WO2014171271A1

WO2014171271A1 - Workpiece gripping device

Info

Publication number: WO2014171271A1
Application number: PCT/JP2014/058165
Authority: WO
Inventors: 滋林; 篠田　明; 大森　充
Original assignee: 津田駒工業株式会社; 株式会社双葉ダイス
Priority date: 2013-04-15
Filing date: 2014-03-25
Publication date: 2014-10-23
Also published as: TWI565554B; JP6012587B2; JP2014223717A; TW201438841A

Abstract

Provided is a workpiece gripping device which causes gripping force and pressing force which is applied to a mounting surface to act on a workpiece. A movable fixture mechanism (20) and/or a stationary fixture mechanism (60) has a workpiece pressing structure (22, 62). The structure includes: a base section (23, 63) which has a support surface (24, 64) parallel to a mounting surface (3); a guide section (25, 65) which has a sloped surface (26, 66) supported by the base section and facing the gripping side; a fixture member (27, 67); and a pressing means (30, 88, 89) which presses the fixture member in the direction in which the fixture member is moved away from the mounting surface. The fixture member has a sloped surface (28, 68) and is capable of being displaced along the sloped surface (26, 66) of the guide section. The lower surface (29, 69) of the fixture member is arranged facing the support surface (24, 64) of the base section. The pressing means is provided between the base section and the fixture member. Either the sloped surface of the guide section or the sloped surface of the fixture member comprises, at the center thereof in the width direction thereof, a guide groove (31, 71) having a V-shaped cross-section, and the other sloped surface comprises a protrusion (32, 72) corresponding to the guide groove.

Description

Work gripping device

The present invention relates to a workpiece gripping device for gripping and fixing a workpiece.

There is an apparatus described in Patent Document 1 as a technique related to a work gripping apparatus for gripping and fixing a work.

Patent Document 1 discloses a work fixing fixture that causes a pressing force to be pressed against a work table by a pressing force (gripping force) in a direction in which the work is gripped.

Specifically, the fixed auxiliary device is a block body (a plate-like base portion placed on the placement surface of the table of the machine tool, and a guide portion having a downward slope formed integrally with the base portion ( A) and an upward slope opposite to the downward slope of the block body (a), and the lower face is arranged to face the base portion in a state where the upward slope is in contact with the downward slope of the block body (a). Block body (b) and a block body (b) provided in a groove formed on the lower surface of the block body (b) and between the block body (b) and the upper surface of the base portion (surface for stabilizing the fixed accessory) B) a flat spring that urges the anti-mounting surface side away from the base portion.

In the workpiece gripping device disclosed in Patent Document 1, a push screw device and a fixing block that exert a pressing force toward the workpiece are disposed opposite to each other with the workpiece sandwiched on the table mounting surface, and the push screw device. At the positions between the workpiece and the fixed block and between the fixed block and the workpiece, the above-mentioned fixing tools are arranged with the downward slope of the block body (A) facing the workpiece, and fixed by a push screw device. By applying a pressing force in the gripping direction to the workpiece through the tool, the block body (b) of the fixed accessory is displaced along the downward slope of the block body (b) toward the table mounting surface, A pressing force to the mounting surface side is applied to the workpiece. Moreover, in patent document 1, each fixing accessory has a shape which makes a pin protrude in two places of the width direction in a downward slope of a block body (A), and respond | corresponds to the said pin in an upward slope of a block body (B). It has a guide groove extending in a direction orthogonal to the width direction at the position, and a displacement of the block body (b) relative to the block body (b) is guided by inserting a pin into the guide groove.

Japanese Utility Model Publication No. 06-75666

In the case of the configuration of the fixed accessory of Patent Document 1, it is necessary to make the width dimension of the guide groove larger than the diameter of the corresponding pin so that the pin inserted into the guide groove can slide in the guide groove. Therefore, in the fixed accessory of Patent Document 1, the guide structure that guides the displacement of the block body (b) has a configuration in which a gap exists between the pin and the guide groove.

By the way, in the work gripping device, when the work is gripped between the base on the fixed side (fixing fixture on the fixed block side) and the base on the moving side (fixing accessory on the push screw side), the base on the moving side is As a pressing force is applied to the workpiece in the gripping direction, an offset load may be applied to the workpiece.

In that case, in the fixed accessory of Patent Document 1 having the guide structure as described above, when an unbalanced load acts on the workpiece, the unbalanced load is also applied to the block bodies (b) of the respective fixed devices in contact with the workpiece. As a result, the block body (b) is inclined around an axis parallel to the gripping direction within the gap.

And in the structure of the said prior art, with the said inclination, the inner surface of the center side of the block body (B) in each guide groove is directed to the outer side of the width direction with respect to the two pins inserted in the guide groove It will be in the state which applied the pressing force. In other words, in this state, two pins are sandwiched from both sides of the portion between the guide grooves of the block body (b) defined by the inner surface of the guide groove by the reaction force of the pressing force. It can be said that the force is applied.

Therefore, in the configuration of Patent Document 1, the force generated between the inner side surface of each guide groove and the pin becomes a resistance of displacement to the mounting surface side of the block body (b) when gripping the workpiece, and the block body ( (B) The pressing force on the mounting surface side that acts on the workpiece becomes unstable.

As a result, the processing rigidity after gripping the workpiece decreases due to insufficient pressing force. In addition, due to a lack of pressing force, the workpiece is gripped while being lifted from the placement surface, so-called workpiece lifting occurs, and the workpiece machining accuracy is lowered.

Then, the subject of this invention is providing the workpiece holding apparatus which can fix a workpiece | work by making the holding force and the pressing force with respect to a mounting surface act on a workpiece | work, without reducing the processing precision of a workpiece | work. is there.

In order to solve the above-described problems, the present invention is a workpiece gripping device for fixing a workpiece, and includes a base member that is provided so as to be movable toward the gripping side, and a pressing unit that presses the base member toward the gripping side. A workpiece gripping device comprising a base mechanism and a fixed base mechanism that includes a base member and is disposed to face the moving base mechanism and grips a work in cooperation with the moving base mechanism. It was assumed to have characteristics.

That is, at least one of the moving cap mechanism and the fixed moving cap mechanism of the workpiece gripping device has a workpiece pressing structure, and the workpiece pressing structure is mounted on a mounting surface on which the workpiece is mounted, A base part having a support surface parallel to the placement surface, a guide part supported by the base part and having a slope facing the gripping side, the base member, and the base member Biasing means for biasing in a direction away from the surface, and the base member of the workpiece pressing structure has a slope facing the slope in the draft portion, and the slope is a slope in the guide portion. The lower surface of the guide portion is disposed so as to be displaced along the inclined surface of the guide portion, and the urging means is provided between the base portion and the base member. Provided One of the inclined surface of the guide portion and the inclined surface of the base member extends in a direction orthogonal to the width direction at the center in the width direction of the inclined surface, and a cross-sectional shape in the direction orthogonal to the extending direction is V-shaped. The other of the inclined surface of the guide portion and the inclined surface of the base member is provided with a protrusion having a shape and arrangement corresponding to the guide groove.

However, the above-mentioned “V-shaped guide groove” means that the guide groove has an inner wall surface that functions as a guide surface, and the inner wall surface is closer to the bottom portion (bottom portion) of the groove. The two surfaces are formed so that they are in direct contact with each other, that is, the shape of the cross section in the direction orthogonal to the extending direction of the guide groove is literally The shape of the cross section is not limited to a V shape, and the shape of the cross section is a substantially V shape, and the guide groove has the two surfaces at the bottom in addition to the two surfaces as its inner wall surface. Also includes one having a bottom surface to be joined. Further, the shape of the bottom surface may be a flat surface or a curved surface.

In the gripping device according to the present invention, the fixed base mechanism has the work pressing structure, and the work pressing structure of the fixed base mechanism includes the urging means with respect to at least one of the base portion and the base member. It is a storage space composed of recesses formed at opposing positions, and has a storage space for storing the biasing means. The recess has a dimension of the storage space in the direction of the biasing force by the biasing means. To be equal to or larger than the size of the urging means when receiving a force corresponding to the pressing force against the placement surface by the cap member generated in a state where a gripping force corresponding to the target workpiece is applied to the workpiece. It may be formed.

Further, in the work gripping device according to the present invention in which the fixed base mechanism has the work pressing structure, the moving base mechanism has the work pressing structure, and the inclined surface of the guide portion in the fixed base mechanism and the moving base mechanism The inclined surface of the guide portion may be formed such that an acute angle formed with respect to the mounting surface is larger on the inclined surface of the guide portion in the fixed base mechanism.

Furthermore, in the work gripping apparatus according to the present invention in which the fixed base mechanism includes the work pressing mechanism, the fixed base mechanism may include a biasing force adjusting mechanism that adjusts a biasing force of the biasing means.

Further, in the work gripping device according to the present invention in which the fixed base mechanism and the moving base mechanism have the work pressing structure, the work gripping device is independent of the mobile base device including the moving base mechanism and the mobile base device. A fixed base device including the fixed base mechanism, and each of the movable base device and the fixed base device includes a fixing means for fixing each base portion to the mounting surface. It is good.

In the work pressing structure, the guide structure for guiding the displacement of the base member with respect to the guide part is provided with a guide groove extending in a direction orthogonal to the width direction on one of the slope of the guide part and the slope of the base member, On the other hand, since the guide structure is provided with a protrusion having a shape and arrangement corresponding to the guide groove, the guide groove and the protrusion are extended by the guide groove and the protrusion being in contact with each other. It can be displaced by being guided along the direction toward the placement surface.

In particular, since the guide groove and the protrusion forming the guide structure have a V-shaped cross-section in a direction perpendicular to the extending direction, the guide surface for guiding the displacement of the base member has a gripping direction. Compared to the guide structure of Patent Document 1 that extends in parallel, that is, the guide structure of the base member (block body (b)) with respect to the guide portion (block body (b)) requires a gap (play). In the invention, the base member can be slidably displaced with respect to the guide portion without providing a gap between the guide groove and the protrusion.

As a result, even when an unbalanced load acts on the workpiece when gripping the workpiece and an unbalanced load acts on the cap member in contact with the workpiece, the cap member is rotated around the axis parallel to the gripping direction with respect to the guide portion. Therefore, the base member can be prevented from receiving the action of the pressing force in the width direction generated with the inclination as in Patent Document 1, so that the work piece can be compared with the structure of Patent Document 1. Resistance to displacement of the base member toward the placement surface during gripping can be reduced, and the pressing force to the placement surface that the base member acts on the workpiece can be stabilized. Therefore, it is possible to make it difficult for the workpiece to lift when gripping the workpiece as compared with the configuration of the cited document 1, to improve the processing rigidity after gripping the workpiece, and to improve the processing accuracy of the workpiece.

Further, in the work gripping device according to the present invention, the fixed base mechanism has a work pressing structure, and the fixed base mechanism has a storage space for storing a biasing means between the base portion and the base member, and The force corresponding to the pressing force to the mounting surface by the base member generated when the housing space has a dimension in the urging direction by the urging means is applied to the work with a desired gripping force corresponding to the work. The bottom surface of the base member that is displaced to the placement surface side by the action of the desired gripping force is brought into contact with the support surface of the base portion. It becomes possible.

As a result, in the fixed base mechanism, the position of the base member with respect to the mounting surface (the position of the base member after gripping the work) in a state where the work is gripped can always be a constant position with respect to the base part in the gripping direction. Therefore, the contact surface of the base member of the fixed base mechanism after gripping the workpiece with the workpiece (grip surface of the base member) and the contact surface of the workpiece with the base member can be used as the processing reference in the gripping direction.

