JPS6283505A - Gripper - 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 The present invention relates to a gripping device, and more particularly, the present invention relates to a gripping device, and more particularly, a semi-cylindrical bearing is mounted on sliding parts such as a connecting rod and a crack shaft, a crack shaft and a cylinder block, etc., which constitute an engine part. In particular, the present invention relates to a gripping device that makes it possible to automatically and reliably take out a desired bearing from a plurality of bearings arranged close to each other.

Generally, inside an engine of an automobile or the like, the linear motion of a piston portion, which is repeated at a considerably high speed, is converted into a rotational motion of a crack shaft via a convex loft. Therefore, in particular, bearings with excellent wear resistance are fitted to the sliding contact parts between the connecting rod and the crack bin, and the journal and the cylinder block, to suitably prevent the occurrence of wear that is likely to occur in the sliding contact parts. Generally, they manufacture engines that can withstand long-term use.

Incidentally, in recent years, line production in which various tasks are automatically performed by robots and the like has been widely used in response to demands for increased work efficiency and mass production in factories. In fact, a large number of such bearings are used even in a single engine. Moreover, the work of conveying or mounting the bearing is performed by a worker, which is extremely complicated and has poor workability. Therefore, in recent years, various automated devices have come into use for the above-mentioned work, reducing the burden on workers and achieving efficient work.

FIGS. 1 and 2 show the technical idea disclosed in Japanese Patent Application Laid-Open No. 53-93562 regarding a device for gripping and conveying such a bearing onto a predetermined jig.

In this case, as shown in FIG. 1, arms 8a and 8b are swingably attached to the support plate 4 constituting the gripping device 2 via link plates 6a and 6b. The arm 8
Nags 10a and 10b made of an elastic material and having a predetermined shape are protruded and fixed to the inside of each of a and 8b. On the other hand, the link plates 6a and 6b are engaged with a piston rod 16 of a cylinder 14 via a metal fitting 12.

Therefore, in such a configuration, when the cylinder 14 is driven, the piston rod 16 extending from the cylinder 14 is displaced in a predetermined direction, and the link plates 6a and 6b are displaced via the metal fittings 12. For this reason, arm 8a
, 8b swing, and the workpiece 18 is gripped by the respective claws 10a, 10b. At this time, the claws 10a and 10b can displace the shape along the shape of the work 18 and firmly hold the work 18 (see FIG. 2). Next, the gripping device 2 is displaced in a predetermined direction by a robot device or the like, and the workpiece 1 is placed on a jig table (not shown).
8 is placed on it.

However, in the prior art described above, since the arms 8a and 8b are swung to grip the workpiece 18, the workpiece 18 must be placed with a considerable distance from adjacent workpieces 18. That is, if a plurality of workpieces 18 are arranged close to each other, when the gripping device 2 is driven, for example, the arms 8a and 8b will come into contact with another workpiece that is close to the workpiece 18 to be gripped, and displace it. There is a risk that the product may fall or fall, imposing an excessive burden on the worker and interrupting the line production process.

On the other hand, in factories, it is necessary to make effective use of the space in the narrow workplace, and therefore, especially for products that use a large number of parts, such as hair rings, it is necessary to stack them and place them as close together as possible. It is desirable to arrange them as follows. Therefore, in order to avoid the above-mentioned inconvenience, if the workpieces are arranged at a predetermined distance apart, a considerably large work space will be required due to the arrangement of the parts.

As a result, the gripping device according to the prior art described above has a drawback that it is difficult to efficiently utilize the effective space within the workplace.

The present invention has been made in order to overcome the above-mentioned disadvantages, and by providing a bar-shaped gripping means for gripping a workpiece and a pressing means for pressing and fixing an adjacent workpiece, it is possible to assemble the workpiece as close as possible. Among multiple works arranged as follows,
It is an object of the present invention to provide a gripping device configured to reliably grip a desired workpiece and not to affect other workpieces adjacent to the workpiece when gripping the workpiece.

In order to achieve the above object, the present invention includes a gripping means for gripping one or more workpieces, a driving means for opening and closing the gripping means, and a pressing force for pressing and holding another workpiece adjacent to the workpiece to be gripped. It is characterized by including means.

