JPH0547469Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] The invention is suitable for use in gripping various small and lightweight workpieces, such as metal plates for filling cosmetics, electric/electronic parts, nuts, etc. Relating to a gripping device.

[Conventional technology]

Generally, a robot hand having a pair of finger-like gripping parts is known as a grasping device, and for example, a circular or oval gold plate filled with cosmetics is stored in a cosmetics pallet using the robot hand. This is difficult due to the shape of the gold plate, so in reality, workers have to manually store the metal pieces one by one.

Furthermore, it is impossible for the aforementioned robot hands to simultaneously grip multiple parts such as electrical and electronic parts, and no gripping device suitable for gripping workpieces of various shapes has hitherto been known.

[Problem that the invention attempts to solve]

The present invention was devised in view of the above-mentioned drawbacks of the prior art, and it is an object of the present invention to provide a gripping device that can reliably grip workpieces of various shapes such as circular and oval shapes.

[Means for solving problems]

In order to solve the above-mentioned problems, the gripping device according to the present invention includes a support body disposed above a workpiece to be clamped and movable at least in the vertical direction, and a support body disposed on one side in the width direction of the support body. An elastic member is disposed in the longitudinal direction between the provided clamping plate positioning device and the support body and the workpiece, the upper side is fixed to the clamping plate positioning device, and the lower side is formed with a plurality of comb teeth. a comb-shaped clamping plate made of material and positioned in the width direction by the clamping plate positioning device;
a clamping plate pushing device provided on the other side in the width direction of the support; and a clamping plate pushing device provided facing the comb-shaped clamping plate in the longitudinal direction; and a flat clamping plate which clamps the workpiece between the comb teeth of the comb-shaped clamping plate.

[Effect]

Before the workpiece is clamped, the comb-shaped clamping plate is moved to a desired position in the width direction by a clamping plate positioning device to position the clamping plate.

To clamp the workpiece, the support body is at least moved downward, and when the comb-shaped clamping plate and the flat clamping plate are in a position to clamp the workpiece from the left and right sides, the support body stops descending. Then, the clamping plate pushing device is activated to move the flat clamping plate in the width direction, thereby clamping the workpiece between the flat clamping plate and the comb-shaped clamping plate.

At this time, the comb-shaped clamping plate and the flat clamping plate are disposed facing each other in the longitudinal direction, and the plurality of comb teeth formed on the comb-shaped clamping plate deform along the outer shape of the workpiece while pressing against it. , the workpiece is held at a plurality of locations in the longitudinal direction by the plurality of comb teeth and the flat holding plate, so that the workpiece can be reliably gripped.

〔Example〕

Hereinafter, a case in which the gripping device of the present invention is applied to a metal plate alignment/transfer device will be described in detail based on the drawings.

In the figure, reference numeral 1 denotes an alignment device for arranging a plurality of circular metal plates A filled with powder cosmetics using a mold or other filling means in a vertical line in order to store them in a pallet. A table 2, a vibrating part 4 whose four corners are supported on the fixed table 2 via anti-vibration rubbers 3, 3, . . . and having a vibration mechanism inside; It is composed of a counterweight 5 and a tilting table 6 which is provided above the vibrating part 4 and receives vibration in the straight direction by the vibrating part 4. Here, the inclined table 6 includes a base portion 6A in the shape of a horizontally long plate, an inclined surface 6B formed on the upper surface of the base portion 6A in the width direction and downward to the left in FIG. Inclined surface 6 along the longitudinal direction of part 6A
A plurality of powder discharge grooves 6C, 6C, . The alignment guide part 6D, the longitudinal tip of the base part 6A, and the inclined surface 6B located at the right end in FIG.
A protruding piece-shaped linear stopper portion 6 protruding upward from the
It is formed from E, 6E, ... and,
A plurality of gold plates A, A, ..., which are randomly supplied on the inclined table 6, move in the direction of the arrow B by operating the vibrating part 4, and are moved to the alignment guide part 6D. They are now lined up along the same line.

On the other hand, reference numeral 7 denotes an elevating device for vertically supporting a gripping device, which will be described later, above the tilting table 6 of the alignment device 1. A robot arm 8 that can move up and down in the D direction and move in the E and F directions, a mounting plate 9 made of a flat plate fixed to the lower end of the robot arm 8 in an inverted T shape, and A pair of upper brackets 10, 10 are erected on the upper surface 9A on the sides of the arm 8.
and a rod insertion hole 11 located between the upper brackets 10 and 10 and bored vertically in the mounting plate 9.
and a pair of lower brackets 12, 12 projecting downward from the lower surface 9B of the mounting plate 9.

Next, reference numeral 13 denotes a support base serving as a support constituting the gripping device of this embodiment. It consists of a vertical plate part 13B bent in an L-shape, and a pair of swing brackets 14, 14 are provided protruding from the upper surface of the horizontal plate part 13A. The support base 13 connects the swing brackets 14, 14 to the lower brackets 12, 12 via the connecting pin 15.
By connecting to the robot arm 8, the robot arm 8 is swingably supported.