Further, in the work gripping device according to the present invention, in addition to the fixed base mechanism, the moving base mechanism also has a work pressing structure, on which the slope of the guide portion in the fixed base mechanism and the downward slope of the guide portion in the mobile base mechanism The mounting surface side generated by the same gripping force acting on the workpiece by forming the angle on the acute angle side with respect to the mounting surface so that the slope of the guide portion in the fixed base mechanism is larger The force that pushes down the base member to the fixed base mechanism can be made smaller than that of the movable base mechanism. As a result, after the gripping force is applied by the pressing means, the time point when the lower surface of the base member in the fixed base mechanism comes into contact with the support surface of the base portion can be delayed as much as possible. Thus, in the fixed base mechanism, a sufficient frictional force can be generated between the base member and the work, and the action of the pressing force on the work can be made more reliable.

Furthermore, in the work gripping device according to the present invention in which the fixed base mechanism has a work pressing structure, the fixed base mechanism includes a biasing force adjusting mechanism that adjusts the biasing force of the biasing means, thereby adjusting the biasing force of the biasing means. Thus, it is possible to set the magnitude of the gripping force (force to push down the cap member) necessary for displacing the cap member toward the placement surface to a desired size. Thereby, when the desired gripping force corresponding to the material of the workpiece is reached, the base member can be displaced to the mounting surface side, and when the desired gripping force corresponding to the material of the workpiece is reached. The base member can be displaced so that the lower surface of the base member contacts the support surface of the base portion.

It is a perspective view which shows the workpiece holding apparatus 1 of this invention. It is a side view which shows the workpiece holding apparatus 1 of this invention. However, illustration of the

covers

39 and 79 is omitted. It is a top view which shows the workpiece holding apparatus 1 of this invention. FIG. 4 is a cross-sectional view taken along line AA in FIG. 3. FIG. 5 is a sectional view taken along the line CC in FIG. 4. FIG. 4 is a cross-sectional view taken along line BB in FIG. 3. FIG. 7 is a sectional view taken along the line DD in FIG. 6. It is a partial cross-sectional side view of the work pressing structure 62 of the fixed base device 60, (a) is a state where no gripping force is applied to the work 2, and (b) is a state where a gripping force is applied to the work 2. Is shown. It is a side view which shows other embodiment of the workpiece holding apparatus 1 of this invention. It is a cross-sectional side view which shows other embodiment of the workpiece holding apparatus 1 of this invention. It is the schematic which shows other embodiment of the workpiece holding apparatus 1 of this invention. It is a side view which shows other embodiment of the workpiece holding apparatus 1 of this invention. It is a side view which shows other embodiment of the workpiece holding apparatus 1 of this invention. It is an enlarged side view which shows other embodiment of the workpiece holding apparatus 1 of this invention. It is an enlarged side view which shows other embodiment of the workpiece holding apparatus 1 of this invention. It is an expanded sectional side view which shows other embodiment of the workpiece holding apparatus 1 of this invention. It is a side view which shows other embodiment of the workpiece holding apparatus 1 of this invention. It is an enlarged plan view which shows other embodiment of the workpiece | work holding | grip apparatus 1 of this invention.

Hereinafter, an embodiment of a workpiece gripping apparatus according to the present invention will be described with reference to FIGS. As shown in FIG. 1, the workpiece gripping device 1 according to the present embodiment includes a moving base device 20 including a moving base mechanism and a fixed base device 60 including a fixed base mechanism, which are mutually connected to a table 5 of a machine tool. It is attached independently. The table 5 of the machine tool has an upper surface formed as a horizontal placement surface 3 on which the workpiece 2 is placed. The table 5 includes a T-groove 6 that is open to the placement surface 3 and extends in the longitudinal direction of the table 5 and has a T-shape in which the cross-sectional shape in the direction orthogonal to the extending direction is inverted. Yes.

The moving base device 20 and the fixed base device 60 are mounted on the table 5 in a state of being separated in the extending direction of the T groove 6 by a fixing bolt 8 as a fixing means and a T groove nut 7 inserted into the T groove 6. 3 is fixed. The moving base device 20 and the fixed base device 60 are separated from each other in the extending direction of the T-groove 6 and are installed on the mounting surface 3 of the table 5 with the work 2 sandwiched therebetween. Therefore, the direction in which the workpiece 2 is gripped in the workpiece gripping device 1 is the extending direction of the T-groove 6.

In the following description, the extending direction of the T groove is referred to as “gripping direction”, and the workpiece side in the gripping direction is referred to as “gripping side”. A direction perpendicular to the gripping direction and parallel to the placement surface 3 is referred to as a “width direction”. Furthermore, the direction perpendicular to the placement surface is referred to as the “vertical direction”.

In addition, in this specification, the term “moving base mechanism” includes a base member that is movably provided to the gripping side that grips the workpiece, and a pressing mechanism that presses the base member toward the gripping side. "Means. In addition, the term “moving cap device” means a configuration including a moving cap mechanism and fixing means (fixing bolt 8 and T-groove nut 7). Similarly, the term “fixed cap mechanism” means a “mechanism” that includes a cap member and is disposed to face the moving cap mechanism and grips a workpiece in cooperation with the moving cap mechanism. The term “fixing cap device” means a configuration including a fixing cap mechanism and fixing means (fixing bolt 8 and T-groove nut 7).

The moving base device 20 will be described with reference to FIGS. The moving base device 20 has, as main components, a moving-side main body frame 33 placed on the placement surface 3 and a guide portion supported on the moving-side main body frame 33 so as to be displaceable in the vertical direction. A moving side guide member 25, a screw mechanism as a pressing means for pressing the moving side guide member 25 toward the mounting surface 3, a screw mechanism including a clamp bolt 9 and a T-groove nut 44, and a moving side guide member The movable side base member 27 has a slope 28 that is in surface contact with the 25 slopes 26 and can be displaced in the gripping direction, and is provided between the movable side base portion 23 and the movable side base member 27 of the movable side main body frame 33. An O-ring 30 as an urging means for urging the moving base member 27 in a direction away from the moving base 23 and a fixed hand for fixing the moving main frame 33 to the mounting surface 3. A T-slot nut 7 and T groove nut 7 screwed fixing bolts 8 as, a. *

As shown in FIG. 4, the moving-side main body frame 33 includes a fixed portion 34 that is a substantially rectangular parallelepiped block body, and a moving-side base portion 23 that is formed integrally with the fixed portion 34 and protrudes from the fixed portion 34 toward the gripping side. And have.

The fixing part 34 has two through

holes

35 and 35 for fixing penetrating in a direction orthogonal to the lower surface while the lower surface is formed in a plane. The two through-

holes

35 and 35 are formed in parallel with each other in the longitudinal direction at the same position in the width direction orthogonal to the longitudinal direction with respect to the fixed portion. In addition, a pressure receiving surface 38 that is an end surface facing the holding side of the fixed portion 34 is formed on a plane orthogonal to the longitudinal direction.

The moving-side base portion 23 is formed so that its lower surface coincides with the lower surface of the fixed portion 34 and protrudes from the end of the fixed portion 34 on the pressure receiving surface 38 side. Further, the moving base portion 23 is formed as a plane whose upper surface is parallel to the lower surface, and is formed with a dimension of about 1/4 of the fixed portion 34 in the vertical direction. Further, with respect to the width direction orthogonal to the longitudinal direction, the moving side base portion 23 has the same dimensions as the portion of the fixed portion 34 on the pressure receiving surface 38 side, and is formed so that the fixed portion 34 and the side surface coincide with each other. As described above, the moving-side main body frame 33 (fixed portion 34, moving-side base portion 23) is installed on the mounting surface 3 with the lower surface in contact with the mounting surface 3. Therefore, in this state, the upper surface of the moving base portion 33 is parallel to the placement surface 3, and this upper surface becomes the support surface 24.

The moving-side main body frame 33 is screwed into a T-groove nut 7 disposed in the T-groove 6 of the table 5 of the machine tool by screwing a fixing bolt 8 inserted from above into the fixing through

holes

35, 35. The table 5 is fixed to the table 5 while being placed on the placement surface 3. Accordingly, in this fixed state, the moving-side main body frame 33 is in a state in which the longitudinal direction thereof coincides with the extending direction of the T groove 6. In the illustrated example, the T-groove nut 7 is provided as a common nut for the two fixing bolts. In this way, the moving-side main body frame is fixed to the table 5 of the machine tool by the two fixing bolts 8 and the T-slot nut 7, and the fixing bolt 8 and the T-slot nut 7 serve as fixing means. Yes.

The moving side guide member 25 as a guide part is a block-like member having the same width direction dimension as the moving side main body frame 33 (moving side base part 23). As shown in FIGS. 2 and 4, the moving side guide member 25 is formed in a wedge shape in which the upper surface dimension is larger than the lower surface dimension in a direction orthogonal to the width direction (hereinafter referred to as “thickness direction”). One surface in the thickness direction is a slope 26 that is inclined downward with respect to the other surface when viewed in the width direction. That is, the moving side guide member 25 has a downward slope. In the example shown in the drawing, the dimensions in the thickness direction of the upper surface and the lower surface are set so that the angle of one surface with respect to the other surface is 30 °.

The moving side guide member 25 abuts the wedge surface 40 which is the other surface above the moving side base portion 23 of the moving side main body frame 33 against the pressure receiving surface 38 of the fixed portion 34 of the moving side main body frame 33. Arranged in the state of letting.

As shown in FIGS. 1 and 3, the moving-side guide member 25 is formed with a protrusion 32 extending along the slope 26 in the direction perpendicular to the width direction at the center in the width direction of the slope 26. Yes. The protrusion 32 is formed so that the cross-sectional shape in a direction orthogonal to the extending direction is V-shaped, that is, the cross-sectional shape is an isosceles triangle with the slope 26 as a base. Therefore, the projecting surface 131 extending in the extending direction along the slope 26 in the protrusion 32 is a surface that is inclined with respect to the slope 26 and intersects the gripping direction.

2 and 4, the moving-side base member 27 is a block-shaped member having the same width-direction dimensions as the moving-side guide member 25. In contrast to the configuration of the moving side guide member 25 described above, the moving side cap member 27 has a slope 28 in which one surface in the thickness direction is inclined upward with respect to the other surface when viewed in the width direction. It has become. That is, the moving side cap member 27 has an upward slope.

In the example shown in the drawing, the dimensions in the thickness direction of the upper surface and the lower surface are set so that the angle of one surface (slope 28) with respect to the other surface is the same angle (30 °) as that of the moving side guide member 35. Has been. Further, the lower surface is formed so as to be a plane orthogonal to the other surface when viewed in the width direction. The moving-side base member 27 is disposed above the moving-side base portion 23 of the moving-side main body frame 33, and the moving-side guide member 27 is in contact with the inclined surface 26 of the moving-side guide member 25. 25 is attached. In other words, the moving base member 27 has its lower surface 29 opposed to the support surface 24 of the moving base 23 and the inclined surface 28 as an upward inclined surface is in contact with the inclined surface 26 of the moving side guide member 25. The moving side guide member 25 is attached. Note that the end surface on the workpiece 2 side of the moving-side base member 27 becomes the moving-side gripping surface 21 that comes into contact with the workpiece 2.