Next, a preferred embodiment of the gripping device according to the present invention will be described in detail with reference to the accompanying drawings.

In FIGS. 3 and 4, reference numeral 20 designates a gripping device according to the invention. In this case, a cylinder 24 is engaged with the lower end of a mounting base 22 that constitutes the gripping device 20 and is made of an L-shaped plate. As shown in FIG. 5, pipes 26a and 26b for introducing and discharging fluid at a predetermined pressure are connected to the cylinder 24, and a piston rod (not shown) extending vertically downward from the cylinder 24 is connected to the cylinder 24. A rack section 28 is provided. Teeth portions 30a and 30b are formed on both side surfaces of the rack portion 28, respectively.

The hand portion 32 is fixed to the cylinder 24. A rack portion 28 extending from the cylinder 24 enters the hand portion 32 by a predetermined length, and the pinions 34 and 36 are engaged with the teeth 30a and 30b of the rack portion 28 so that the pinions 34 and 36 can rotate freely. be supported. Further, chuck members 38a and 38b are mounted on the hand portion 32 so as to be horizontally displaceable. A pinion 34 is provided on the upper surface of the chuck members 38a and 38b.
．． A tooth portion 4Qa340b that meshes with the chuck member 38a138b is formed, and the lower end side of the chuck member 38a138b is largely cut out to form attachment portions 42a and 42b extending vertically downward. A support plate 44 is fixed to the mounting portion 42a.

The support plate 44 has an L-shaped first plate portion 46a.
and a second plate portion 46b that is integrally formed at one end of the first plate portion 46a and extends in the horizontal direction. Rods 48a and 48b extending vertically downward in parallel to both end edges of the second plate portion 46b are fixed to the second plate portion 46b. In this case, the rods 48a and 48b constitute a gripping means 49, and claw members 50a and 50b made of a flexible resin material are engaged at the lower ends of each of the rods 48a and 48b.

Then, the first plate portion 46a and the mounting portion 42a are fixed via the stopper bolt 52 and the bolt 54a, and the support plate 4
4 to the hand portion 32. In addition, the stopper bolt 5
There is a predetermined distance between the tip of the bolt 2 and the mounting portion 42b, and the stopper bolt 52 is further equipped with a spring member 56.

On the other hand, a plate member 58 constituting a gripping means 49 is engaged with the chuck member 38b via pins 54b and 54C. The plate-shaped member 58 is located between the rods 48a and 48b, and extends vertically downward in parallel with the rods 43a and 48b, and after bending horizontally on the way, it extends further downward. extending in the direction. In this case, the plate member 5
8 and the lower ends of the claw members 50a, 50b are preferably adjusted to the same height position.

Furthermore, the hand portion 32 includes holding members 60a and 60b.
62a to 62d (see FIG. 3). Holes 64a and 64b are vertically formed through one end edge of the holding members 60a and 60b, and the holes 54
Rod-shaped stopper members 66a, 66b are fitted into a, 64b, and the stopper members 55a, 66b are fixed to the holding members 60a, 60b via set screws 67a, 67b. At that time, the height position of the lower end portions of the stopper members 66a, 66b is selected so as to be located above the plate member 58 and the claw members 5Qa, 50b by a predetermined height.

The gripping device according to the present invention is basically constructed as described above, and its operation and effects will be explained next.

Therefore, the gripping device 20 is attached to the arm 68 of the robot. In this case, the arm 68 is configured to be movable in the three wheel directions of the orthogonal coordinate system, that is, on the X, Y, and Z axes.

First, under the driving action of the arm 68 of the robot, the gripping device 20 is transferred to the workpiece accumulating section 70 in which a large number of works W, for example, semi-cylindrical bearings are arranged (sixth
(see figure). Here, a work process for simultaneously taking out, for example, the work W1 and the work W2 from among the many works W arranged in the work accumulating section 70 will be described.

