JPH06794A - Holding device for work - Google Patents

Abstract

PURPOSE:To smoothly and surely cover a sliding body with an expandable cover body and easily prevent the infiltration of dust and grains into the sliding body section. CONSTITUTION:A ring body 37 is closely stuck to a hand small body (sliding body) 11 with screws 38 via bellows (cover body) 20, and the bellows 20 are closely stuck to the hand small body 11 surely.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work gripping device for gripping a work such as a wax molded product when coating the outer periphery of the wax molded product in, for example, precision casting (lost wax casting) equipment. .

[0002]

2. Description of the Related Art Generally, in the lost wax casting method, first, a wax molded product having the same shape as the product is molded by injection molding, and then these wax molded products are assembled together in a tree shape, Refractory particles are sprayed around the assembly with the ceramic slurry applied, and this is repeated several times to form a large number of coating layers around the assembly, which is then dried. (Assembly) is melted and removed from inside the coating layer, and molten metal is injected into the open space,
Finally, the coating layer is removed to take out the product. By the way, when applying the ceramic slurry around the above-mentioned assembly, a coating robot is usually used in order to drop the excess ceramic slurry by immersing the assembly in the ceramic slurry and then pulling it up. The applicant of the present invention has proposed such a coating robot as shown in FIG. 3 (see Japanese Patent Application No. 2-7751).
Here, the coating robot shown in FIG. 3 will be described. In the figure, reference numeral 1 is a robot arm, and the robot arm 1 has, for example, a 6-axis joint used for spot welding work. . And
A box body 3 of the interlocking mechanism 2 is provided at the tip of the robot arm 1.
Is attached, and a rotary shaft 4 is rotatably provided in the robot arm 1 and the box body 3. Two gears 5 and 6 are mounted on the rotary shaft 4, and gears 7 and 8 provided in the box body 3 are meshed with the gears 5 and 6, respectively. The gear 7 is mounted on a cylindrical hand body 10 of a robot hand 9 rotatably attached to the box body 3, and a hand body 11 is axially retractable inside the hand body 10. It is fitted. On the other hand, the gear 8 is the support shaft 1 mounted in the box body 3.
2 is rotatably supported, and the gear 8 has a gear 1
3 is meshed. And this gear 13 is the box 3
The robot hand 14 is rotatably attached to the cylindrical hand body 15, and the hand body 16 is fitted in the hand body 15 so as to be retractable in the axial direction. Further, a U-shaped locking tool 17 attached to the tip of each hand body 10, 15 and each hand body 1
The work 18 is grasped between the tips of the workpieces 1 and 16. The work 18 is formed by embedding a metal attachment 19 at the upper end of a wax assembly formed by assembling wax molded products together in a tree shape. At the upper end of the attachment 19, a pair of cones is attached. Table portions 19a and 19b and a small diameter portion 19c continuous with the portions
And are formed.

In the coating robot constructed as described above, the attachment 19 of the assembly (work) 18 of the wax molded product, which is hung and carried by the hanger, is attached to the tip of each robot hand 9, 14. After gripping each by, each joint of the robot arm 1 is operated to remove the work 18 from the hanger, and the work 18 is immersed in the ceramic slurry. Next, the robot arm 1 is operated to pull up the work 18 held by the tips of the pair of robot hands 9 and 14 from the ceramic slurry and hold it in a horizontal state. Then, by rotating the rotating shaft 4, the gears 5 and 6 are rotated, respectively, and the gear 7 and the gears 8 and 13 are rotated. As a result, the robot hands 9 and 14 rotate in opposite directions. Then, the robot arm 1 is appropriately moved so that the ceramic slurry is uniformly adhered to the surface of each work 18, and then refractory particles are sprayed to form a coating layer, and this operation is repeated to form a multi-layer coating layer. Form.

[0004]

In the conventional coating robot described above, when the attachment 19 of the wax-molded product assembly (workpiece) 18 is gripped by the tips of the robot hands 9 and 14, respectively, Alternatively, when detaching the attachment 19 of the wax-molded product assembly (work) 18 from the tips of the robot hands 9 and 14, the hand bodies 11 and 16 are protruded and retracted from the hand bodies 10 and 15. ing. And
At this time, in order to protect the hand bodies 11, 16 from the fire-resistant particles and the like, an expandable bellows 20 is provided between the hand bodies 11, 16 and the hand bodies 10, 15 as shown in FIG.
The band 21 is attached as shown in FIG. However, when the bellows 20 is attached by the conventional band 21, as shown in FIG. 4, the bellows 20 spreads outward in the tightening portion 21a of the band 21, and the bellows 2
A gap 22 opens between 0 and each hand body 11, 16,
There is a problem that refractory particles and the like easily enter the inside through the gap 22, and the band 21 easily separates from the hand bodies 11 and 16.