Further, as shown in FIGS. 1 and 3, the moving side cap member 27 extends in a direction perpendicular to the width direction at the central portion in the width direction of the inclined surface 28 so as to correspond to the protrusion 32 of the moving side guide member 25 described above. An existing guide groove 31 is provided. The guide groove 31 is formed in a V shape whose cross-sectional shape in a direction orthogonal to the extending direction thereof corresponds to the shape of the protrusion 72 in the moving side guide portion 25.

More specifically, as shown in FIG. 3, the guide groove 31 has an inner wall surface extending in the extending direction in a state where the inclined surface 28 of the moving side base member 27 and the inclined surface 26 of the moving side guide member 25 are in contact with each other. 132 is formed so as to be in contact with the protruding surface 131 of the protruding portion 32 of the moving side guide member 25. More specifically, the shape of the guide groove 31 in the cross-section orthogonal to the extending direction is the same as the cross-sectional shape in the direction orthogonal to the extending direction of the protrusion 32, and the vertical angle and height are two. It is formed to be an equilateral triangle. With such a configuration, when the moving base member 27 is attached to the moving side guide member 25 with the inclined surface 28 in contact with the inclined surface 26 of the moving side guide member 25, the protruding portion 32 of the moving side guide member 25. And the guide groove 31 of the moving-side base member 27 are in a state in which the protruding surface 131 and the inner wall surface 132 formed so as to intersect the gripping direction are in contact with each other, and these surfaces serve as guide surfaces. A guide structure for guiding the displacement of the moving-side base member 27 with respect to the moving-side guide member 25 is configured. And according to the guide structure of the structure, each surface of the inner wall surface 132 of the guide groove 31 in the protrusion surface 131 of the protrusion part 32 in the movement side guide member 25 which functions as a guide surface, and the guide groove 31 in the movement side nozzle | cap | die member 27 contact | abuts without gap. In this state, it is possible to guide the displacement of the moving side cap member 27 with respect to the moving side guide member 25.

As shown in FIG. 4, a counterbore hole 46 is formed in the lower surface 29 of the moving side cap member 27, and the moving side base member 27 and the moving side main body frame 33 are accommodated in the form of receiving the counterbore 46. The O-ring 30 is provided between the movable side base portion 23 (between the lower surface 29 of the movable side base member 27 and the support surface 24 of the base portion). The counterbore 46 is formed such that its depth dimension is smaller than the thickness dimension of the O-ring 30. Accordingly, the O-ring 30 is in a state of protruding from the lower surface 29 of the moving side cap member 27 while being accommodated in the counterbore hole 46. As a result, the moving base member 27 is supported on the support surface 24 of the moving base 23 via the O-ring 30. In the present embodiment, as shown in FIGS. 3 and 5, three O-rings 30 are provided apart from each other in the width direction. Accordingly, three counterbore holes 46 are also formed in parallel with being spaced apart in the width direction.

As shown in FIG. 2, in this embodiment, the moving side guide member 25 and the moving side base member 27 are connected by a return spring 49. The return spring 49 is a tension spring formed by bending a steel wire, and moves on both sides of the moving side guide member 25 and the moving side base member 27 with respect to the longitudinal direction (gripping direction) of the moving side body frame 33. In a state of straddling the side guide member 25 and the moving side cap member 27, the tip is inserted and fixed in the mounting holes 50 formed on the side surfaces of the moving side guide member 25 and the moving side cap member 27.

Each return spring 49 has a part including one end side from the inclined surface 26 side of the moving side guide member 25 in a state where its pulling direction is directed in a direction along the longitudinal direction (gripping direction) of the moving side main body frame 33. In a protruding state, it is fixed to the side surface of the moving side guide member 25. Each return spring 49 is fixed to the side surface of the moving base member 27 at a portion protruding from the moving guide member 25.

The return spring 49 maintains the contact state between the moving side cap member 27 and the moving side guide member 25 by the elastic force in the pulling direction, and the moving side cap member 27 is removed from the moving base portion 23. While preventing, the displacement of the movement side nozzle | cap | die member 27 with respect to the movement side guide member 25 is enabled by the elastic deformation.

In the present embodiment, a thinning portion 51 for accommodating the return spring 49 is formed on both side surfaces of the moving side guide member 25 and the moving side cap member 27, and the returning spring 49 is the thinning portion 51. It is accommodated in the inside, and the thinning portion 51 is covered with the cover 39.

Next, the support structure and screw mechanism of the moving side guide member 25 will be described. As shown in FIG. 4, the moving side guide member 25 has a through hole 41 penetrating in the vertical direction. The through hole 41 is formed so as to open in the center of the moving side guide member 25 in the width direction. In addition, a through-hole 43 that penetrates in the vertical direction is also formed in the movement-side base portion 23 at a position facing the through-hole 41 in the arrangement of the movement-side guide member 25 with respect to the movement-side main body frame 33. The moving side guide member 25 is moved from the upper surface side of the moving side guide member 25 to the through

holes

41 and 43 in a state where the position of the through hole 41 is matched with the through hole 43 of the moving side base portion 23 by the arrangement. On the other hand, when the clamp bolt 9 is inserted, displacement in the horizontal direction (gripping direction and width direction) is restricted with respect to the moving-side base portion 23, and it is supported so as to be displaceable in the vertical direction.

The clamp bolt 9 protrudes from the moving base portion 23 through the moving base portion 23 with the head of the screw locked to the bottom of a counterbore 42 formed in the upper surface opening of the through hole 41. It is screwed into a T-groove nut 44 disposed in the T-groove 6 of the table 5 at the end of the projecting side. In the state where the moving side guide member 25 is supported by the clamp bolt 9 as described above, the wedge surface 40 of the moving side guide member 25 and the pressure receiving surface 38 of the moving side main body frame 33 are in contact with each other. The moving side guide member 25 is in a state in which the rotation of the clamp bolt 9 around the axis is restricted. With these configurations, the moving side guide member 25 is displaced only in the vertical direction with respect to the moving side main body frame 33.

Further, the position of the moving side guide member 25 in the vertical direction is supported by the moving side base member 27 and the O-ring 30. Specifically, the moving side guide member 25 itself can be displaced in the vertical direction with respect to the moving side base portion 23 (clamp bolt 9), and is displaced toward the moving side base portion 23 by its own weight. When the moving side guide member 25 is displaced to the moving side base portion 23 side, the moving side base member 27 that contacts the moving side guide member 25 on the inclined surface 28 is moved in the thickness direction (longitudinal direction of the moving side main body frame 33). In FIG. 2, the moving side main body frame 33 is displaced in a direction away from the fixed portion 34.

However, as described above, the moving side guide member 25 and the moving side cap member 27 are connected by the return spring 49, and the elastic force of the return spring 49 is a movement whose horizontal position is regulated. The movable side cap member 27 acts so as to be drawn toward the side guide member 25. The return spring 49 causes the moving-side guide member 25 and the moving-side base member 27 to move with a tensile force larger than the force acting on the moving-side base member 27 due to the weight of the moving-side guide member 25 due to its elastic force. It is to be connected.

Therefore, even if the weight of the moving side guide member 25 acts, the moving side base member 27 is not displaced in the direction away from the fixed portion 34 as described above due to the elastic force of the return spring 49. On the other hand, in a state where no downward force is applied, the position of the moving side guide member 25 in the vertical direction is supported by the moving side base member 27. As described above, since the moving-side base member 27 is supported on the support surface 24 of the moving-side base portion 23 via the O-ring 30, the moving-side guide member 25 is related to the O-ring 30 in the vertical direction. It is supported via the moving side cap member 27 and the return spring 49.

As described above, the moving-side base member 27 is supported on the support surface 24 of the moving-side base portion 23 via the O-ring 30, and the moving-side base member 27 and the moving-side guide member 25 are used for return. They are connected by a spring 49. In other words, the O-ring 30 supports the moving side cap member 27 and the moving side guide member 25 that are connected by the return spring 49. Accordingly, the O-ring 30 supports the weights of the moving side cap member 27 and the moving side guide member 25 and is elastically deformed thereby, and an urging force corresponding to the elastic deformation is applied to the moving side cap member 27. ing. Therefore, in the moving base device 20, the O-ring 30 corresponds to an urging means. Note that the O-ring 30 separates the lower surface 29 of the moving side cap member 27 from the support surface 24 of the moving base portion 23 even if the weights of the moving side cap member 27 and the moving side guide member 25 as described above act. It has become something that can be made.

In this embodiment, the screw mechanism including the clamp bolt 9 and the T-groove nut 44 described above acts on the moving guide member 25 with a pressing force directed toward the placement surface 3 side. *

Specifically, as described above, in the support structure of the moving side guide member 25, the clamp bolt 9 is inserted from above the moving side guide member 25, and the T-groove nut 7 of the fixing means is inserted into the clamp bolt 9. Separately, a T-groove nut 44 disposed in the T-groove 6 is screwed together. The T-groove nut 44 has an inverted T-shaped cross-sectional shape corresponding to the T-groove 6, and is disposed in a non-rotatable state in the T-groove 6. Further, the T-groove nut 44 is set such that the height dimension of the portion protruding to both sides in the width direction in the T-groove 6 is lower than the height dimension of the corresponding portion of the T-groove 6. Therefore, the T-groove nut 44 is screwed with the clamp bolt 9 and is displaced vertically in the T-groove 6 by changing the screwed state.

Therefore, by rotating the clamp bolt 9 in the tightening direction to change the screwed state with respect to the T-groove nut 44, the T-groove nut 44 is displaced upward, and the T-groove nut 44 is moved to the upper inner wall surface of the T-groove 6. The upper and lower positions of the T-groove nut 44 can be locked in the T-groove 6. Then, when the clamp bolt 9 is further rotated from the state where the vertical position of the T-groove nut 44 is locked to the T-groove 6, the head of the clamp bolt 9 is now displaced downward. Thereby, the head of the clamp bolt 9 exerts a force toward the mounting surface 3 in the axial direction of the clamp bolt 9 on the moving side guide member 25, and the moving side guide member 25 moves to the moving base portion 23. Will be displaced to the side. As the moving side guide member 25 is displaced toward the base portion 24 side, the moving side base member 27 that contacts the inclined surface 26 of the moving side guide member 25 receives a force from the moving side guide member 25 and receives the grip side (workpiece). 2 in the direction of being pressed against 2). Therefore, the clamp bolt 9 and the T-groove nut 44 support the moving side guide member 25 and press the moving side base member 27 to the holding side via the moving side guide member 25. Is also functioning.

The moving base device 20 described above includes a moving side base portion 23 having a support surface 24 parallel to the mounting surface 3, a moving side guide member 25 as a guiding portion having a slope 26 facing the gripping side, and a moving side. A moving side base member 27 having a slope 28 facing the slope 26 of the guide member 25, and a moving side base member 27 provided between the moving side base portion 23 and the moving side base member 27 from the placement surface 3. The structure includes an O-ring 30 as an urging means for urging in the separating direction, and has a work pressing structure 22 formed by a combination of these structures. In the present embodiment, the moving base mechanism 20 having such a workpiece pressing structure 22 and the moving portion main body 33 for fixing the moving base mechanism 20 to the table 5 of the machine tool are moved. A base device 20 is configured.