That is, by driving the arm 68 and displacing the gripping device 20 downward in the vertical direction (Z-axis direction), the plate-like member 58 is defined by the inner peripheral surface of the workpiece Wl, as shown in FIG. Meanwhile, the claw members 50a and 50b enter the space defined between the work W2 and the work W3. Furthermore, if the gripping device 20 is displaced vertically downward, the -stopper members 66a and 66b are moved to the workpiece W.
, and presses and supports it. Therefore, after stopping the drive of the arm 68, the cylinder 24 is driven.

As shown in FIG. 5, the pipe line 2 connected to the cylinder 24
When fluid at a predetermined pressure is supplied from the pipe line 26b among the cylinders 6a and 26b, the piston (not shown) fitted in the cylinder 24 is displaced, and the rack portion 28 provided therein is displaced.
is displaced in the direction of arrow Z, the force. Therefore, the rack section 2
Pinions 34 and 36 that mesh with the teeth 30a and 30b of 8
rotates in directions A1 and A2 in the figure, and the pinion 34 rotates in directions A1 and A2 in the figure.
．． The chuck members 38a and 38b that engage with the chuck member 36 are respectively displaced in the arrow)'z and Xz directions (directions in which they approach each other). Therefore, the support plate 44 and the plate-like member 58 are displaced so as to approach each other, and the claw members 50a and 50b come into contact with the outer peripheral surface of the workpiece W2, while the plate-like member 58 is moved closer to the workpiece W2.
(see Fig. 6).

Next, by driving the cylinder 24 to further displace the rack portion 28 in the force direction of the arrow Z, the workpieces W, , W2 can be held by the claw members 50a, 50b and the plate member 58. In this case, a stopper bolt 52 is screwed onto the chuck member 38a, and the tip of the stopper bolt 52 comes into contact with the inner surface of the mounting portion 42b of the chuck member 38b, and engages the claw members 50a, 50b in a plate-like manner. member 58
The structure is such that the workpieces W, , and W are not pressed more than necessary. Further, the resilient force of the spring member 56 preferably prevents the claw members 50a, 50b and the plate member 58 from rapidly moving closer to each other, thereby preventing the works W1, W2 from falling over or being damaged.

In this way, after the gripping means 49 grips the workpieces W1 and W2 via the hand portion 32, the arm 68 is driven to displace the gripping device 20 vertically upward, and further,
The jig 72 is displaced by a predetermined distance in the X-axis or Y-axis direction.
The gripping device 20 is placed above the plurality of jig stands 74 that constitute the
(See Figure 7). Next, the arm 68 is vertically displaced downward to bring one semicircular arc-shaped side surface of the workpieces W, . . . W2 into contact with the jig table 74. Therefore, when fluid at a predetermined pressure is supplied from the pipe line 26a connected to the cylinder 24, the rack part 28 is displaced in the direction of arrow Z2 in FIG. B
By rotating in the z direction, the chuck members 38a, 3
8b is displaced in the direction of arrow Xz, X+ force direction (direction of moving away from each other). In the end, the claw members 50a, 50b and the plate member 5
The works W, , W2 held at 8 are placed on the jig table u (see FIG. 7). In this case, the workpiece W on the jig table 74 is placed 90@ inverted on one side of the jig table 74 through its own weight or an external force acting on the workpiece W, and is under the driving action of a mounting device (not shown). Then, this workpiece W is mounted on a predetermined sliding portion.

Next, the gripping device 20 is again transferred to the workpiece stacking section 70 under the driving action of the arm 68 of the robot, and the workpieces w3 and W4, for example, are gripped and conveyed onto the jig 72 according to the procedure described above.

In this case, according to the present invention, the workpiece W is
Even if the workpieces W are arranged extremely close to each other, it is possible to accurately and reliably pick out a predetermined workpiece from among these many workpieces W and place it on a predetermined jig 72.

That is, the gripping device 20 uses claw members 50a and 50b extending vertically downward and a plate member 58 to hold the workpiece W.
is grasping. Therefore, there is no need to provide a vast space for gripping work in the circumferential direction of the workpiece W to be gripped, as is the case with conventional methods, and a small gap between adjacent workpieces W can be used. It becomes possible to arrange them as close as possible. Moreover, as shown in FIG. 6, since the workpiece W adjacent to the workpiece W2 to be gripped is pressed and fixed by the stopper members 55a and 66b, the workpieces w,, W! During the gripping operation, for example, vibrations caused by the gripping device 20 are not transmitted to the workpiece W3, and the workpiece W is not moved or overturned.

