JPS6179591A - Work holder - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a workpiece gripping device.

More specifically, the present invention relates to a workpiece gripping device in which a cam mechanism for opening and closing a pair of workpiece gripping claws can be driven by a body pressure actuator.

(Prior Art) Various robots have been developed in the past, and there are a wide variety of workpiece gripping devices attached to them, but the most typical one is a cam mechanism that opens and closes a pair of workpiece gripping claws. An example of this is a type that is provided so that it can be driven by a fluid pressure actuator □.

However, in this type of workpiece gripping device, the fluid pressure actuator is composed of a general air cylinder or a hydraulic cylinder whose piston is always projected with a constant stroke, and therefore the pair of workpiece gripping claws can be used in various ways. It was not possible to adjust the gripping pitch.

Therefore, for example, a control technique has been developed in which an attachment is fixed to the piston rod and moved together with the piston rod, and a stopper is applied to the attachment at a predetermined point to make it protrude at various strokes, thereby adjusting the gripping pitch to various types. It was.

(Problem to be solved by the invention) However, such workpiece gripping devices have become technically complex or sophisticated, and therefore cannot be adopted for simple robots from an economical point of view. In addition, it is often difficult to adopt the device due to space limitations with other devices as it becomes a relatively large device.Furthermore, it is difficult to control the stroke to a small gripping pitch Since it is difficult to adjust, it cannot be used, for example, when it is desired to grip a thin wire such as a lead for an electronic component.

The present invention focuses on these points and aims to solve them (
As a result of intensive research from various angles, they discovered that the cam mechanism could be driven by a pair of pistons arranged in the form of a double shaft.

(Means for Solving the Problem) That is, a workpiece gripping device according to the present invention is a workpiece gripping device that is provided so that a cam mechanism for opening and closing a pair of workpiece gripping claws can be driven by a fluid pressure actuator. The actuator is slidably fitted into the piston head of the first piston whose piston head is inserted into the first cylinder, and the piston head of the second piston is slidably fitted into the piston head of the first piston. The cam mechanism is configured to be inserted into a second cylinder arranged concentrically and in series with the cylinder, and the cam mechanism is provided so as to be driven based on the control of the protrusion and retraction of both the pistons. be.

(Example) Hereinafter, to describe more specifically based on the drawings, in FIG. 1 which is a longitudinal view and FIG. 2 which is a view taken along the arrow 2 of this figure, 1 is a fluid pressure actuator, 2 is a cam. Mechanism, 3a, 3
b is a work gripping claw, and the actuator 1 has a lid 6 fixed to an outer case 5 into which an inner case 4 is fitted, and a first cylinder 7 and a second cylinder 8 arranged concentrically and in series. Then, the piston head 10 of the first piston 9 is inserted into the first cylinder 7, and the second piston 12 is fitted so as to be able to slide onto the piston head 11 of the first piston 9. It is inserted into the second cylinder 8.

Note that an O-ring 14 is attached to the inner case 4, etc., and both cylinders 7.8 are provided in a sealed structure, and the first
The cylinder 7 is provided with two holes 15 and 16, and the second cylinder 8 is also provided with holes 17 and 18. Therefore,
As will be described below, pressurized fluid is supplied and discharged from these holes 15, 16, 17, 18 to control the first piston 9.
And the second piston 12 can be controlled to move in and out in a predetermined manner.

Next, the cam mechanism 2 fixes an L-shaped bracket 20 to the tip of the piston rod 11 of the first piston 9 with a nut, and attaches a pin 21 to this bracket 20, and then attaches a pair of pins 21 to sandwich this pin 21. cam plate 22a,
22b is attached to the collar portion 23 of the outer case 5, and each end of the tension spring 24 is locked to one end of the pair of cam plates 22a, 22b.

Note that a guide elongated hole 25 is provided in the collar portion 23 of the outer case 5, and the pin 21 is slidably inserted into this elongated hole 25, and an adjustment bolt is inserted into the L-shaped bracket 20. 26 and is mounted in a predetermined position. That is, the bin 21 is moved and positioned at a predetermined position by rotating the adjustment bolt 26 screwed onto the thin shaft portion of the bin 21. Note that during this positioning, the nut 27 is loosened, and the narrow shaft portion of the bottle 21 is guided by the elongated hole 28 provided in the L-shaped bracket 20, and the bottle 21 is moved to a predetermined position. 27 is firmly tightened and positioned.

