JPH07185987A - Work gripping measuring device - Google Patents

Abstract

PURPOSE:To provide a work gripping measuring device capable of measuring a specified position of a work simultaneously at the time of transporting the work. CONSTITUTION:This device is furnished with a gripping mechanism 1 to grip a work and a measuring mechanism 2 to measure dimension of a specified position of the work W gripped by this gripping mechanism 1 and is integrally constituted of both of the mechanisms 1, 2 while securing individual actuation of the gripping mechanism 1 and the measuring mechanism 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work grip measuring device capable of simultaneously measuring a size of a work at a predetermined position while gripping the work.

[0002]

2. Description of the Related Art Conventionally, generally, in an automatic manufacturing process or an assembly process in a factory, a work as an object is gripped by a work gripping device such as a robot hand, and is conveyed to the next process, for example, for machining. Provided for work or assembly work. Such a work gripping device usually has a function of gripping a work and a function of transporting the gripped work to another place, and is not concerned with the dimensional accuracy of the gripped work.

Therefore, for example, it is necessary to measure whether or not the processed work is a passing product having a dimensional accuracy within a predetermined range. In order to determine whether the size of the work is acceptable or not, the work is usually gripped by the work gripping device and conveyed to the measuring device, and the work is once placed at an appropriate place and then measured. After this measurement, the work is gripped by the work gripping device again, and, for example, the accepted product is transported to the pallet for the accepted product, and the rejected product is transported to the pallet for the defective product.

[0004]

However, in the conventional work holding device as described above, there is only a function of holding the work and conveying it to a predetermined position, and the dimension measurement of the work is independently performed by another measurement device. Therefore, there has been a problem that the number of man-hours required to judge whether or not the dimensional accuracy of the work is appropriate is large and the work efficiency is poor.

The present invention has been made in view of such conventional problems, and an object thereof is to provide a work grip measuring device capable of simultaneously measuring a predetermined position of a work when the work is conveyed. There is.

[0006]

The present invention solves the above-mentioned problems and the like, and achieves the above-mentioned objects. For example, as shown in FIGS. 1 to 22, the work (W, W1, W
2, W3, W4) gripping mechanism (1, 50, 7)
1, 83) and a measuring mechanism (2, 60, 61, 6) for measuring the dimensions of a predetermined position of the work gripped by this gripping mechanism.
2, 70, 80), and is characterized in that both mechanisms are integrally configured while ensuring individual operations of the gripping mechanism and the measuring mechanism.

Further, the gripping mechanism 50 of the present invention may be provided with a positioning member 51 for keeping the gripping position of the work W1 constant, as shown in FIGS. 13 and 14, for example.

Further, the measuring mechanism 60 of the present invention is, for example,
As shown in FIGS. 15 and 17, it is possible to adopt a configuration having a plurality of measuring units 61 and 62 for measuring a plurality of positions of the work W2.

[0009]

According to the present invention, by virtue of the above-mentioned configuration, the work (W, W1, W1) is held by the gripping mechanism (1, 50, 71, 83).
While gripping (W2, W3, W4), at the same time, a predetermined position of the work can be measured by the measuring mechanism (2, 60, 61, 62, 70, 80), and the work manufacturing process, the assembly process, etc. It is possible to reduce the tact time.

Further, by providing the gripping mechanism 50 with the positioning member 51, both the gripping accuracy and the measuring accuracy of the work can be improved.

Further, the measuring mechanism 60 includes a plurality of measuring units 61,
By providing 62, it is possible to measure a plurality of positions of the work W2 at the same time.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 12 are the first embodiment of the present invention, FIGS. 13 and 14 are the second embodiment of the present invention, FIGS. 15 to 17 are the third embodiment of the present invention, and FIGS. 18 and 19 are the present invention. 20 and 22 show a fifth embodiment of the present invention. FIG. 23 shows a specific example of the work.