Reference numeral 16 indicates a comb-shaped holding plate 22, which will be described later, on the support base 1.
3, that is, the left and right directions in FIG.
is a prismatic shaft end support member 17 protruding from one end of the lower surface of the support base 13; A shaft support member 18 is provided with a shaft insertion hole (not shown), and a handle 19A for rotational operation is fixed to the base end, and a male thread is carved from the middle in the axial direction to the distal end. A propulsion shaft 19 whose middle portion is rotatably inserted into the shaft insertion hole of the shaft support member 18 and whose distal end is pivotally supported by the shaft end support member 17, and a propulsion shaft 19 located on both sides of the propulsion shaft 19, It consists of a pair of guide rods 20, 20 installed between the shaft end support member 17 and the shaft support member 18, and a horizontally long rectangular plate, and a screw hole into which the propulsion shaft 19 is screwed is formed in the center in the longitudinal direction. At the same time, there are guide rod sliding holes (none of which are shown) on both sides of the screw hole.
The holding plate mounting member 21 is formed with a holding plate mounting member 21. And the handle 19A of the propulsion shaft 19
By rotating the holding plate mounting member 21, the holding plate mounting member 21 can be moved in the directions of arrows G and H, and its position can be adjusted.

22 is connected to the upper side of the inclined table 6 and the lower side of the support table 13 in order to hold a plurality of metal plates A, A, . a comb-like clamping plate disposed in the longitudinal direction between the comb-like clamping plates and having an upper side fixed to the clamping plate mounting member 21;
The comb holding plate 22 is made of a horizontally long rectangular thin plate made of spring steel, and the lower free end side thereof has a diameter of about 5 mm.
Cuts 22A, 22A arranged horizontally at mm intervals
A plurality of strip-shaped comb teeth 22B, 22B are formed by.

Next, 23 is a vertical plate portion 1 of the support base 13 in order to advance and retreat the flat holding plate 29 in the directions of arrows K and J.
3B, the pushing device 23 is inserted into a pushing air cylinder 24 provided at the center of the outer surface of the vertical plate portion 13B, and is inserted into the air cylinder 24, a piston rod 2 whose distal end side protrudes toward the comb-shaped holding plate 22;
5, a pair of support rods 27, 27 located on both sides of the piston rod 25 and inserted into the vertical plate portion 13B via sliding bearings 26, 26, respectively;
It is composed of the support rods 27, 27 and a horizontally long rectangular clamping plate fixing member 28 whose one side is fixed to the shaft end of the piston rod 25.

29 is a flat holding plate for holding the metal plate A between the comb-like holding plate 22;
9 is different from the comb-shaped clamping plate 22, and is formed of a non-elastic metal plate or a synthetic resin plate into a flat plate having the same horizontally long rectangular shape as the comb-shaped clamping plate 22. They are fixed to the other side of the holding plate fixing member 28 in a state where they face each other in the longitudinal direction.

Thus, the gripping device according to this embodiment has a support base 13 swingably provided on the robot arm 8.
, a comb-shaped clamping plate 22 provided on the support base 13 via a clamp plate positioning device 16 , and the support base 1
3, and a flat clamping plate 29 provided on the clamping plate pushing device 23 facing the comb-shaped clamping plate 22.

Further, reference numeral 30 denotes a swinging device for swinging the gripping device in the directions of arrows J and K;
An air cylinder 31 is pivotably supported on the upper bracket 10 of the robot arm 8, and an air cylinder 31 is inserted into the air cylinder 31 so as to be movable forward and backward, and the distal end thereof passes through the rod insertion hole 11 and projects toward the support base 13. a pair of connecting brackets 33, 33, which are erected on the upper surface of the support base 13, located on the sides of the swing brackets 14, 14, and to which the distal end side of the piston rod 32 is rotatably attached. It consists of 34, 34 are located on the sides of the piston rod 32 and are located on the lower surface 9B of the mounting plate 9.
A pair of rod-shaped stopper members protruding from the support base 13 toward the upper surface of the support base 13.
is adapted to position the support base 13 in a horizontal state by abutting the upper surface of the horizontal plate portion 13A of the support base 13 with its tip end swung in the direction of arrow K.

The present embodiment is constructed as described above, and its operation will be explained next.

First, based on the diameter of the metal plate A and the stroke amount of the piston rod 25 of the clamping plate pushing device 23,
The comb-shaped clamping plate 22 and the flat clamping plate 29 are positioned so that the metal plate A can be clamped between them. This positioning operation is performed by rotating the handle 19A of the clamping plate positioning device 16 and moving the clamping plate mounting member 21 forward and backward in the directions of arrows G and H. In this case, the piston rod 32 of the swinging device 30 is retracted, and the support base 13 is in a horizontal state as shown in FIG.