The present invention has been made in view of the above circumstances, and an object of the present invention is to allow a sliding body to be smoothly and surely covered with a stretchable covering body, and the sliding body portion to be dusted. Another object of the present invention is to provide a work gripping device that can easily prevent particles and the like from entering.

[0006]

In order to achieve the above object, claim 1 of the present invention provides a work gripping device for gripping a work having a large diameter portion and a small diameter portion continuous with the large diameter portion. A locking member that engages with the small diameter part of the sliding member, a sliding body that is provided so as to be able to approach and separate from the locking member, and that is in pressure contact with the large diameter portion of the work, And a covering body for covering the sliding body, and a close body for bringing the covering body into close contact with the sliding body is provided around the covering body, and the close body is slidable on the sliding body. The fastening means for fixing to the moving body is provided so as to penetrate the covering body. According to a second aspect of the present invention, in a work gripping device for gripping a work having a large diameter portion and a small diameter portion connected to the large diameter portion, a locking tool that engages with the small diameter portion of the work, and the locking. A sliding body which is provided so as to be able to approach and separate from the tool and is in pressure contact with the large diameter portion of the work, and a covering body which is provided around the sliding body so as to be expandable and contractible and covers the sliding body. A close contact body for bringing the cover body into close contact with the slide body is locked to the engaging portion formed on the slide body via the cover body.

[0007]

According to the first aspect of the work gripping device of the present invention, the covering member is brought into close contact with the sliding member by the fastening means so that the covering member is securely brought into close contact with the sliding member. . According to the second aspect of the present invention, the cover is smoothly brought into close contact with the sliding body by locking the close body to the engaging portion of the sliding body via the cover.

[0008]

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

FIG. 1 is a sectional view showing an embodiment of the present invention. In this figure, a portion corresponding to the left portion of the conventional example shown in FIG. 3 is shown, and this portion will be described. Since the portion corresponding to the right portion has the same configuration, description thereof will be omitted. Further, the same parts as those in the above-mentioned conventional example are designated by the same reference numerals to simplify the description.
The hand body 10 is rotatably provided in the box body 3 through a plurality of rotation supporting members 30.
A piston 31 is slidably provided on the inner base end side of the. The connecting bolt 3 is attached to the piston 31.
2, the hand body 11 is connected via a fastening bolt 33, and a spring 34 for urging the piston 31 toward the proximal side is mounted around the connection bolt 32, and By supplying the fluid to the inner proximal side of the hand body 10, the piston 31, the connecting bolt 32, the fastening bolt 33, and the hand body 11 move toward the distal side against the biasing force of the spring 34. It has become. Further, a frustoconical recess 35 is formed on the tip surface of the hand body 11, and this recess 3
An elastic body 36 made of rubber in the shape of a donut disc is attached to the bottom of 5. A urethane bellows 20 is attached between the outer peripheral tip of the hand body 11 and the hand body 10 provided around the hand body 11 via a ring body 37 so as to be expandable and contractible. As the ring body 37, a ring-shaped member having a complete annular shape, a ring-shaped one-piece portion cut out, a half-shaped member, or the like is appropriately selected for use. Further, the ring body 37 is
It is attached by a screw 38 via the bellows 20 to the outer peripheral tip of the hand body 11 and the hand body 10 provided around the hand body 11. Furthermore, the U-shaped locking tool 17 is attached to the hand body 10 via a pair of mounting members 39, and a mounting groove 17a having a cup-shaped cross section is formed.

In the coating robot equipped with the work gripping device constructed as described above, a set of wax moldings that are hung and transported by a hanger, as in the conventional coating robot described above. The lower truncated cone portion 19b and the small diameter portion 19 of the attachment 19 of the three-dimensional body 18
c is laterally engaged in the mounting groove 17a of the U-shaped locking tool 17 at the tip of each hand body 10 (15), and each hand body 11 (16) is lowered to attach the attachment 19 of the attachment 19. By pressing the attachment 19 of the assembly 18 with the tip of each robot hand 9 (14) by pressing it onto the upper truncated cone portion 19a, each joint of the robot arm (1) is operated to remove the assembly 18 from the assembly 18. Remove from hanger and soak in ceramic slurry. Next, the robot arm (1) is operated to operate the pair of robot hands 9
The assembly 18 held at the tip of (14) is pulled up from the ceramic slurry and held in a horizontal state. Then, by rotating the rotary shaft (4), each gear 5
By rotating (6) respectively, the gear 7 and the gears (8, 1
3) Rotate. As a result, each robot hand 9
(14) rotate in opposite directions. Then, the robot arm (1) is appropriately moved so that the ceramic slurry is evenly adhered to the surface of each assembly 18, and then refractory particles are sprayed to form a coating layer, and this operation is repeated to repeat the multilayer coating. Form a coating layer. Here, the reference numerals in parentheses () indicate the members in FIG.