1 to 4, 1 is a gripping mechanism for gripping the work W, 2 is a measuring mechanism for measuring the size of the work W gripped by the gripping mechanism 1 at a predetermined position, The gripping mechanism 1 and the measuring mechanism 2 constitute a work gripping measuring device 100 according to this embodiment.

The gripping mechanism 1, as shown in FIGS.
The base member 4 is provided with a concave portion 3 for accommodating the measuring mechanism 2 in the center. The recessed portion 3 of the base member 4 is formed to be elongated in the diameter direction, and an air cylinder 5 forming a pair is provided so as to sandwich the recessed portion 3. Since the left and right air cylinders 5 are symmetrical and have the same configuration, the cross-sectional illustration of the right air cylinder 5 is omitted.

The air cylinder 5 has a piston 7 slidably fitted in a cylinder hole 6 formed in the base member 4.
And a slider 8 which is slid in the radial direction by the piston 7, and the cylinder hole 6 extends in the direction in which the recess 3 is opened. The cylinder hole 6 includes a large diameter hole 6a into which the large diameter portion 7a of the piston 7 is fitted and a piston 7
Has a small diameter hole 6b into which the small diameter portion 7b of
a and 6b are formed so as to be concentric with each other. Therefore, the large-diameter portion 7a and the small-diameter portion 7b of the piston 7 are formed concentrically, and the operating portion 7 is slanted from the tip of the small-diameter portion 7b.
c is formed to project.

The operating portion 7c of the piston 7 has a cylinder hole 6
Is slidably engaged with a guide hole 8a of a slider 8 arranged so as to close the opening side of the. The slider 8 is slidably engaged with a guide groove 9 provided so as to extend in the radial direction on the opening side of the concave portion 3 of the base member 4. This slider 8 has a flange portion 8b which spreads on both sides in the width direction. By engaging this flange portion 8b with a wide portion 9a provided at the bottom of the guide groove 9, the slider 8 moves in the slider movement direction of the cylinder hole 6 of the slider 8. Has been blocked. The operating portion 7c is inclined in the direction in which the guide groove 9 extends, so that the forward / backward movement of the piston 7 is caused by the operating portion 7c.
And the guide hole 8a, the cylinder hole 6 of the slider 8 is converted into a direction orthogonal to the slider movement direction.

Further, on the upper surface of the slider 8, the gripping claw 1 is provided.
Positioning pin 8c for positioning 0 (or 11)
And a screw hole 8d for screwing the gripping claw 10 (or 11). As shown in FIG.
One of the gripping claws 10 is provided with a V groove 10a on the inner side, and the V groove 10a is used to position the work W as shown in FIG. 23, for example. Further, the other gripping claw 11 has a quadrangular shape with all surfaces being flat, and presses the work W against the V groove 10 a of the one gripping claw 10.

Then, as shown in FIG. 5, the cylinder hole 6
Of the large diameter portion 7a of the piston 7 into the large diameter hole 6a of
A communication hole 12a that communicates with the b side and a communication hole 12b that communicates with the side opposite to the small diameter portion 7b are provided, and both communication holes 12a, 12b are connected ports 13a, 13 respectively.
It is connected to an air pressure device (not shown) from b. 14
Reference symbol a is an O-ring mounted on the large diameter portion 7a of the piston 7, and reference symbol 14b is an O-ring mounted on the small diameter portion 7b. Reference numeral 15 is a cover that covers the upper portion of the slider 8.

The operation of the gripping mechanism 1 having such a structure is as follows, for example. That is, when the air of the air pressure device is introduced into the upper chamber of the air cylinder 5 through the upper connection port 13a, the pressure pushes down the piston 7. As a result, the operating portion 7c of the piston 7 presses the inclined surface on the left side of the guide hole 8a of the slider 8 from above in FIG. As a result, the slider 8
Since the vertical movement of the is restricted by the guide groove 9, the slider 8 moves to the left in the left air cylinder 5 by the component force acting on the left inclined surface of the guide hole 8a. Similarly, in the air cylinder 5 on the right side, since the slider 8 moves to the right side,
The pair of holding claws 10 and 11 fixed to each other move in the respective directions to separate from each other, and the gap between the two holding claws 10 and 11 is opened.