Next, the fixed base device 60 will be described with reference to FIGS. The fixed base device 60 has, as main components, a fixed-side guide as a guide portion that has a fixed-side main body frame 73 mounted on the mounting surface 3 and a slope 66 and is fixedly supported by the fixed-side main body frame 73. A fixed side base member 67 having a member 65, a slope 68 that contacts the slope 66 of the fixed side guide member 65, and supported by the fixed side guide member 65 so as to be vertically displaceable, and a fixed side of the fixed side body frame 73 A ball plunger 70 provided between the base portion 63 and the fixed side base member 67 and urging the fixed side base member 67 away from the fixed side base portion 63, and the fixed side main body frame 73 are placed on the mounting surface 3. And a T-groove nut 7 and a fixing bolt 8 as fixing means.

As shown in FIG. 6, the fixed-side main body frame 73 includes a fixed portion 74 that is a substantially rectangular parallelepiped block body, and a fixed-side base portion that is formed integrally with the fixed portion 74 and protrudes from the fixed portion 74 toward the workpiece 2. 63.

The fixing part 74 has two through

holes

75 and 75 for fixing penetrating in a direction orthogonal to the lower surface while the lower surface is formed in a plane. The two through-

holes

75 and 75 are formed in parallel with each other in the longitudinal direction at the same position in the width direction perpendicular to the longitudinal direction with respect to the fixed portion 74. The mounting surface 78, which is the end surface facing the grip side of the fixing portion 74, is provided with a female screw hole 81 for fixing the fixed side guide member 65 in the width direction at the same position in the vertical direction. Two are formed.

The fixed-side base portion 63 is formed so that its lower surface coincides with the lower surface of the fixed portion 74 and protrudes from the end of the fixed portion 74 on the mounting surface 78 side. Further, the fixed-side base portion 63 is formed as a plane whose upper surface is parallel to the lower surface, and is formed with a size of about ¼ of the fixed portion 74 in the vertical direction. Further, with respect to the width direction orthogonal to the longitudinal direction, the fixed-side base portion 63 has the same dimensions as the portion of the fixed portion 74 on the mounting surface 78 side, and is formed in such a manner that the fixed portion 74 and the side surface coincide with each other. As described above, the fixed-side main body frame 73 (the fixed portion 74 and the fixed-side base portion 63) is installed on the mounting surface 3 with the lower surface in contact with the mounting surface 3. Therefore, in this state, the upper surface of the fixed base portion 63 is parallel to the placement surface 3, and this upper surface becomes the support surface 64.

The fixed-side main body frame 73 is screwed into a T-groove nut 7 disposed in the T-groove 6 of the table 5 of the machine tool by screwing the fixing bolts 8 inserted through the fixing through holes 75 from above. It is fixed to the table 5 while being placed on the placement surface 3. Accordingly, in this fixed state, the fixed-side main body frame 73 is in a state in which the longitudinal direction thereof coincides with the extending direction of the T groove 6. In the illustrated example, the T-groove nut 7 is provided as a common nut for the two fixing bolts. Thus, the fixed-side main body frame 73 is fixed to the table 5 of the machine tool by the two fixing bolts 8 and the T-groove nut 6, and the fixing bolt 8 and the T-groove nut 7 serve as fixing means. ing.

In the present embodiment, the fixed-side guide member 65 as a guide portion is a block-shaped member having the same width-direction dimensions as the fixed-side main body frame 73 (fixed-side base portion 63). As shown in FIGS. 2 and 6, the fixed-side guide member 65 is formed in a wedge shape in which the upper surface dimension is larger than the lower surface dimension in the thickness direction, and one surface in the thickness direction is the width direction. As seen, the slope 66 is inclined downward with respect to the other surface. That is, the fixed side guide member 65 has a downward slope. In the example shown in the figure, the dimensions of the upper surface and the lower surface in the thickness direction are set so that the angle of one surface with respect to the other surface is 15 °.

The fixed-side guide member 65 abuts the fixed surface 80, which is the other surface, on the mounting surface 78 of the fixed portion 74 of the fixed-side main body frame 73 above the fixed-side base portion 63 of the fixed-side main body frame 73. It is arrange | positioned in the state made to attach, and it is attached with respect to the stationary-side main body frame 73.

As shown in FIG. 6, the fixed-side guide member 65 has two through-holes 82 penetrating in the gripping direction. The two through-

holes

82 and 82 are centered on the female screw holes 81 and 81 of the fixing portion 74 in a state where the upper surface of the fixing-side guide member 65 is aligned with the upper surface of the fixing-side main body frame 73 (fixing portion 74). It is formed so as to coincide with the center. The fixed-side guide member 65 is fixed to the fixed-side main body frame 73 by inserting the mounting bolt 83 into the through hole 82 and screwing it into the female screw hole 81. Note that a portion of the through hole 82 that opens to the slope 66 is countersunk so that the head of the mounting bolt 83 does not protrude from the slope 66. Further, the fixed side guide member 65 is formed with a female screw hole 85 into which a locking bolt 84 for locking the fixed side cap member 67 is screwed.

As shown in FIGS. 1 and 3, the fixed-side guide member 65 is formed with a protrusion 72 extending along the slope 66 in a direction perpendicular to the width direction at the center in the width direction of the slope 66. Yes. The protrusion 72 is formed so that the cross-sectional shape in a direction orthogonal to the extending direction is V-shaped, that is, the cross-sectional shape is an isosceles triangle having the slope 66 as a base. Therefore, the protruding surface 121 extending in the extending direction along the slope 66 in the protrusion 72 is a surface that is inclined with respect to the slope 66 and intersects the gripping direction.

2 and 6, the fixed side cap member 67 is a block-shaped member having the same dimension in the width direction as that of the fixed side guide member 65. In contrast to the configuration of the fixed guide member 65 described above, the fixed side cap member 67 has a slope 68 in which one surface in the thickness direction is inclined upward with respect to the other surface when viewed in the width direction. It has become. That is, the fixed side cap member 67 has an upward slope.

However, the dimensions in the thickness direction of the upper surface and the lower surface are set so that the angle of one surface (slope 68) with respect to the other surface is the same angle (15 °) as that of the fixed guide member 65. Further, the lower surface is formed so as to be a plane orthogonal to the other surface when viewed in the width direction. The fixed-side base member 67 is disposed above the fixed-side base portion 63 of the fixed-side main body frame 73, and the fixed-side guide member 67 is in contact with the inclined surface 66 of the fixed-side guide member 65. 65 is attached. That is, the fixed-side base member 67 has its lower surface 69 opposed to the support surface 64 of the fixed-side base portion 63 and the inclined surface 68 as an upward inclined surface is in contact with the inclined surface 66 of the fixed-side guide member 65. The fixed-side guide member 65 is attached. The end surface on the holding side of the fixed side base member 67 becomes the fixed side holding surface 61 in contact with the workpiece 2.

As shown in FIGS. 6 and 7, the fixed base member 67 has a long hole 90 that penetrates in the thickness direction at the center in the width direction and has a long inner diameter dimension in the vertical direction. The fixed base member 67 is screwed into the female screw hole 85 of the fixed side guide member 65 with the locking bolt 84 inserted into the elongated hole 90 from the gripping side, and the position of the locking bolt 84 in the gripping direction. Is regulated by a set screw 86 screwed into the female screw hole 85, so that the fixed side guide member 65 is attached to be displaceable in the vertical direction within the extension range of the long hole 90.

In the present embodiment, the lower surface 69 of the fixed-side base member 67 can be displaced 0.05 mm upward with respect to the mounting surface 3 from the state where the lower surface 69 is in contact with the support surface 64 of the fixed-side base portion 63. The positions and dimensions of the long holes 90 of the fixed side cap member 67 and the female screws of the fixed side guide member 65 are determined. Specifically, the long hole 90 is formed so that the dimension in the extending direction is 0.05 mm or more larger than the dimension in the width direction. The lower surface 69 of the fixed base member 67 is separated from the support surface 64 of the fixed base 63 by 0.05 mm with the lower edge of the long hole 90 in contact with the locking bolt 84. In addition, the positions and dimensions of the female holes of the long hole 90 and the fixed guide member 65 are determined.

Further, a counterbore hole for accommodating the head of the locking bolt 84 is provided in the fixed-side gripping surface 61. The counterbore hole is set to have a depth dimension larger than that of the head of the locking bolt 84 in the thickness direction. Further, the counterbore hole is set to have such a diameter that does not interfere with the head of the locking bolt 84 when the fixed side cap member 67 is displaced in the vertical direction. Therefore, the locking bolt 84 is mounted so that its head is housed in this counterbore and does not protrude from the fixed side holding surface 61 to the holding side, and the vertical displacement of the fixed side base member 67 is not hindered. It is in a state. Thus, the fixed-side gripping surface 61 of the fixed-side base member 67 is in a state in which the locking bolt 84 and the workpiece 2 can be brought into contact with the workpiece 2 without interference.

Further, as shown in FIGS. 1 and 3, the fixed side cap member 67 extends in a direction perpendicular to the width direction at the center in the width direction of the inclined surface 68 so as to correspond to the protrusion 72 of the fixed side guide member 65 described above. An existing guide groove 71 is provided. The guide groove 71 is formed in a V shape whose cross-sectional shape in a direction orthogonal to the extending direction thereof corresponds to the shape of the protrusion 72 in the fixed side guide portion 65.

More specifically, the guide groove 71 has an inner wall surface 122 extending in the extending direction in a state where the inclined surface 68 of the fixed-side base member 67 and the inclined surface 66 of the fixed-side guide member 65 are in contact with each other, and the fixed-side guide member It is formed so as to be in contact with the protruding surface 121 of the 65 protruding portions 72. More specifically, the guide groove 71 has a vertex angle and a height in which the shape in a cross section orthogonal to the extending direction has the same size as the cross sectional shape in the direction orthogonal to the extending direction of the protrusion 72. It is formed to be an equilateral triangle. With such a configuration, when the fixed-side base member 67 is attached to the fixed-side guide member 65 with the inclined surface 68 abutting against the inclined surface 66 of the fixed-side guide member 65, the protrusion 72 of the fixed-side guide member 65. And the guide groove 71 of the fixed-side base member 67 are in a state where the protruding surface 121 and the inner wall surface 122 formed so as to intersect the gripping direction are in contact with each other, and each of these surfaces serves as a guide surface. A guide structure for guiding the displacement of the fixed-side base member 67 with respect to the fixed-side guide member 65 is configured. According to the guide structure of the configuration, the protruding surface 121 of the protrusion 72 in the fixed side guide member 65 that functions as the guide surface and the inner wall surface 122 of the guide groove 71 in the fixed side base member 67 are in contact with each other without a gap. Thus, it is possible to guide the displacement of the fixed-side base member 67 with respect to the fixed-side guide member 65.

Further, as shown in FIGS. 6, 7, and 8, a ball plunger 70 that urges the fixed-side base member 67 in a direction in which the fixed-side base member 67 is separated from the fixed-side base portion 63 is attached to the fixed-side base portion 63. The ball plunger 70 is provided between the fixed side base portion 63 and the fixed side base member 67. In this embodiment, the ball plunger 70 is a through-hole penetrating in a direction perpendicular to the lower surface with respect to the fixed side base portion 63. The ball plunger 70 is accommodated in the through hole. The through hole has a female screw formed on the inner peripheral surface thereof. In the present embodiment, two ball plungers 70 are provided apart from each other in the width direction. Therefore, two through holes are formed spaced apart in the width direction.