Next, the cam plates 22a, 22bG;t, the mounting bin 29a,
29b and the nut 30 to remove the collar 23 of the outer case 5.
Each end of the tension spring 24 is locked via hook bolts 31a and 31b screwed onto these.

Therefore, as described later, when the pin 21 is guided by the guide elongated hole 25 and moved in the direction of arrows X1-X2 in the figure, the cam plates 22a and 22b swing around the mounting pins 29a and 29b as fulcrums. A pair of workpiece gripping claws 3a, 3b fixed to can be moved closer to each other or separated from each other.

Note that the workpiece gripping claws 3a, 3b are connected to the cam plate 22a,
They are fitted into holes 32 of 22b and fixed with machine screws 33, and recesses 34 suitable for gripping the wire are provided on their tips, as shown in FIG.

Next, the driving mode of the cam mechanism 2 by the fluid pressure actuator 1 and the opening/closing mode of the pair of work gripping claws 3a, 3b based on this will be described. When pressurized fluid is supplied into the cylinder 7, it is projected, and when pressurized fluid is supplied into the first cylinder 7 from the hole 16, it is retracted. Further, the second piston 12 is protruded when pressurized fluid is supplied into the second cylinder 8 from the hole 17, and is retracted when pressurized fluid is supplied into the second cylinder 8 from the hole 18. .

In addition, such control of the appearance and retraction of both pistons 9 and 12 is performed by the first
．． This is done in relation to each other as shown in Figure 4.5. That is, in FIG. 4, pressurized fluid is supplied from the hole 18 into the second cylinder 8 and the C second piston 12 is sunk to the maximum, and pressurized fluid is supplied from the hole 16 into the first cylinder 7. 5, pressurized fluid is supplied from the hole 17 into the second cylinder 8 so that the second piston 12 is depressed to the maximum. In addition, pressurized fluid is supplied from the first cylinder 15 into the first cylinder 7 so that the first piston 9 is projected to the maximum extent, and furthermore, in FIG. Pressurized fluid is supplied from the hole 17 into the second cylinder 8 to cause the second piston 12 to protrude to the maximum, and pressurized fluid is supplied from the hole 16 to the first cylinder 7 to cause the first piston 9 to protrude to the maximum. It is shown that it is slightly recessed from the protruding position.

In addition, both cylinders 7.
The pressurized fluid supplied into the holes 8 is of the same type and maintained at the same pressure, but the surface area of the side of the piston head 13 on which the pressurized fluid supplied from the holes 17 acts is smaller than the surface area of the holes 1.
Piston head 1 on which pressurized fluid supplied from 6 acts
Since the surface area of the side part 0 is smaller, it is possible to control the retraction and ejection of both pistons 9, 12 as shown in FIG.

Then, the cam separate column 2 is driven based on such control of the protrusion and retraction of both pistons 9 and 12, but in this case, the first cam column 2 is driven.
The L-shaped bracket 20 of the cam mechanism 2 is moved by the piston 9, and therefore the pin 21 attached thereto is moved together in the Xl-X2 direction.

Therefore, as described above, the cam plates 22a and 22b are swung about the mounting pins 29a and 29b, and the pair of workpiece gripping claws 3a and 3b are controlled to open and close.

That is, as shown in FIG. 4, when both pistons 9 and 12 are depressed to the maximum, the pin 21 is moved to the maximum in the X1 direction, and due to the action of the tension spring 24, the pair of workpiece gripping claws 3a, 3b Comrades will be separated the most. Therefore, the wire cannot be gripped in this state.

Also, as shown in FIG. 5, both pistons 9
．． 12 are both pushed out to the maximum, the pin 21 is moved to the maximum in the X2 direction, and thereby the pair of workpiece gripping claws 3a
, 3b are brought close to each other so as to grip the wire inserted between the recesses 34 with enough grip pressure not to damage the wire rod. Therefore, in this case, the wire cannot be handled even if it is pulled relatively strongly.

Further, as shown in FIG. 1, when the second piston 12 is maximally protruded and the first screw 1-9 is slightly recessed from the maximally protruded position, the pin 21 is moved as shown in FIG. The wire rod is moved to a predetermined point between the maximum movement point in the X1 direction and the maximum movement point in the without substantially applying gripping pressure to, i.e., as shown in FIG.
The recesses 34 are approached so that the pitch (P) between the recesses 34 is equal to the diameter (D) of the wire. Therefore, in this case, the wire can be easily handled by pulling it.