On the other hand, when air is introduced into the lower chamber of the air cylinder 5 through the lower connection port 13b, the piston 7 is pushed up by the pressure, which causes the piston 7 to rise.
5, the operating portion 7c of FIG. 5 presses the right inclined surface of the guide hole 8a of the slider 8 from below. As a result, the slider 8 moves to the right in the left air cylinder 5 by the component force acting on the right inclined surface of the guide hole 8a of the slider 8. Similarly, in the air cylinder 5 on the right side, the slider 8 moves to the left side, so that the gripping claws 10 and 11 fixed to the slider 8 respectively move toward each other, and the gripping claws 10 and 11 are moved toward each other. The space is narrowed.

As shown in FIGS. 8 to 11, the measuring mechanism 2 includes a fixed member 21 having an air cylinder 20 and a pair of movable members 22A and 22B arranged in parallel. The fixed member 21 and the movable members 22A and 22B are
Leaf springs 23A, 23B and 24 at both ends of each
A and 24B are connected so as to be movable in parallel. Both ends of these leaf springs 23A, 23B and 24A, 24B are fixed to the fixed member 21 or the movable members 22A, 22B via the holding plates 25a, respectively. A reinforcing plate 25b is fixed in the middle of each of the leaf springs 23A, 23B and 24A, 24B.
The bending of the leaf springs 23A, 23B and 24A, 24B is prevented by b. Therefore, each leaf spring 23
A, 23B and 24A, 24B can be bent only in the vicinity of the fixed member 21 or the movable members 22A, 22B, whereby the movable member 22A, 22A,
22B always moves in parallel.

The movable members 22A and 22B have cam projections 26 projecting from the lower surfaces of the middle portions thereof, and the cam projections 26 have cam surfaces 26 inclined in opposite directions.
a and 26b are formed. Coil-shaped compression springs 27A and 27B for exerting a spring force so as to separate them from each other are attached between the cam protrusions 26 and the fixing protrusions 21a and 21b provided on the fixing member 21. There is.

The cam surface 26a of the cam convex portion 26,
A pressing portion 28a provided at the tip of the rod 28 of the air cylinder 20 is commonly abutted against the 26b. This rod 28
A piston 29 is fixed to the other end of the piston 29, and the piston 29 is slidably fitted in a cylinder hole 30 provided in the fixing member 21. These rod 28 and piston 29
The air cylinder 20 is composed of the cylinder hole 30 and the cylinder hole 30. Reference numeral 31 shown in FIG. 8 is a communication hole that communicates with the cylinder hole 30, and the air pressure device described above is connected to the communication hole 30.

Further, as shown in FIGS. 8 and 11, a magnetic scale 33 is attached to one movable member 22A, and a reading magnetic head 34 is attached to the other movable member 22B. The magnetic scale 33 and the magnetic head 34 are installed so as to face each other, and by detecting the relative displacement of the magnetic scale 33 by the magnetic head 34, the relative displacement of both the movable members 22A and 22B can be detected with high accuracy. ing.

Furthermore, measuring claws 35 and 36 are fastened and fixed by fixing screws 37 to the upper surfaces of both movable members 22A and 22B. These measuring nails 35, 36
Is installed such that the line connecting the toes of the two is parallel to the moving direction of the movable members 22A and 22B, so that when the measuring claws 35 and 36 cooperate to grip the work W, The force prevents a moment from acting on the work W. Therefore, the moving directions of the measuring claws 35 and 36 are parallel to the relative displacement directions of the magnetic scale 33 and the magnetic head 34.

