JPS60249552A - Work grasping device - Google Patents

Abstract

PURPOSE:To grasp round and angular work and to detect a hole in the plate by providing round work grasping faces at the facing surfaces of a pair of slide arms movable in symmetrical directions while an arched face on the back and a slide pin at the tip of arm. CONSTITUTION:Upon driving of an air motor 7, a threaded shaft 3 will rotate to move the slide arms 9a, 9b in symmetrical directions thus to grasp a round work or an angular work. A ring work is grasped by the back faces of the arms 9a, 9b. A holed work 24 is grasped by inserting pins 11a, 11b into two holes 24a, 24b then moving the arms 9a, 9b. In case of holed plate 25, the slide 11a is contacted against the plate 24 to push the arm 9a until a sensor 13 will turn on then the arm 9a is moved to the right and left to locate the hole 26. Upon insertion into the hole 26, the sensor 13 is turned off to detect the hole 26.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a workpiece gripping device used in a robot to grip a workpiece.

Prior Art Many workpiece gripping devices for woodcutter have been proposed in the past, but these conventional workpiece gripping devices have a shape and structure that match the shape of the workpiece.

Problems to be Solved by the Invention The conventional workpiece gripping device described above has (1) difficulty in responding to changes in the shape of the workpiece, such as changes in the shape of round, square, and ring objects; and (2) ) There was a problem that it was difficult to respond to changes in the dimensions of the workpiece and lacked versatility.

Means and Effects for Solving the Problems The present invention has been made in view of the above-mentioned problems, and includes a round object gripping metal plate on each opposing surface of a pair of slide arms that are movable in symmetrical directions. An arcuate surface is provided on the back side, and a slide pin is provided at the tip of both slide arms so as to be slidable and biased by a spring in the protruding direction. The sensor is completely submerged, and the opposing surfaces of both slide arms grip the round and square arms, the arced surface on the back grips the entire ring workpiece, and the slide pin is used to grip the workpiece with a hole. Grip the whole thing, and then move the slide bottle all the way around to detect the holes in the plate with holes.

Example Embodiments of the present invention will be explained based on all the drawings.

1 in the figure. is a pace, 2a and 2b are left and right brackets protruding from opposite ends of the base 1 in the horizontal direction, and 3 are both brackets 2α.

2I! The screw shaft 4.4, which is fully supported at both ends by I, is a guide shaft located on both sides of the screw shaft 3 in the direction perpendicular to the axis, and whose both ends are fixed to the brackets 2α, 2b. A driven gear 5 is fixed to the intermediate portion of the screw shaft 3, and a driving gear 6 meshes with the driven gear 5. The drive gear 6 is connected to an air motor 7 and a rotation speed detection sensor 8 that detects the rotation speed.

The screw shaft 3 has a screw direction opposite to the middle on both sides in the axial direction, and a slide arm 9α is attached to each screw portion.
, 9b are screwed together. Further, the guide shafts 4, 4 are slidably inserted into the bases of the slide arms 9α, 9h.

Both the slide arms 9α and 9b have a symmetrical shape, and as shown in FIG.
0α and 10b, and an arcuate surface 10C and lod are provided on the back surface.

Slide bin 1L is installed at the tip of slide arms 9α and 9b.
cz and IIh are biased and protruded to the maximum protrusion position by a lever spring 12 so as to be freely protrusive and retractable. A sensor 13 detects the protruding position of each slide pin 11LL, Ill, and is attached to both slide arms qa, qh.

FIG. 4 shows an air circuit for driving the air motor 7, which is connected to an air pressure circuit 16 via a solenoid valve 14 and a main pressure control valve 15. The control circuit 16 of the pressure control valve 15 is a shuttle valve 17a.
, +7h to multiple sets of pressure control circuits 18α, 187.
It is connected at 5°180. Each pressure control circuit has a different set pressure if! I @ valve 19α.

1qb, 19c and electromagnetic switching valves 201Z, 20h.

20C, each pressure control circuit +8a,
+8h, +81' electromagnetic switching valves 20α.

By selectively turning on 20h and 20ck, the set pressure of the main pressure control valve 15 can be seen and the driving force of the air motor can be adjusted.

In the above configuration, by driving the air motor 7, the screw shaft 3 is rotated via the gear 5.6, both slide arms 9a and 9b are moved in symmetrical directions, and both slide arms 9α and 9h are moved in opposite directions. Due to the movement, the round workpiece 21 and the square workpiece 227 are moved as shown in FIGS. 5 to 8.
') E is grasped.

Further, the ring workpiece 23 is held by the back surfaces of the slide arms 9α and 9b, as shown in FIGS. 9 and 10.

Furthermore, as shown in FIGS. 11 and 12, the workpiece 24 with holes has pins 11α and 1lhT in the two holes 24α and 24b.
It is gripped by inserting h and moving the slide arms 9α and qb2.

13 and 14 show the work of detecting the holes 26 in the holed plate 25. The slide arm 9α is fully pressed until the slide pin 11α fully contacts the plate 24 and the sensor 13 is turned on. When the sensor 13 turns on, move the slide arm 9α left and right to find the hole 26. When the slide bin 11α enters the hole 26, the slide bin 11
Since α protrudes, the sensor 13 is turned off, and the hole 26 is detected by extracting the signal at this time.

Note that the positions of the slide arms 9α and 9h can be known by detecting the rotational speed of the air motor 7 that fully drives them using the sensor 8.

Effect of the invention According to the invention, a set of slide arms 9α.

9H can selectively grip round workpieces, square workpieces, ring workpieces, and workpieces with holes, and can also detect 'Kk' on the grate with holes, increasing versatility. can be significantly improved.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, in which Fig. 1 is a front view with main parts cut away, Fig. 2 is a side view, and Fig. 3 (4, (1)
1) is a sectional view taken along the line m-■ in FIG. 1 showing two embodiments of the gripping surface, A4 is an air circuit diagram, and FIGS. The figures show the case when a round workpiece is gripped, the figures 7 and 8 show the case when a square workpiece is gripped, the figures 9 and 10 show the case when a ring workpiece is gripped, and the figures 11 and 12 show the case when a ring workpiece is gripped. A front view and a bottom view when a workpiece with holes is gripped, and FIGS. 13 and 14 are explanatory views of the operation when detecting holes in a plate with holes. qa and qb are slide arms, IO, Z and IOb are round object gripping surfaces, +01? , 1oli is a circular arc surface, 11α. 11b is a slide pin, and 13 is a sensor. Figure 1 (through) Figure 2 Figure 3 (a) Figure 7 'i'''v10V8-.i Figure 11 Figure 12 @ Figure 13

Claims (1)

[Claims] A pair of slide arms 9α movable in symmetrical directions,
A round object gripping surface 10α, IOb is provided on each opposing surface of 9h.
'k, and are provided on the back surfaces of each of them on arcuate surfaces lQC,log', and slide pins 11α are provided at the tips of both slide arms 9α and 9h. +1hi The slide arms 9a and 9h are provided with slide pins 11 so as to be freely slidable and spring-biased in the projecting direction.
A work gripping device characterized by being provided with a sensor 13 for detecting the protruding position of α, 11h.