As shown in FIG. 8, the ball plunger 70 has an external thread formed on the outer peripheral surface thereof and a male thread member 87 having an accommodation hole 93 opened on one end face, and is movable in the axial direction into the accommodation hole 93 of the external thread member 87. It consists of a steel ball 88 to be inserted, and a compression spring 89 as a spring member provided between the steel ball 88 and the bottom surface of the accommodation hole 93 and biasing the steel ball 88. Then, the ball plunger 70 is formed with the male screw on the outer peripheral surface on the inner peripheral surface of the through hole of the fixed base portion 63 with the one end surface side of the male screw member 87 facing upward (the support surface 64 side). It is attached to the fixed side base portion 63 by being screwed into the formed female screw. A hexagonal hole is formed in the bottom of the ball plunger 70 (the other end face side of the male screw member 87). Therefore, the ball plunger 70 can be adjusted in the vertical position with respect to the fixed-side base portion 63 in the through-hole by rotating with a hexagon wrench.

The steel ball 88 of the ball plunger 70 is in contact with the lower surface 69 of the fixed side base member 67 from below, and the biasing force (elastic force) of the compression spring 89 is applied to the lower surface 69 of the fixed side base member 67 via the steel ball 88. The fixed side cap member 67 is urged upward (in the direction away from the placement surface 3, the opposite placement surface 3 side). Therefore, in this embodiment, the compression spring 89 and the steel ball 88 in the ball plunger 70 correspond to the urging means. The compression spring 89 in this urging means separates the lower surface 69 of the fixed-side base member 67 from the support surface 64 of the fixed-side base portion 63 in a state where an external force other than gravity does not act on the fixed-side base member 67. What has the urging | biasing force which can be used is used.

Further, the ball plunger 70 can adjust the vertical position of the male screw member 87 with respect to the fixed base portion 63 as described above, and the bottom surface of the accommodation hole 93 and the bottom surface of the fixed cap member 67 can be adjusted by the adjustment. The urging force of the compression spring 89 can be adjusted by changing the distance to 69 (the support surface 64 of the fixed-side base portion 63). Therefore, the male screw member 87 of the ball plunger 70 and the female screw of the fixed side base portion 63 correspond to the urging force adjusting mechanism.

As described above, the fixed base device 60 according to the present embodiment includes the fixed side base member 63 having the support surface 64 parallel to the mounting surface 3 and the fixed side guide member as the guide portion having the downward slope (slope 66). 65, a fixed-side base member 67 having an upward slope (slope 68) facing the downward slope (slope 66) of the fixed-side guide member 65, and a fixed-side base member 67 provided on the fixed-side base 63. A work pressing structure 62 comprising a steel ball 88 and a compression spring 89 of a ball plunger 70 as an urging means for urging toward the placement surface 3 side (a direction away from the placement surface 3), and comprising a combination of these configurations. It has composition which has. And in this embodiment, with the fixed base mechanism 60 which has such a workpiece | work pressing structure 62, and the fixing part 74 of the stationary-side main body frame 73 for fixing the fixed base mechanism 60 to the table 5 of a machine tool, A fixed base device 60 is configured.

In the present embodiment, the moving base device 20 and the fixed base device 60 position the receiving

members

47 and 91, the moving side main body frame 33, and the fixed side main body frame 73 for placing the work 2 with respect to the T groove 6. To prevent chips from entering between the

bushes

36 and 76, and between the moving base member 27 and the moving base portion 23 and between the fixed base member 67 and the support surface 64 of the fixed base portion 63.

Covers

39 and 79 are provided. Since these configurations are the same in the moving base device 20 and the fixed base device 60, the fixed base device 60 will be described below. Regarding the moving base device 20, in the following description, the fixed-side main body frame 73, the fixed-side base member 67, the fixed-side base portion 63, the support surface 64, the receiving member 91 (the seating surface 92), the bush 76, and the cover 79 are These are replaced with the moving-side main body frame 33, the moving-side base member 27, the moving-side base portion 23, the support surface 24, the receiving member 47 (sitting surface 48), the bush 36, and the cover 39, respectively.

As shown in FIG. 6, the receiving member 91 is a member in which an attachment portion to the fixed-side main body frame 73 and a support portion that supports the workpiece 2 are integrally formed. The attachment part has the same width direction dimension as the fixed side base part 63, and is configured in a block shape. The attachment portion has a flat bottom surface and a height dimension slightly lower than that of the fixed-side base portion 63. Moreover, the attachment part is formed in the plane which the both side surfaces extended in parallel with the width direction orthogonal to a lower surface.

The support portion is a plate-like portion having the same width direction dimension as the attachment portion, and is formed so as to protrude from the upper surface of the attachment portion. The support portion is formed such that the dimension in the plate thickness direction is smaller than the dimension between the both side surfaces of the mounting portion. In the illustrated example, the support portion extends upward from the upper surface of the attachment portion in such a manner that one surface in the plate thickness direction coincides with one side surface of the both side surfaces of the attachment portion. is doing. Further, the upper surface of the support portion is formed in a plane parallel to the lower surface of the attachment portion, and the upper surface serves as a seating surface 92 on which the workpiece 2 is seated. Furthermore, the support portion has a vertical dimension in which the height of the receiving member 91 is larger than the height of the fixed base 63. Incidentally, in the illustrated example, the height dimension of the receiving member is about twice the height dimension of the fixed-side base portion 63.

The receiving member 91 configured as described above is attached to the fixed-side base portion 63 at the attachment portion. More specifically, the receiving member 91 makes the lower surface of the mounting portion coincide with the lower surface of the fixed side base portion 63, and the surface on the side opposite to the support portion of the both side surfaces of the mounting portion is the gripping side of the fixed side base portion 63. In the state of being in contact with the end face, the fixing part is attached to the fixed base part 63 by means of an attaching bolt inserted from the one side surface side with respect to the attaching part.

In FIG. 6, two female screw holes in the holding direction are formed on the end surface on the holding side of the fixed side base portion 63 so as to be provided in the width direction. Further, the receiving member 91 is formed with a through-hole penetrating in the gripping direction at a position where the center coincides with the two female screw holes on the grip-side end surface of the fixed-side base portion 63 at the mounting position as described above. The receiving member 91 is fixed to the fixed base portion 63 by inserting a mounting bolt into the through hole from the gripping side and screwing it into the female screw of the fixed base portion 63. In addition, the part opened to the holding | grip side of the said through-hole is countersunk, and the head of a mounting bolt is the structure which does not protrude from the holding | grip side.

In the present embodiment, the fixed base device 60 includes such a receiving member 91, and the workpiece 2 is placed on the seating surface 92 of the support portion, whereby the height dimension of the workpiece 2 is set to the placement surface. 3, the workpiece 2 is arranged above the lower surface 69 of the fixed side cap member 67 so that the workpiece 2 is fixed on the fixed side. It can be held by the base member 67.

The bush 76 is a hollow cylindrical member having an outer diameter corresponding to the width of the opening on the mounting surface 3 side in the T groove 6 of the table 5 of the machine tool. The bushing 76 is fixed to the center in the width direction on the lower surface of the fixed-side main body frame 73 by mounting bolts 77 inserted from below into the hollow portion of the bushing 76. In the illustrated example, two bushes 76 are attached in the form of being juxtaposed in the longitudinal direction of the fixed-side main body frame 73. The bush 76 regulates the position in the width direction of the fixed-side main body frame 73 with respect to the T groove 6 by contact between the outer peripheral surface and the inner surface of the opening of the T groove 6 in the table 5 of the machine tool. . However, the bush 73 is not necessarily required in the fixed base device 60 of the present invention, and can be omitted.

The cover 79 is a plate member attached to both side surfaces of the fixed-side main body frame 73 in the width direction. It has a length dimension that is longer than that of the fixed-side base portion 63 in the gripping direction, and a height dimension that is slightly lower than that of the fixing portion 74 of the fixed-side main body frame 73. In this embodiment, a thinning portion 78 is provided on both side surfaces in the width direction of the fixed portion 74, and the cover 79 is attached to the fixed-side main body frame 73 at the thinning portion 78. The thinning portion 78 is provided in a gripping-side region including the fixed-side base portion 63 in the fixed-side main body frame 73 when viewed in the width direction, and the cover 79 is attached to the thinning-processing portion 78. The gap between the lower surface 69 of the fixed-side base member 67 and the support surface 64 of the fixed-side base portion 63 is closed in the width direction.

It is assumed that each member provided in the same width dimension as the fixed-side main body frame 73 is provided in the same dimension as the width dimension of the fixed-side main body frame 73 in the thinning processed portion 78. Further, the cover 79 is disposed at a position on the outer side in the width direction with respect to the fixed-side guide member 65 and the fixed-side base member 67 in a state of being attached to the fixed-side main body frame 73. The displacement to the mounting surface 3 side is not hindered.

The operation of the workpiece gripping device 1 of the present invention will be described with reference to FIGS. First, in FIG. 1, the moving base device 20 and the fixed base device 60 make the holding surfaces 21 and 61 of the moving side base member 27 and the fixed side base member 67 face each other, and the interval between the both holding

surfaces

21 and 61 is increased. It is placed on the mounting surface 3 of the table 5 in the machine tool in a state that matches the gripping direction dimension of the work 2 to be gripped. In this state, the workpiece 2 is set in a form of being placed on the receiving

members

47 and 91 in both apparatuses.

The fixed base device 60 is assumed to be fixed in advance at a predetermined position on the mounting surface 3 by the fixing means including the fixing bolt 8 and the T-groove nut 7 described above. Further, the moving base device 20 is not completely fixed by the fixing means when the workpiece 2 is set, and the position can be adjusted in the extending direction of the T groove 6 of the table 5. ing. After the workpiece 2 is set, one surface of the workpiece 2 in the gripping direction is brought into contact with the gripping surface 61 of the fixed base device 60, and then the gripping surface 21 of the moving base device 20 is the other of the gripping direction of the workpiece 2 in the gripping direction. The holding direction position of the moving base device 20 is adjusted so as to contact the surface, and the moving base device 20 is fixed to the mounting surface 3 by the fixing means (the fixing bolt 8 and the T-groove nut 7) at that position.

In this state (hereinafter, referred to as “initial state”), the force in the gripping direction does not act on the moving base member 27 and the fixed base member 67 of the moving base device 20 and the fixed base device 60. . Therefore, in the moving base device 20, the moving base member 27 causes the lower surface 29 to move away from the support surface 24 of the moving-side base portion 23 due to the elastic force of the O-ring 30 (the biasing force in the direction away from the placement surface 3). It is in a state of being separated upward, and is displaceable to the support surface 24 side (mounting surface 3 side) along the inclined surface 26 of the moving side guide member 25 that contacts the inclined surface 28. Also in the fixed base device 60, the fixed side base member 67 separates the lower surface 69 from the support surface 64 of the fixed base portion 63 upward by the biasing force in the direction of separating from the placement surface 3 by the ball plunger 70. In this state, it is displaceable toward the support surface 64 side (mounting surface 3 side) along the inclined surface 66 of the stationary guide member 65 that contacts the inclined surface 68.

In this state, in the moving base device 20, as described above, a pressing force is applied to the moving side guide member 25 by the pressing means (screw mechanism) to move the moving side guide member 25 toward the moving side base portion 25. When displaced, the moving-side base member 27 receives a pressing force from the moving-side guide member 25 to the gripping side, and the moving-side base member 27 applies a pressing force to the workpiece 2. Further, when the moving side cap member 27 of the moving base device 20 applies a pressing force to the work 2, the pressing force is received by the fixed side base member 60 of the fixed base device 60 through the work 2. As a result, in the fixed base device 60, the fixed side base member 67 receives a pressing force from the workpiece 2 and the reaction force (pressing force) is applied to the workpiece 2. Then, a state in which a pressing force is received by the moving base device 20 and the fixed base device 60, that is, a state in which a gripping force is received is obtained.