Furthermore, the workpiece W is connected to the plate member 58 and the claw member 50a.
The workpiece accumulation section 70 is supported by three points 50b.
Even if the workpieces W are not aligned even slightly accurately, the gripping device 20 can firmly grip the workpieces W. Moreover, the claw members 5Qa, 50b
In particular, since the work W is made of a flexible resin material,
It is possible to reliably grip the workpiece W without causing damage to the outer circumferential surface of the workpiece W (and without causing the workpiece W to fall).

As described above, according to the present invention, the gripping means for gripping a workpiece is composed of at least one pair of claw members extending in the vertical direction and a plate-shaped member that faces the claw members and opens and closes simultaneously with the claw members. are doing. Furthermore, a workpiece that is close to the workpiece to be gripped is supported via the pressing means.

Therefore, other workpieces are not moved unnecessarily during the gripping operation, and even when the workpieces are arranged extremely close to each other, the workpiece can be gripped and taken out easily and accurately.

As a result, it becomes possible to stack parts that are used in large numbers, such as bearings and the like, and to align them as closely as possible, resulting in the effect that the space within the workplace can be suitably utilized.

Although the present invention has been described above with reference to preferred embodiments, the present invention is not limited to these embodiments, and various improvements and changes in design can be made without departing from the gist of the present invention. Of course.

[Brief explanation of drawings]

1 and 2 are explanatory diagrams of a gripping device according to the prior art, FIG. 3 is a partially omitted perspective view of a gripping device according to the present invention, and FIG. 4 is a front view and a front view of the gripping device according to the present invention. FIG. 5 is an explanatory diagram showing the operating state of the apparatus of the present invention, FIG. 6 is an explanatory diagram when a workpiece is gripped by the apparatus of the present invention, and FIG. 7 is an explanatory diagram of a jig for placing the workpiece. 20... Gripping device 22... Mounting stand 24
...Cylinder 28...Rack part 32.
...Hand part 34.36...Pinions 38a, 38b
...Chuck member 44...Support plate 50a, 50
b...Claw member 52...Stopper bolt 5th...Plate member 66a, 66b...Stopper member 70...Work accumulation section 72...Jig FfG, 4 b b FIG, 6 FIG ,7

Claims (5)

[Claims] (1) A gripping means for gripping one or more workpieces, a driving means for opening and closing the gripping means, and a pressing means for pressing and holding another workpiece adjacent to the workpiece to be gripped. gripping device. (2) In the apparatus as set forth in claim 1, the gripping means has a portion that contacts the workpiece with at least one pair of first claw members made of a flexible material and at least one or more second claw members.
A gripping device comprising: a claw member, and the first claw member and the second claw member are opened and closed under the action of a driving means to perform a work of grasping a workpiece. (3) In the device according to claim 1 or 2, the driving means includes a cylinder provided with a rack that is displaced under the action of fluid pressure, and a pair of cylinders each having a pinion and a rack portion that meshes with the cylinder. a hand portion including a chuck member, a gripping means is engaged with the chuck member, a rack is displaced under the action of the cylinder to rotate the pinion, and the chuck member is held through the rack portion. A gripping device that opens and closes the gripping means by displacing the gripping means. (4) In the device according to claim 3, a stopper bolt is screwed onto one of the chuck members with a predetermined interval between the other chuck member, and the bolt is further fitted with an exterior. A gripping device comprising a spring provided between each chuck member, a driving range of the gripping means being restricted via the bolt, and an opening/closing operation of the gripping means being controlled via the spring. (5) In the device according to claim 1, the pressing means is composed of at least one or more rods extending in the vertical direction, and when the gripping means is driven, the pressing means is configured to press the workpiece adjacent to the workpiece to be gripped. A gripping device that fixes the other work by pressing one surface with the rod.