In this way, when the attachment 19 of the assembly 18 is gripped by the tip of each robot hand 9 (14), each of the hand bodies 11 (16) is lowered and the upper truncated cone part of the attachment 19 is attached. When pressing against the hand body 19a, the elastic body 36 is attached to the bottom of the recess 35 at the tip of each hand body 11 (16).
The shock caused by the contact between 6) and the attachment 19 is reliably absorbed, and the wax molded product of the assembly 18 does not drop. Further, when the attachment 19 is detached from the tip of each robot hand 9 (14), the elastic body 36 is formed in a donut disc shape and contacts only the upper surface of the upper truncated cone portion 19a of the attachment 19. Therefore, the elastic body 36 can be easily separated, and the elastic body 36 does not adhere to the attachment 19. Further, as described above, each hand body 11 (16) is connected to each hand body 10
When sliding with respect to (15), the ring body 37
However, since the screw 38 is attached to the outer peripheral tip of the hand body 11 and the hand body 10 provided around the hand body 11 via the bellows 20, the ring body 37 is securely fixed. The bellows 20 is firmly attached to the outer peripheral tip portion of the hand body 11 and the hand body 10 provided around the hand body 11 and is prevented from falling off. Invasion of foreign matter, etc. is prevented, and the sliding part is not damaged.

FIG. 2 shows another embodiment of the present invention.
In this figure, an engagement groove 40 is formed at the outer peripheral tip of the hand body 11, and the ring body 37 is mounted in the engagement groove 40 via the bellows 20. This allows
Furthermore, it is possible to prevent the ring body 37 from falling off and prevent particles and the like from entering the bellows 20.

[0013]

As described above, according to the first aspect of the present invention.
In a work gripping device for gripping a work having a large diameter portion and a small diameter portion connected to the locking portion, a locking tool that engages with the small diameter portion of the work, and a locking tool that is movable toward and away from the locking tool. And a sliding body that is in pressure contact with the large-diameter portion of the work, and a covering body that is expandable and contractable around the sliding body and that covers the sliding body. A close contact is provided to bring the cover into close contact with the sliding body, and a fastening means for fixing the close contact to the sliding body is provided in the close contact in a state of penetrating the cover. From the above, the fastening means brings the tight contact body into close contact with the sliding body through the covering body, so that the tight contacting body does not fall off, and the covering body can be surely brought into close contact with the sliding body. Can be covered smoothly with a stretchable cover Both dust sliding body part, it can be easily prevented from entering the particle or the like. According to a second aspect of the present invention, in a work gripping device for gripping a work having a large diameter portion and a small diameter portion connected to the large diameter portion, a locking tool that engages with the small diameter portion of the work, and the locking. A sliding body which is provided so as to be able to approach and separate from the tool and is in pressure contact with the large diameter portion of the work, and a covering body which is provided around the sliding body so as to be expandable and contractible and covers the sliding body. Since the close body for bringing the cover into close contact with the slide body is locked to the engaging portion formed on the slide body through the cover, the close body is provided through the cover. By engaging with the engaging portion of the sliding body, the covering body can be further closely attached to the sliding body, so that the contact body can be prevented from coming off and foreign matter can be prevented from entering the covering body.

[Brief description of drawings]

FIG. 1 is a sectional view showing an embodiment of the present invention.

FIG. 2 is a sectional view showing another embodiment of the present invention.

FIG. 3 is a sectional view showing a tip portion of a conventional coating robot.

FIG. 4 is an explanatory diagram showing a band portion.

[Explanation of symbols]

 11.16 Hand small body (sliding body) 17 Locking tool 18 Workpiece (assembly) 19a Upper truncated cone part (large diameter part) 19b Lower truncated cone part 19c Small diameter part 20 Bellows (cover) 37 Ring body (close body) ) 38 screw (fastening means) 40 engaging groove (engaging portion)

Claims (2)

[Claims] 1. A gripping device for a work, which grips a work having a large-diameter portion and a small-diameter portion connected to the large-diameter portion. And a cover for covering the slide, the slide being provided on the large diameter portion of the work under pressure, and the cover being expandable around the slide and covering the slide. A contact body for bringing the cover body into close contact with the sliding body, and a fastening means for fixing the close body to the slide body is provided in the close body in a state of penetrating the cover body. A work holding device. 2. A gripping device for gripping a work, which has a large diameter portion and a small diameter portion connected to the large diameter portion. And a covering body that is provided around the sliding body so as to expand and contract and that covers the sliding body. The sliding body is formed on the sliding body. A gripping device for a work, characterized in that a close body for bringing the covering body into close contact with the sliding body is engaged with the engaged portion via the covering body.