Further, in the workpiece gripping device 1 of the present embodiment, as described above, in the moving base device 20 and the fixed base device 60, each base member is in contact with the inclined surface of the guide member by the inclined surface. That is, the guide member and the base member are in contact with each other with both inclined surfaces as contact surfaces.

Therefore, in the moving base device 20, the pressing force acting on the abutment surface as the moving-side guide member 25 is displaced downward causes the pressing force to the gripping side, which is a component of the pressing force. In addition to this, a force to push down toward the moving side base portion 23 acts on the moving side base member 27. Further, in the fixed base device 60, as described above, the fixed side base member 67 receives a pressing force from the work 2 and the pressing force acting on the contact surface causes a fixing force that is a component of the pressing force. A force to push down toward the side base portion 63 acts on the fixed side cap member 67. As a result, the workpiece 2 receives the gripping force from both sides as described above, and both the base members for gripping the workpiece 2 receive the pressing force to the base portion side, whereby the pressing force is applied from each base member. Acted on. Accordingly, it is possible to make it difficult for the workpiece to lift when the workpiece is gripped, and to improve the processing rigidity after gripping the workpiece, so that the processing accuracy of the workpiece 2 is improved.

In the case of the present embodiment, since the

work pressing structures

22 and 62 are provided in the base mechanisms of both the moving base device 20 and the fixed base device 60, the work is provided in both the mobile base device 20 and the fixed base device 60. The pressing force can be applied to the two, making it difficult for the workpiece 2 to lift when the workpiece 2 is gripped, and improving the processing rigidity after gripping the workpiece 2.

In the workpiece gripping apparatus 1 according to the present embodiment, the guide structure for guiding the displacement of the moving side cap member 27 and the fixed side cap member 67 with respect to the moving side guide member 25 and the fixed side guide member 65 in the

workpiece pressing structures

22 and 62. (

Guide grooves

31 and 71 and protrusions 32 and 72), the moving side base member 27 and the fixed side base member 27 and the fixed side base member 67 are displaced when the moving side base member 27 and the fixed side base member 67 are displaced to the placement surface 3 side. The resistance received by the member 67 can be reduced, and a pressing force can be applied to the workpiece 2 stably.

That is, in the workpiece gripping device in the present embodiment, both the moving base device 20 and the fixed base device 60 have the guide structure, and the guide structure is a guide member (moving side guide member as described above). 25, a fixed-side guide member 65) projecting portions (projecting portions 31, 71) having an isosceles triangular cross section formed so as to extend in a direction perpendicular to the downward slope (slopes 26, 66), and a base member The guide grooves (guide grooves 31, 71) formed in the shape and arrangement corresponding to the protrusions with respect to the upward slopes (slopes 28, 68) of the (moving side base member 27, fixed side base member 67). Therefore, the protruding surfaces (protruding surfaces 121, 131) of the protrusions, which are guide surfaces for guiding the displacement of the base member, and the inner wall surfaces (inner wall surfaces 122, 132) of the guide grooves are in contact with each other without any gaps. To do That.

And according to this structure, even if it is a case where the gripping force in the gripping direction to be applied to the work 2 becomes an unbalanced load in the moving base device 20 and the fixed base device 60 having the

work pressing structures

22 and 62, The moving side base member 27 and the fixed side base member 67 are not inclined around the axis parallel to the gripping direction due to the contact of each guide surface as described above in the guide structure. When the side base member 67 is displaced toward the placement surface 3, the resistance received by the moving side base member 27 and the fixed side base member 67 can be reduced, and the moving side base member 27 and the fixed side base member 67 are attached to the workpiece 2. The pressing force to the mounting surface 3 to be acted on can be further stabilized.

By the way, the

protrusions

31 and 71 and the

guide grooves

32 and 72 as the guide structure are 1 in the center in the width direction of the moving side guide member 25 and the fixed side guide member 65, and the moving side base member 27 and the fixed side base member 67. Only one is formed. The reason is as follows.

For example, when a plurality of (for example, two) guide structures are provided in the width direction in the fixed side guide member 65 and the fixed side base member 67, a pressing force is applied between the fixed side guide member 65 and the fixed side base member 67. When the projections 72 and the guide grooves 71 are in contact with each other between the two adjacent guide grooves, the pressing force in the width direction as a result of the pressing force acting between the two guide grooves is Will act from. In this case, a pressing force acts in such a manner that the portion between the both sides is sandwiched from both sides. Therefore, a large frictional force is generated between the guide surfaces (protruding surface 131 and inner wall surface 132) that abut in the direction of the pressing force. The generated frictional force is a resistance that hinders smooth displacement of the stationary base member 67 toward the mounting surface with respect to the stationary guide member 65. And as a result of such resistance acting between guide surfaces, the pressing force to the mounting surface 3 side which the fixed side cap member 67 acts with respect to the workpiece | work 2 will become unstable.

On the other hand, in the present embodiment, since only one guide structure is provided at the center in the width direction of the base member and the guide member, the above-described smooth displacement of the base member toward the mounting surface 3 side is provided. A pressing force that causes resistance does not act between the guide surfaces, and the pressing force on the mounting surface 3 side that the cap member acts on the workpiece 2 can be stabilized.

The moving side cap member 27 and the fixed side cap member 67 receive the pressing force toward the mounting surface 3 as described above, and thereby are provided with urging means (O-ring 30, The ball plunger 70) is displaced downward against the urging force of the ball plunger 70). However, in the fixed base device 60, the urging force by the urging means is also referred to as a gripping force (hereinafter referred to as “set gripping force”) according to the material of the workpiece 2 to be gripped by the biasing force adjusting mechanism. .)
It is assumed that the urging force is adjusted to match. This will be described in detail below.

Referring to FIG. 8, in the fixed base device 60, the urging force by the urging means (ball plunger 70) can be adjusted by the urging force adjusting mechanism. The vertical position of the fixed base member 67 urged upward by the ball plunger 70 corresponds to the urging force of the ball plunger 70 when no external force is applied to the fixed base member 67. It will be a thing. Therefore, by adjusting the urging force by the ball plunger 70, the distance between the lower surface 69 of the fixed side cap member 67 and the support surface 64 of the fixed side base 63 changes according to the magnitude of the urging force.

In the urging force adjusting mechanism according to the present embodiment, the urging force is adjusted by adjusting the position (screwing amount) of the male screw member 87 of the ball plunger 70 with respect to the female screw hole of the fixed-side base portion 63, so that the initial state (FIG. This is done by changing the amount of compression of the compression spring 89 in a state where no external force other than gravity is applied to the fixed base member 67 (see FIG. 8A). That is, when the urging force is increased, the male screw member 87 is displaced upward to increase the compression amount of the compression spring 89, and when the urging force is decreased, the male screw member 87 is displaced downward to compress the compression spring 89. The compression amount of 89 is adjusted to be small.

On the other hand, the gripping force applied to the work 2 is preferably changed according to the material of the work 2 and the like. This gripping force corresponds to the pressing force that the moving side base member 27 receives from the moving side guide member 25 to the gripping side by the action of the pressing means (clamp bolt 9 and T groove nut 44) of the moving base device 20.

Further, as described above, when a gripping force is applied to the workpiece 2 to grip the workpiece 2, the fixed-side base member 67 of the fixed base device 60 moves toward the placement surface 3 according to the gripping force. Is received from the fixed guide member 65 and is displaced downward against the urging force of the ball plunger 70. When the fixed side cap member 67 is displaced downward, the compression spring 89 of the ball plunger 70 is compressed, and the steel ball 88 is displaced downward.

In the present embodiment, the urging force of the urging means (the compression spring 89 and the steel ball 88) of the fixed cap device 60 is received by the fixed cap member 67 when a set gripping force is applied to the workpiece 2. The urging means that has received the pushing-down force by the pushing-down force toward the mounting surface 3 is completely accommodated in the accommodation space 94 in its entire length (the length of the compressed compression spring 89 + the diameter of the steel ball 88). In other words, it is assumed that the lower surface 69 of the fixed-side base member 67 is set to contact the support surface 64 of the fixed-side base portion 63. Specifically, it is set in consideration of the following points.

In the case of the configuration of the biasing force adjusting mechanism of the present embodiment, when the position of the male screw member 87 of the ball plunger 70 is adjusted in the direction of increasing the biasing force as described above (the male screw member 87 is displaced upward), accordingly. The distance between the bottom surface of the accommodation hole 93 in the male screw member 87 and the support surface 64 of the fixed-side base portion 63 is reduced. On the other hand, the total length of the urging means (the compression spring 89 and the steel ball 88) (the length of the compressed compression spring 89 + the diameter of the steel ball 88) when the pressing force is applied by the fixed side cap member 67 is: It is determined by the relationship between the pressing force at that time and the urging force of the urging means.

Therefore, for example, when the gripping force to be applied to the workpiece 2 is set large, the pushing-down force becomes large, so that it is necessary to increase the urging force by the urging means accordingly. 87, the distance between the bottom surface of the accommodation hole 93 and the support surface 64 of the fixed base 63, that is, the vertical dimension of the accommodation space 94 for accommodating the biasing means (the compression direction of the compression spring 89) is small. Become.

Therefore, the urging force by the urging means (the vertical position of the male screw member 87) takes into account the amount of contraction of the urging means in relation to the pushing-down force and the vertical dimension of the accommodation space 94. Is set so that the lower surface 69 of the fixed base member 67 abuts on the support surface 64 of the fixed base portion 63 when a set gripping force is applied thereto.

As described above, in the configuration of the present embodiment, the accommodation space defined by the female screw hole of the fixed-side base portion 63 and the male screw member 87 (the bottom surface of the accommodation hole 93) in a state where the set gripping force is applied to the workpiece 2. The urging means (compression spring 89 and steel ball 88) is accommodated in 94 (completely accommodated). Therefore, in the present embodiment, the storage space 94 corresponds to “a storage space that is a recess and stores the biasing means”.

And in such a workpiece gripping device 1 of the present embodiment, in the state where the fixed cap device 60 has the accommodation space 94 as described above and a set gripping force is applied to the workpiece 2, on the fixed cap mechanism side, Since the lower surface 69 of the fixed-side base member 67 is in contact with the support surface 64 of the fixed-side base portion 63, the position of the gripping surface 61 of the fixed-side base member 67 in the fixed base device 60 is always set for each workpiece 2. It becomes a certain position. Accordingly, the position of the gripping surface 61 of the fixed base member 67 of the fixed base device 60 at the time of gripping the workpiece can be set as a processing reference, and the work time for the operator to set the processing reference in the gripping direction is greatly increased. Can be shortened.

In the adjustment of the urging force adjusting mechanism, the vertical dimension (the dimension determined by the vertical position of the male screw member 87) of the accommodating space 94 of the urging means is set on the workpiece 2 at that time. When the fixed side cap member 67 is set to the same size as the entire length of the urging means determined by the relationship with the force to push the fixed side cap member 67 down to the placement surface 3 side, for example, when the gripping force acts on the workpiece 2 as an offset load For example, the gripping force that actually acts on the fixed base member 67 is smaller than the set gripping force, and the lower surface 69 of the fixed side base member 67 is in a gripping state in which it does not come into contact with the support surface 64 of the fixed base portion 63. End up. In this state, the gripping surface 61 of the fixed-side base member 67 has a different position for each workpiece 2 with respect to the fixed-side main body frame 73 in the gripping direction, so that the gripping surface 61 can be set as a processing reference. Disappear.