In this way, according to the present gripping device, the pair of workpiece gripping claws 3 are moved by controlling the protrusion and retraction of the first piston 9 and the second piston 12.
Not only can the pitches a and 3b be adjusted to various pitches by opening and closing them, but also the pitch can be accurately adjusted to allow gripping of thin wires such as 1#l1lI or less.

In addition, hold a book! As described above, the pair of workpiece gripping claws 3a, 3.
It is possible to adjust the gripping release pitch (the pitch at which the wire cannot be gripped) and the loose gripping pitch (the pitch at which the wire can be gripped so that no gripping pressure is applied to the wire). 40a as shown in the figure
, 40b to the leads 42a, 42b of the electronic component 41.
When winding and hardening the lead 4, it is suitable for a gripping device of a robot that performs this.
2a and 42b are each gripped by the main gripping device, and both gripping devices are moved clockwise so as to be synchronized with each other to wrap the workpieces, but during this process, the workpiece gripping claws 3a and 3b of the gripping device gradually approach the terminal. Leads 42a and 42b adjust the gripping position to prevent the gripping position from being touched.
can be displaced toward the end of the

That is, both pistons 9, 1 are installed in the manner shown in FIG.
2 and a pair of work gripping claws 3a.

'3b to a loose gripping pitch and then moving both gripping devices apart from each other.

Note that a product manufactured with the electronic component 41 fixed in this manner is used for a television or the like.

The above has described an example suitable for gripping wire rods, but in the present invention, it may be provided in a device capable of gripping workpieces other than wire rods. You can choose something. Furthermore, various types of cam mechanism can be selected, and the fluid pressure actuator may be provided not only in the air cylinder type but also in the hydraulic cylinder type. Of course, fluids pressurized to different pressures are passed through the holes 15, 16, and 15.
17.18 into both cylinders 7.8.

In addition, when adjusting the pair of workpiece gripping claws 3a and 3b to the pressure gripping pitch, pressurized fluid is supplied from the hole 15 to make only the first piston 9 protrude to the maximum. The reason why the pressurized fluid is supplied from the holes 15 and 17 as shown in FIG. , and when adjusting the pair of workpiece gripping claws 3a and 3b to the gripping and releasing pitch, pressurized fluid is supplied from the hole 16 to sink only the first piston 9 to the maximum without adjusting it, as shown in FIG. The reason why both pistons 9.12 are adjusted to the maximum depth by supplying pressurized fluid from the holes 16.18 as shown in FIG. 1 is based on the same reason.

(Effects of the Invention) As described above, according to the present invention, a small workpiece gripping device capable of opening and closing a pair of workpiece gripping claws at various pitches is obtained, and is particularly suitable for gripping wire rods of 1 # or less. A gripping device is obtained.

[Brief explanation of the drawing]

1 to 5 show embodiments of the present invention, FIG. 1 is a longitudinal sectional view of a workpiece gripping device, FIG. 2 is a view taken along the Z arrow in FIG. 1, and FIG. 3 is an enlarged view of a workpiece gripping claw. Figures 4 and 5 are longitudinal sectional views showing the mode of control of the fluid pressure actuator, Figure 6 is a front view showing the manner of winding around the terminal, and Figure 7 is a plan view of Figure 6. . 1...Fluid pressure actuator, 2...Cam mechanism 3a
, 3b... Work gripping claw, 7... First cylinder 8
...Second cylinder, 9...First piston 1
0...Piston head 11 of the first piston...First
Piston head 12 of the piston...Second piston 13...Piston heads 15 to 18 of the second cylinder
... Patent applicant featuring pressurized fluid Toray Engineering Co., Ltd. Figure 3 c/d 5v! J Figure 6 Figure 7

Claims (1)

[Claims] In a workpiece gripping device that is provided so that a cam mechanism for opening and closing a pair of workpiece gripping claws can be driven by a fluid pressure actuator, the fluid pressure actuator is connected to a piston of a first piston whose piston head is inserted into a first cylinder. A second piston is slidably fitted onto the rod, and the piston head of the second piston is fitted onto the first rod.
A workpiece gripping device configured to be inserted into a second cylinder arranged concentrically and in series with the cylinder, and provided so that the cam mechanism can be driven based on control of protrusion and retraction of both the pistons. Device.