The operation of the measuring mechanism 2 having such a structure is as follows, for example. That is, when the air of the air pressure device is introduced into the lower chamber of the air cylinder 20 from the state shown in FIG. 8, the piston 29 is pushed up by the pressure. As a result, the rod 2 integrated with the piston 29
The pressing portion 28a provided at the tip of the
2A, 22B cam convex portion 26 of the inclined cam surface 26a,
26b is pressed from below.

In this case, the two movable members 22A, 22B have four leaf springs 23A, 23B, 24 with respect to the fixed member 21.
They are supported in parallel by A and 24B, and the action of these leaf springs ensures the parallel movement of both movable members 22A and 22B with respect to the fixed member 21. As a result, the lateral component force acting on both cam surfaces 26a and 26b causes one movable member 22A to move to the left as shown in FIG. 9, while the other movable member 22B differs from this. Move to the right in the opposite direction. As a result, the measuring claws 35, 36 fixed to the upper surfaces of the movable members 22A, 22B respectively move in the directions away from each other, so that the distance between the measuring claws 35, 36 is opened.

Next, when the air in the lower chamber of the air cylinder 20 is exhausted, the cam convex portions 26 are pushed toward each other by the spring force of the compression springs 27A and 27B, and the rod 28 is pushed from both cam surfaces 26a and 26b. Pressing part 2
The rod 28 and the piston 29 are pushed down by the vertical component force acting on 8a. Thereby, both movable members 22
Measuring claws 35 fixed to the upper surfaces of A and 22B,
36 moves toward each other, and both measuring claws 35, 3
The 6 intervals are closed. And the pair of measuring claws 3
The relative amount of movement between the movable members 22 and 25 is
The relative movement amount between 2B is detected by the magnetic scale 33 and the magnetic head 34 provided on them. Therefore,
By interposing the work W between the measuring claws 35 and 36, the dimension of the work W can be measured with high accuracy.

The measuring mechanism 2 having the above-described structure and function is provided in the concave portion 3 of the base member 4 of the gripping mechanism 1 with respect to the moving direction X of the gripping claws 10 and 11.
The work gripping measuring device 100 is configured such that the gripping mechanism 1 and the measuring mechanism 2 are integrated with each other. The work grip measuring device 100 having such a configuration is used, for example, in an automatic manufacturing line or an assembly line of a factory in a state as shown in FIG.

In FIG. 12, reference numeral 40 denotes an orthogonal robot configured to be movable in the horizontal direction and the vertical direction. The workpiece gripping measuring device 10 is provided at the lower end of the orthogonal robot 40.
0 is attached. Numerals 41 to 44 are pellets for ranking the conveyed work W according to its accuracy, and 41 is a high-precision work W of rank 1.
Is a high precision pellet, 42 is a medium precision pellet containing a medium precision work W of rank 2, 43 is a medium precision pellet containing a medium precision work W of rank 3, and 44 is a rank This is a defective pellet that accommodates defective products outside.

Reference numeral 45 is a conveyor for conveying the work W to a predetermined position of the work grip measuring device 100. As an example of the work W transported by the transport conveyor 41, for example, one as shown in FIG. 23 is applied. The work W comprises a disk-shaped large-diameter portion Wa and a small-diameter portion Wb protruding in the center of one surface side of the large-diameter portion Wa, and the outer peripheral surface of the small-diameter portion Wb is accurately finished. .

Next, the workpiece W is placed on the orthogonal robot 40.
A case will be described in which the diameter at a predetermined position is measured while being gripped and transported. As shown in FIG. 12, first, the small diameter portion W
Work W sent by conveyor 45 with b up
The large-diameter portion Wa of the gripping mechanism 1 of the workpiece gripping measuring device 100
It is grasped with, lifted up a little and taken out from the conveyor 45. Then, the orthogonal robot 40 is transported to a predetermined position,
The work W is housed in a predetermined pellet by lowering it a little.