On the other hand, the plurality of metal plates A supplied onto the inclined table 6 of the alignment device 1 move in the direction of the arrow B on the inclined surface 6B due to vibrations applied from the vibrating section 4, and during this time, the alignment guide section 6D They are aligned in the longitudinal direction of the inclined table 6 while being guided by. Cosmetic powder adhering to metal plate A during filling may fall into the powder discharge groove 6C due to vibration during filling, and may stay between metal plate A and inclined surface 6B and become a resistance. Therefore, the metal plate A can move smoothly on the inclined surface 6B.

As described above, when the metal plates A are aligned on the inclined table 6, the alignment device 1 stops. Then, as the robot arm 8 descends in the direction of arrow C, the piston rod 32 of the swinging device 30 advances and rotates the support base 13 in the direction of arrow J around the connecting pin 15.
As shown in the figure, the support stand 13 is attached to the inclined surface 6 of the inclined stand 6.
Tilt it at the same angle as B. Thereby, the comb-shaped holding plate 22 is positioned at right angles on the inclined surface 6B of the inclined table 6.

After that, the piston rod 25 of the clamping plate pushing device 23 advances in the direction of arrow H, and the flat clamping plate 29
are arranged on the inclined surface 6B.
The comb-shaped holding plate 22 is slid on the inclined surface 6B.
By pushing the metal plate A to the side, the metal plate A is moved to the comb-shaped holding plate 2.
2 and a flat holding plate 29. At this time, each comb tooth 25B of the comb-shaped holding plate 22 comes into pressure contact with the circular metal plate A in a bent state along the outer peripheral surface of the metal plate A, so that the comb teeth 25B of the comb-shaped holding plate 22 can be securely held between the plate-like holding plate 29 and the flat holding plate 29. .

When the metal plate A is gripped as described above, the robot arm 8 rises in the direction of arrow D and moves in the direction of arrow E where the pallets are arranged, and during this time the piston rod 32 of the swinging device 30 retracts. Then, the support stand 13 returns to the horizontal state. When it reaches the top of the pallet, the robot arm 8 descends to a predetermined position, the piston rod 25 of the clamping plate pushing device 23 retracts, and the flat clamping plate 29 separates from the comb-shaped clamping plate 22 in the direction of arrow G. As a result, the sandwiched gold plate A is accommodated in the pallet.

As described above, according to the gripping device of this embodiment, the plurality of comb teeth 22B, 22B,
... bends along the outer peripheral surface of the circular metal plate A, and clamps the outer peripheral surface of the metal plate A at a plurality of positions with the flat holding plate 29. Therefore, compared to the prior art in which a pair of finger-like grips grips the metal plate A at two points on its diameter, the gripping device of the embodiment can reliably grip the metal plate A. . Moreover, since each comb tooth 22B of the comb-shaped clamping plate 22 can press against the workpiece while being deformed along the outer shape of the workpiece, it is possible to reliably clamp workpieces of various shapes and to simultaneously clamp a plurality of workpieces.

In addition, in the embodiment, a case where a circular metal plate is held is cited as an example, but various workpieces such as a rectangular metal plate or a nut can be held, for example.
In this case, the clamping width between the comb-shaped clamping plate 25 and the flat clamping plate 32 may be adjusted by operating the clamping plate positioning device 19.

[Effect of idea]

The gripping device according to the present invention is as described in detail above, and includes a comb-shaped clamping plate on which a plurality of comb teeth are formed and a flat clamping plate, which are disposed in the longitudinal direction so as to face each other. The positioning device positions the comb-shaped clamping plate at a desired position suitable for clamping the workpiece, and the clamping plate pushing device moves the flat clamping plate forward and backward to move it between the comb-shaped clamping plate and the workpiece. Since the structure is configured to clamp the work, the plurality of comb teeth formed on the comb-shaped clamping plate deform while being bent along the outer shape of the work to be clamped, and each of the comb teeth forms a flat plate-shaped clamping plate that faces each other. A workpiece can be held at multiple points in the longitudinal direction between the two, and can reliably grip workpieces of various shapes such as circular, oval, etc., and can also grip multiple workpieces at the same time. Therefore, work efficiency can be significantly improved.

[Brief explanation of the drawing]

FIG. 1 is a front view of a metal plate alignment/transfer device using a gripping device according to an embodiment of the present invention, and FIG.
3 is a bottom view of FIG. 1, and FIG. 4 is a right side view similar to FIG. 2 showing the operating state of the gripping device. 13... Support stand, 22... Comb-shaped holding plate, 22B
...Comb teeth, 23... Holding plate pushing device, 29... Flat holding plate.

Claims (1)

[Scope of utility model claims] A support body located above a workpiece to be held and movable at least in the vertical direction, a holding plate positioning device provided on one side in the width direction of the support body, and a space between the support body and the workpiece. It is made of an elastic material and has a plurality of comb teeth formed on the lower side, and is positioned in the width direction by the clamping plate positioning device. a comb-shaped holding plate; a holding plate pushing device provided on the other side in the width direction of the support body; A gripping device comprising a flat clamping plate that clamps a workpiece between the comb teeth of the comb-shaped clamping plate by being moved forward and backward by a clamping plate pushing device.