner peripheral edge of the upper end of the partition member of the pallet at the tip surface. Characterized in that a frame-shaped floating guide that encircles and flexes the clamper is connected so as to be movable in a direction parallel to the central axis of the clamper.
Work gripping device.