While the work W is being conveyed, the measuring mechanism 2 is operated to measure the diameter of the work W at a predetermined position. Based on the measurement result, the pellets 41 to 44 classified into ranks 1 to 3 and defective products are sorted and stored according to the tolerance range.

In this case, in this embodiment, the work W
Since the transfer work and the measurement work of the work W are not timed separately, and the measurement work is performed at the same time during the transfer work, it is possible to perform these works in a short time and improve work efficiency. It can be greatly improved.

Considering the processing and productivity of such a work W, for example, when the finished dimension of the small-diameter portion Wb is measured and ranked according to the dimensional accuracy for selection, the small-diameter portion Wb is selected. It is not possible to cause scratches or distortions in the finished portion by gripping for transportation. for that reason,
It is required to grip and convey a part other than the finished part. Further, when measuring the diameter of the finished portion, not only increasing the takt time by performing the measurement by a separate means, but especially in the process that requires machining and selection of a large number of parts. It causes a great loss. Therefore, as in the present embodiment, if the dimensions of a predetermined portion can be measured at the same time while the work W is being conveyed, the productivity can be significantly increased.

Further, according to the present embodiment, since the gripping mechanism 1 and the measuring mechanism 2 operate independently of each other, the gripping claws 10 and 11 and the measuring claw are adjusted according to the material and shape of the work W. The material, shape, etc. of can be selected appropriately. Further, since the gripping force of the gripping mechanism 1 and the measuring force of the measuring mechanism 2 can be set separately, for example, by strengthening only the gripping force and weakening the measuring force, the finished surface is damaged or deformed. It is possible to prevent the occurrence of such a defect. Therefore, according to the present embodiment, it is possible to measure the diameter of the finished portion with high accuracy at the same time as the transportation while securing a sufficiently large gripping force required for the transportation. Moreover, since the effect of the gripping mechanism 1 has little influence on the measurement of the measuring mechanism 2, the gripping mechanism can be configured using an elastic body.

In the second embodiment of the present invention shown in FIGS. 13 and 14, the workpiece W1 is attached to one slider 8 of the gripping mechanism 50.
It is provided with a stopper 51 showing a specific example of a positioning member that serves as a positioning reference when gripping the. By providing this stopper 51, the pair of gripping claws 10, 1
When the work W1 is gripped by the position 1, the position of the work W1 is always held at the same position from the position of the stopper 51. As the shape of the work W1, a cylindrical shape is used. The other structure is similar to that of the first embodiment.

In this case, a master piece or the like is used as an initial setting for measurement, and as shown in FIGS.
By adjusting the positions of both the claws 35 and 36 so that the centers of the individual measurement claws 35 and 36 and the center of the master piece match, the diameter of the diameter at the center position can be accurately measured when the next work W is measured. It becomes possible to measure. As another measuring method, for example, the diameter at the center position can be accurately measured by moving and adjusting the stopper 51 with reference to the two measuring claws 35 and 36.

The third aspect of the present invention shown in FIGS.
In the embodiment, the dimensions of the work W2 at a plurality of points can be simultaneously measured. That is, the measuring mechanism 60 includes two sets of the measuring mechanism 2 in the first embodiment, one measuring mechanism 61 measures the outer diameter of the work W2, and the other measuring mechanism 62 measures the inner diameter of the work W2. I try to measure. Therefore, the work W2 is provided with a hole of an appropriate size. In addition, in FIG.
Reference numeral 65 is a magnetic scale for detecting relative displacement between the pair of movable members 22A and 22B, and 66 is its magnetic head. The other structure is similar to that of the above-described first embodiment.

In this case, as shown in the drawing, the object of the present embodiment can be achieved only by changing the shapes of the two sets of measuring claws 63a, 63b and 64a, 64b. That is,
One set of measuring claws 63a, 63b is for measuring the outer diameter of the work W2, and the other set of measuring claws 64a, 64b.
Is for measuring the inner diameter of the work W2. Thus, according to this embodiment, the outer diameter and the inner diameter of the work W2 can be measured simultaneously and accurately.