On the other hand, if the dimension in the vertical direction of the accommodation space 94 is excessively increased in order to ensure that the lower surface 69 of the fixed side base member 67 contacts the support surface 64 of the fixed side base portion 63, the biasing force of the biasing means Before the set gripping force is applied to the workpiece 2, the lower surface 69 of the fixed side base member 67 contacts the support surface 64 of the fixed side base 63, and the fixed side base member 67 is displaced downward. Is in a regulated state. Then, the pressing force applied to the workpiece 2 by the fixed-side cap member 67 of the fixed cap device 60 is supported by the lower surface 69 even in the final gripping state (the state in which the workpiece 2 is gripped with the set gripping force). It remains in the magnitude according to the gripping force at the time of contact with the surface 64, and the pressing force in the fixed base device 60 is not sufficient. Therefore, the workpiece gripping device 1 of the present embodiment having the

workpiece pressing structures

22 and 62 in both the moving cap device 20 and the fixed cap device 60 is comparable to the workpiece gripping device having the workpiece pressing structure only in the moving cap device 20. The pressing force is applied to the workpiece.

Therefore, in the present embodiment, in adjusting the urging force of the urging means, the above-mentioned points are taken into consideration, and when the set gripping force is applied to the workpiece 2, the fixed base member 67 is moved to the placement surface 3 side. The vertical position of the male screw member 87 of the ball plunger 70 (attachment of the ball plunger 70 so that the lower surface 69 of the fixed base member 67 abuts against the support surface 64 of the fixed base 63 with a slightly weaker force than the pressing force. Force), that is, the vertical dimension of the accommodation space 94 is set. In other words, the vertical direction of the male screw member 87 is such that the vertical dimension of the accommodation space 94 is slightly larger than the vertical dimension of the biasing means when the set gripping force is applied to the workpiece 2. The position is adjusted.

Incidentally, the moving base device 20 has a configuration in which the lower surface 29 of the moving side base member 27 does not come into contact with the support surface 24 of the moving side base portion 23 in a state where the set gripping force is applied to the workpiece 2. In other words, in this embodiment, the moving base device 20 uses the O-ring 30 as the biasing means, but this O-ring 30 is formed in the counterbore 46 formed in the lower surface 29 of the moving-side base member 27. And is in contact with the support surface 24 of the moving side base portion 23 in a state of protruding from the lower surface 29 of the moving side base member 27. As described above, when the moving-side base member 27 receives a force from the moving-side guide member 25 toward the moving-side base portion 23, the O-ring 30 also moves in the thickness direction (a direction perpendicular to the radial direction of the O-ring 30). Although it is elastically deformed (collapsed), in this embodiment, the amount of protrusion of the O-ring 30 from the moving-side base member 27 in the above-described initial state (a state in which no external force other than gravity is applied to the moving-side base member 27) ( The distance between the lower surface 29 of the moving-side base member 27 and the support surface 24 of the moving-side base portion 23) is based on the deformation amount (collapse amount) of the O-ring 30 when the set gripping force is applied to the workpiece 2. Is configured to be larger. Therefore, in the moving base device 20, even when the set gripping force is applied to the workpiece 2, the lower surface 29 does not come into contact with the support surface 24 of the moving side base portion 23, and the moving side base member 27 and the moving side In a state where the base portion 23 is not in contact, the moving side cap member 27 is in a state in which a pressing force toward the placement surface 3 is applied to the work 2.

Furthermore, in the present embodiment, the angle of the acute angle formed by the inclined surfaces (inclined surfaces 26 and 66) of the guide member with respect to the mounting surface is configured so that the fixed base mechanism is larger than that of the movable base mechanism. Compared with the case where the slopes (slopes 26 and 66) of the guide member are the same in the fixed base mechanism and the moving base mechanism, the force to push down to the mounting surface 3 side (base side) acting on the fixed base member 67 However, it is configured to be smaller than the depressing force acting on the moving side cap member 27. Thereby, in the fixed base mechanism, it is possible to prevent the fixed side base member 67 from being displaced toward the placement surface 3 in a state where the frictional force according to the gripping force is insufficient.

Further, in the workpiece gripping device 1 according to the present embodiment, the fixed base mechanism and the moving base mechanism are provided as independent devices, and the fixing means (the T-groove nut 7 and the fixing bolt 8) to the mounting surface 3 are provided in each device. ), The distance between the moving base device 20 and the fixed base device 60 in the extending direction of the T groove 6 (the distance between the gripping surfaces 21 and 61) can be arbitrarily set. It is possible to correspond to a workpiece 2 of a size.

As mentioned above, although one Embodiment of the workpiece | work holding apparatus of this invention was described, this invention is not limited to said embodiment, A various change is performed within the range which does not deviate from the summary of this invention. There is no problem. Other embodiments of the workpiece gripping device 1 are shown below.

In the embodiment shown in FIG. 1 to FIG. 8, the workpiece gripping device 1 is attached to a table such as a machine tool having a horizontal mounting surface 3. However, the present invention is not limited to this configuration. It may be attached to a machine tool capable of changing the inclination angle of the table mounting surface. Accordingly, in the above-described embodiment, the direction perpendicular to the mounting surface 3 is defined as the vertical direction for the sake of convenience. However, the gripping direction and the vertical direction of the workpiece gripping device and the gripping direction in the actual usage status of the workpiece gripping device There is no problem even if the vertical direction is different.

In the embodiment shown in FIGS. 1 to 8, the workpiece gripping device 1 including the moving base device 20 and the fixed base device 60 (hereinafter also referred to as “each base device”) opens to the placement surface 3. Each cap apparatus is installed in a target device having a T-groove 6 and includes a fixing means including a T-groove nut 7 and a fixing bolt 8 inserted into the T-groove 6, and is mounted on the mounting surface 3 by the fixing means. However, the present invention is not limited to this configuration, and the workpiece gripping device 1 according to the present invention can be applied to a target device that does not include the T-slot 6.

For example, it is assumed that a female screw hole that opens the target device on the mounting surface is formed, and fixing bolts inserted from above with respect to the fixing

portions

74 and 34 of the moving-side main body frame 33 and the fixed-side main body frame 73 are inserted into the female screw holes. It is good also as a structure which is screwed together and each nozzle | cap | die apparatus is fixed on a mounting surface. In this case, the fixing bolt corresponds to a fixing means.

Further, each base device may be fixed on the mounting surface by a magnetic fixing means such as a permanent magnet or an electromagnet. In this case, the target device does not need to be formed with the T-slot or the female screw hole, but at least a portion including the mounting surface needs to be formed of a magnetic material. As described above, the target device on which the workpiece gripping device is installed is not limited to a machine tool table having a T-slot, and may be a surface plate or a measuring device for measuring a workpiece, for example.

In the embodiment shown in FIGS. 1 to 8, the work gripping device 1 is configured by the fixed base device 60 and the movable base device 20 which are independent from each other. However, the work gripping device of the present invention is not limited to this configuration. It is not something that can be done.

For example, as shown in FIG. 9, the moving base mechanism 20 and the fixed base mechanism 60 are supported on a common frame 100, that is, the mobile base device 20 and the fixed base in the embodiment shown in FIGS. The moving-side main body frame 33 and the fixed-side main body frame 73 of the device 60 may be integrated.

In the embodiment shown in FIGS. 1 to 8, the guide portion of the work pressing structure 62 in the fixed base device (fixed base mechanism) 60 is a fixed-side guide member 65 that is a member different from the fixed-side main body frame 73. However, the present invention is not limited to this configuration, and as shown in FIG. 9, the fixed-side guide portion 65 is formed integrally with the fixed-side main body frame 73 and provided as a part of the fixed-side main body frame 73. It may be.

Further, in the embodiment shown in FIGS. 1 to 8, the moving base device 20 having the moving base mechanism having the work pressing structure 22 and the fixing means (T-groove nut 7 and fixing bolt 8) and the work pressing structure 62 are provided. The workpiece gripping device 1 is configured by a fixed base device 60 provided with a fixing means (T-groove nut 7 and fixing bolt 8) in the fixed base mechanism having the fixed base mechanism. However, in the workpiece gripping device of the present invention, the fixed base mechanism and / or the moving base mechanism may not include a fixing means, that is, may not be configured as a base device.

For example, the moving cap mechanism 20 and the fixed cap mechanism 60 of the workpiece gripping apparatus 1 shown in FIG. 10 do not include the T-groove nut 7 and the fixing bolt 8 as fixing means. In this case, with respect to the fixed base mechanism 60 and / or the movable base mechanism 20 that do not include the fixing means, at the time of gripping the workpiece 2, it is necessary to restrict displacement toward at least the side opposite to the workpiece 2 in the gripping direction. Therefore, for example, as shown in the illustrated example, the fixed base mechanism 60 and / or the movable base mechanism 20 (in the illustrated example) are provided by a fixed block 101 provided separately from the workpiece gripping device 1 placed on the placement surface 3. Both) should be restricted. In addition, both the fixed base mechanism 60 and the movable base mechanism 20 are not provided with a fixing means, and on that basis, for example, each base mechanism is installed with a workpiece sandwiched between a movable jaw and a fixed jaw in an existing vice apparatus. It is good also as composition to do.

Further, in the embodiment shown in FIGS. 1 to 8, an acute angle formed by the inclined surface 66 of the fixed side guide portion 65 and the mounting surface 3 in the fixed base device (fixed base mechanism) 60 (hereinafter referred to as “fixed side”). The inclination angle is also referred to as an “inclination angle”), which is an acute angle formed by the inclined surface 26 of the moving side guide portion 25 and the placement surface 3 in the moving base device (moving base mechanism) 20 (hereinafter “moving side inclination angle”). However, the present invention is not limited to this configuration, and in the configuration of the embodiment shown in FIGS. 1 to 8, the fixed-side tilt angle is the same as the moving-side tilt angle. In addition, the fixed side inclination angle may be configured to be smaller than the movement side inclination angle.

For example, FIG. 11 shows a configuration in the case where the fixed side inclination angle and the moving side inclination angle are the same. However, the configuration of the workpiece gripping device 1 of the embodiment shown in FIG. 11 is the same as that of the embodiment shown in FIGS. 1 to 8 except that the fixed-side inclination angle and the moving-side inclination angle are the same angle. And

In the case where the fixed side inclination angle and the moving side inclination angle are the same as shown in FIG. 11, or in the case where the fixed side inclination angle is smaller than the moving side inclination angle, FIGS. When a gripping force having the same magnitude as that of the embodiment shown in FIG. 3 is applied to the workpiece, the force for pushing down the base member in the fixed base mechanism is larger than that in the above embodiment. Therefore, when the fixed-side inclination angle and the moving-side inclination angle are the same, and when the fixed-side inclination angle is smaller than the moving-side inclination angle, the fixed base is applied before the set gripping force acts on the workpiece. It is necessary to adjust the urging force of the urging means so that the lower surface of the base member of the mechanism does not come into contact with the support surface of the base portion, and the urging force is more than that of the embodiment shown in FIGS. Set to a large one.

Further, in the configuration in which the fixed-side tilt angle and the moving-side tilt angle are the same, and in the configuration in which the fixed-side tilt angle is smaller than the moving-side tilt angle, the biasing means is as in the embodiment shown in FIGS. In the case where such a spring member is included, it is preferable to use a spring member having a larger spring constant than the embodiment shown in FIGS.