Furthermore, in the fourth embodiment of the present invention shown in FIGS. 18 and 19, a part of the measuring mechanism 70 is also used as the gripping mechanism 71. That is, the number of the measuring claw 72 is one, and the one measuring claw 72 is installed so as to face the fixing claw 73 of the gripping mechanism 71 so that the measuring claw 72 can advance and retreat. The diameter of the workpiece W3 is measured with and. Therefore, only one movable member 74 of the measuring mechanism 70 is provided, and the fixing member in the above embodiment is eliminated, and the base member 75 of the gripping mechanism 71 also has the function of this fixing member. Therefore, between the movable member 74 and the base member 75, a pair of two leaf springs 76A and 76B are configured to be movable in parallel.

In the fourth embodiment, the gripping mechanism 71
V for fixing the work W3 to the fixing claw 73 of
A groove 73a is provided, and two movable claws 77A and 77B are configured to be movable back and forth so as to approach and separate from the V groove 73a in an oblique direction. Other configurations are similar to those of the above-described embodiment, and the operation and effect thereof are also similar to those of the above-described embodiment. Particularly, in this embodiment, the gripping mechanism 7 is used.
Since the first fixing claw 73 also serves as the measuring claw of the measuring mechanism 70, the structure of the measuring mechanism 70 can be simplified.

Furthermore, the fifth embodiment of the present invention shown in FIGS. 20 to 22 is configured to grasp the inner diameter of the work W4 and measure the dimension of the outer diameter. Therefore, the respective shapes of the two measuring claws 81 and 82 of the measuring mechanism 80 and the two grasping claws 84 and 85 of the grasping mechanism 83 are set as shown in FIG. That is, the measuring claws 81, 82
Are formed in a U shape so as to project outward in the radial direction in order to measure the outer diameter of the work W4, and their upper ends face each other inward. Further, the gripping claws 84 and 85 are
In order to grip the inner diameter of the work W4, the measuring claws 81, 8
Contrary to 2, it is provided on the inner side in the radial direction and has a measuring claw 8
It is installed in the direction orthogonal to 1, 82.

In this fifth embodiment, the gripping mechanism 83
In order to move the gripping claws 84 and 85 back and forth, the slider 86 is provided with a cam groove 86a extending in an oblique direction.
Then, the tip 88a of the rod 88 of the air cylinder 87 is slidably engaged with the cam groove 86a of the slider 86, and the action of the cam groove 86a converts the linear movement of the rod 88 into the movement in the direction orthogonal thereto. I am letting you. Other configurations are the same as those of the above-mentioned embodiment, and the operation and effect thereof are also the same as those of the above-mentioned embodiment. Particularly, in this embodiment, the outer peripheral surface is accurately finished and the outer peripheral surface is grasped. This is suitable when the outer diameter dimension of the work W4 that cannot be processed is simultaneously measured while being conveyed.

As described above, the present invention is not limited to the above embodiment. For example, in the above embodiment, an air pressure device is provided as a power source for operating the measuring mechanism and the gripping mechanism, and its air pressure is set. Although the measuring claw and the grasping claw are configured to be operated in, the gas other than air can be applied, and a liquid such as oil or water can also be used. Further, as the means for detecting the displacement of the measuring claw of the measuring mechanism, the example using the magnetic scale and the magnetic head has been described in the above embodiment, but in addition to this, for example, an optical scale, a capacitance sensor, or the like. Various detecting means such as can also be used.

Further, the fixing projections 21a, 2 of the fixing member 21
The compression springs 27A and 27B are provided between the cam 1b and the cam projections 26 and 26 of the movable members 22A and 22B, and the movable members 22A and 22B are returned to their initial positions by the spring force of these compression springs. Alternatively, a tension spring or the like may be used. As described above, the present invention can be variously modified without departing from the spirit thereof.

[0047]

As described above, according to the present invention,
Since it is configured as described above, it is possible to perform the work transfer work and the work measurement work at the same time, in the production process of the work or the assembly process using the work, the tact time is reduced, and the manufacturing efficiency or The effect that the assembling efficiency can be improved is obtained. Further, since the gripping force and the measuring force of the work can be set separately and independently, the finished surface of the work can be safely and reliably transported without damaging it.

By providing the gripping mechanism with a positioning member, the work can be always positioned at a predetermined position and the accuracy of the gripping position can be improved, whereby the measurement accuracy of the work can also be improved.

Further, by providing the measuring mechanism with a plurality of measuring portions, it is possible to simultaneously measure the dimensions of a plurality of positions of the work, and thus it is possible to improve the measurement efficiency of the work.

[Brief description of drawings]

FIG. 1 is an exploded perspective view showing a first embodiment of the present invention.

FIG. 2 is a front view of the same.

FIG. 3 is a side view of the same.

FIG. 4 is a plan view of the same.

5 is a front view of the gripping means shown in FIG. 1. FIG.

FIG. 6 is a side view of the same.

FIG. 7 is a plan view of the same.

FIG. 8 is a front view in which a part of the measuring means shown in FIG. 1 is sectioned.

9 is an explanatory view showing the operation of the measuring means shown in FIG.

FIG. 10 is a side view of the same.

FIG. 11 is a plan view of the same.

FIG. 12 is an explanatory diagram showing a usage state of the first embodiment.

FIG. 13 is a partially sectional front view showing a second embodiment of the present invention.

FIG. 14 is a plan view of the same.

FIG. 15 is a front view showing a third embodiment of the present invention.

FIG. 16 is a side view of the same.

FIG. 17 is a plan view of the same.

FIG. 18 is a front view showing a fourth embodiment of the present invention.

FIG. 19 is a plan view of the same.

FIG. 20 is a front view showing a fifth embodiment of the present invention.

FIG. 21 is a side view of the same.

FIG. 22 is a plan view of the same.

FIG. 23 is a perspective view showing a specific example of a work.

[Explanation of symbols]

1,50,71,83 Gripping mechanism 2,60,61,62,70,80 Measuring mechanism 4,75 Base member 5,87 Air cylinder 8,86 Slider 10,11 Gripping claw 20 Air cylinder 21 Fixing member 22A, 22B, 74 movable member 23A, 23B, 24A, 24B, 76A, 76B leaf spring 27A, 27B compression spring 33, 65 magnetic scale 34, 66 magnetic head 35, 36, 63a, 63b, 64a, 64b, 72,
81, 82 Measuring claw 51 Stopper (positioning member) 73 Fixing claw 77A, 77B Movable claw 84, 85 Gripping claw W, W1, W2, W3, W4 Workpiece

Front Page Continuation (72) Inventor Akitaka Ebisa 3-9-17 Nishigotanda, Shinagawa-ku, Tokyo Toyo Building Sony Magnescale Co., Ltd. (72) Masato Ima 3-9-17 Nishigotanda, Shinagawa-ku, Tokyo No. Toyo Building Sony Magnescale Co., Ltd. (72) Inventor Kenichi Sato 3-9-17 Nishigotanda, Shinagawa-ku, Tokyo Toyo Building Sony Magnescale Co., Ltd.

Claims (3)

[Claims] 1. A gripping mechanism for gripping a work, and a measuring mechanism for measuring a size of a predetermined position of the work gripped by the gripping mechanism are provided, and individual operations of the gripping mechanism and the measuring mechanism are ensured. Meanwhile, a work grip measuring device characterized in that both mechanisms are integrally configured. 2. The work gripping measuring device according to claim 1, wherein the gripping mechanism has a positioning member that keeps a gripping position of the work constant. 3. The work gripping measuring device according to claim 1, wherein the measuring mechanism has a plurality of measuring units for measuring a plurality of positions of the work.