In the embodiment shown in FIGS. 1 to 8, the work gripping device 1 has the

work pressing structures

22 and 62 in both the moving base device 20 and the fixed base device 60. However, the present invention is not limited to this configuration. In the workpiece gripping device according to, only one of the moving base device (moving base mechanism) and the fixed base device (fixed base mechanism) may have a workpiece pressing structure.

For example, as shown in FIG. 12, of the moving base device 20 and the fixed base device 60 constituting the work gripping device 1, the moving base device 20 has a structure having a work pressing structure 22 (the movement shown in FIGS. 1 to 8). And a fixing block (T-groove nut) that fixes the fixing block 102 on the mounting surface 3. The fixing block 102 receives the gripping force that the moving base device 20 acts on the workpiece 2. 7 and a fixing bolt 8).

Further, as shown in FIG. 13, of the moving base mechanism 20 and the fixed base mechanism 60 constituting the work gripping device 1, the fixed base mechanism 60 is configured to have a work pressing structure 62, and the mobile base mechanism 20 is attached to the frame 105. A base 104 that slides upward, a press screw 103 as a pressing means that presses the base 104 toward the fixed base mechanism 20, and a female screw portion 118 that is provided integrally with the frame 105 and that is screwed into the press screw 103. It is good also as a structure to have. In the embodiment of FIG. 13, the push screw mechanism including the push screw 103 and the female screw portion 118 presses the base 104 toward the holding side (work 2 side), and corresponds to a pressing unit.

As shown in FIGS. 12 and 13, even when only one of the moving base device (moving base mechanism) and the fixed base device (fixed base mechanism) has a work pressing structure, one base device is mounted on the workpiece. Since the pressing force to the mounting surface side can be applied, it is possible to prevent the workpiece from being lifted when the workpiece is gripped, compared to the case where both the moving base device and the fixed base device do not have the workpiece pressing structure.

In the embodiment shown in FIGS. 1 to 8, the moving side guide member is used as a guide structure for guiding the displacement of the moving side cap member 27 and the fixed side cap member 67 in the

work pressing structures

22 and 62 toward the mounting surface 3 side. 25 and the

inclined surfaces

26 and 66 of the fixed side guide member 65 are provided with

projections

32 and 72, and the

guide grooves

31 and 71 are provided on the inclined surface 28 of the moving side base member 27 and the fixed side base member 67. In other words, the protrusions are provided on the

inclined surfaces

28 and 68 of the moving side cap member 27 and the fixed side cap member 67, and the guide grooves are provided on the

inclined surfaces

26 and 66 of the moving side guide member 25 and the fixed side guide member 65. It may be.

In addition, the protrusions formed on the inclined surface of the guide member (guide portion) or the inclined surface of the base member are not limited to a single protrusion that extends in the extending direction of the inclined surface, and a plurality of protrusions in the extending direction. It may be divided. For example, in the configuration of the embodiment shown in FIGS. 1 to 8, when the female screw 85 (see FIG. 6) of the fixed guide member 65 in the fixed base device 60 has a larger diameter than the protrusion 72 in the width direction, the protrusion The part 72 is divided into two parts positioned above and below with the female screw 85 interposed therebetween. That is, the fixed side guide member 65 has the two protrusions 72.

Further, in the embodiment shown in FIGS. 1 to 8, the guide groove formed on the inclined surface of the cap member in the moving base mechanism 20 and the fixed base mechanism 60 has a cross-sectional shape in a direction perpendicular to the extending direction of the guide groove. Are formed in a V shape, and the two surfaces forming the inner wall surface are formed so as to approach each other toward the bottom side portion (bottom portion) of the groove. Although the surface is formed so as to be in direct contact with the bottom of the groove, the guide groove is not limited to the shape of the cross section being a complete V shape, In addition to the surface, it may be formed in a substantially V shape having a bottom surface connecting the two surfaces at the bottom. An example of such a guide groove is shown in FIG.

In the example of FIG. 18, in the configuration in which the fixed base device (fixed base mechanism) 60 has the workpiece pressing structure 62, the guide groove 71 in the guide structure that guides the displacement of the fixed base member 67 toward the placement surface 3 is The cross-sectional shape in the direction orthogonal to the extending direction is formed so as to be substantially V-shaped. More specifically, the guide groove 71 has two

surfaces

122a and 122b formed such that the inner wall surface 122 approaches the bottom of the groove and the two

surfaces

122a and 122b are connected to each other at the bottom of the groove. It is provided so as to be formed on three surfaces 122c. In the illustrated example, the bottom surface 134 is formed as a flat surface.

Further, the protrusion 72 provided on the inclined surface 66 of the fixed side guide member 65 corresponds to the shape of the guide groove 71, and its projecting surface 121 faces the two

surfaces

122 a and 122 b of the guide groove 71 2. In addition to the two

surfaces

121a and 121b, the top surface is formed in a shape having a flat surface 121c facing the bottom surface 122c of the inner wall surface 122 of the guide groove 71. In the example shown in the figure, the protrusion 72 is formed such that the flat surface 121c and the bottom surface 122c are separated in a state where the protrusion 72 and the guide groove 71 are combined. However, the guide groove 71 and the protrusion 72 may be formed such that the flat surface 121c and the bottom surface 122c are in contact with each other.

In the example of FIG. 18, in the configuration in which the guide groove has the bottom surface on the inner wall surface, the protruding portion is formed with a flat surface corresponding to the bottom surface at the top of the protruding surface. In a configuration in which the guide groove does not have the bottom surface on the inner wall surface (such as the V-shaped guide groove in the above-described embodiment), the protrusion is formed in a shape having a flat surface facing the gripping direction at the top of the protruding surface. Also good. That is, in the present invention, the guide groove and the protruding portion do not necessarily have the same shape on the inner wall surface and the protruding surface.

In the embodiment shown in FIGS. 1 to 8, a through hole is formed in the fixed base portion 63 of the fixed base device (fixed base mechanism) 60, and a ball plunger 70 is disposed in the through hole, whereby the ball plunger 70. The structure which arrange | positions the urging means which consists of the compression spring 89 and the steel ball 88 in the accommodation space 94 defined between the external thread member 87 (bottom surface of the accommodation hole 93) in 70 and the support surface 64 of the stationary-side base part 63. However, instead of this, as shown in FIG. 14, a through-hole and a female screw may be formed in the fixed-side base member 67, and the ball plunger 70 may be disposed in the through-hole of the fixed-side base member 67. . In other words, the urging means may be arranged in the accommodating space 94 formed on the fixed side cap member 67 side.

In the configuration shown in FIG. 14, the ball plunger 70 has the same configuration as that of the embodiment shown in FIGS. 1 to 8, that is, a biasing means (compression spring 89, steel ball) in the accommodation hole 93 of the male screw member 87. 88) is arranged. Further, in the configuration shown in FIG. 14, a female screw is formed on the inner peripheral surface of the through hole of the fixed side cap member 67, and the vertical position can be adjusted by screwing the male screw member 87 with the female screw of the through hole. The urging force adjusting mechanism is also provided on the fixed base member 67 side. Thus, by providing the biasing force adjusting mechanism on the fixed base member 67 side, an operator can attach the fixed base device (fixed base mechanism) 60 from above the fixed side base member 67 without removing the fixed base device (fixed base mechanism) 60 from the mounting surface 3. Since the force adjusting mechanism can be operated, the workability when the operator adjusts the urging force of the urging means can be improved.

Further, the accommodating space of the urging means is constituted by a concave portion formed in one of the fixed side base portion 63 and the fixed side base member 67 as in the embodiment shown in FIGS. 1 to 8 and FIG. However, the present invention is not limited thereto, and as shown in FIG. 15, it may be constituted by concave portions formed so as to face both the fixed side base portion 63 and the fixed side base member 67. That is, in the embodiment shown in FIG. 15, the accommodating space 94 of the urging means is composed of the concave portion 106 formed in the fixed base portion 63 and the concave portion defined by the through hole 107 and the adjusting bolt 108 as the urging force adjusting mechanism. And a compression spring 111 as an urging means is accommodated in the accommodation space 94.

Further, in the embodiment shown in FIGS. 1 to 8, in the fixed base device 60, the ball plunger 70 includes a compression spring 89 and a steel ball 88 as urging means, and also as part of the urging force adjusting mechanism. However, the biasing means and the biasing force adjusting mechanism are not limited to an integrated configuration. For example, as shown in FIG. 15, the biasing means and the biasing force adjusting mechanism are independent. There may be.

Specifically, in the configuration shown in FIG. 15, the urging force adjusting mechanism includes a female screw portion 109 formed in a part of the through hole 107 formed in the fixed side cap member 67 and the through hole 107 from above. It is comprised with the external thread part 110 of the adjustment bolt 108 inserted and screwed together by the internal thread part 109. FIG. However, in this example, the male screw portion 110 does not have an accommodation hole for accommodating the urging means like the male screw member 87 of the embodiment shown in FIGS. In the configuration shown in FIG. 15, the compression spring 111 as the urging means abuts on the male screw portion 110 at one end, and a part thereof is defined by the through hole 107 and the male screw portion 110 of the fixed side cap member 67. It is arranged in a state of being accommodated in a space. Further, as described above, in this configuration, the concave portion 106 for forming the accommodation space 94 is also formed on the fixed base portion 63 side, and the compression spring 111 has the other end side on the fixed base portion 63 side. In the recess 106.

Further, the urging force adjusting mechanism is not limited to the configuration that enables adjustment of the urging force by the urging means as in the embodiment shown in FIGS. 1 to 8, but the urging means can be replaced and the urging means can be replaced. It is good also as a structure which changes the biasing force of a biasing means by doing. Specifically, for example, a plurality of spring members having different spring constants or a plurality of rubber elastic materials (including O-rings) having different elastic coefficients are prepared, and an urging means is provided according to the workpiece to be gripped. It is also possible to adopt a configuration that changes.

In the embodiment shown in FIGS. 1 to 8, 15 and 16, the fixed base mechanism is configured to include an urging force adjusting mechanism, but the urging force adjusting mechanism is not necessarily required. For example, when the gripping force according to the workpiece is always the same (when the workpiece gripping device always grips the same workpiece), the urging force adjusting mechanism can be omitted. In this case, the urging means generates an urging force such that the lower surface of the base member comes into contact with the support surface of the base portion in a state where the set gripping force is applied to the workpiece.

When the urging force adjusting mechanism is omitted, the urging means in the fixed base mechanism is not limited to the spring member, but may be an O-ring used as the urging means in the moving base mechanism, or other than the O-ring. A rubber elastic body can be adopted.

Furthermore, in the embodiment shown in FIGS. 1 to 8, the workpiece 2 is fixed in a state where the workpiece 2 is gripped with a set gripping force in order to use the gripping surface 61 of the fixed base member 67 of the fixed base device 60 as a processing reference. Although provided with a biasing force adjusting mechanism for adjusting the biasing force of the biasing means so that the lower surface 69 of the side base member 67 contacts the support surface 64 of the fixed base portion 63, the gripping surface 61 is not used as a processing reference. In such a case, the urging force of the urging means does not have to be in accordance with the workpiece 2, and the urging force adjusting mechanism can be omitted. Further, when the lower surface 69 of the fixed-side base member 67 and the support surface 64 of the fixed-side base portion 63 are not brought into contact with each other, the storage space for storing the biasing means can be omitted.

Further, the biasing means in the moving base device (moving base mechanism) is not limited to the O-ring as in the embodiment shown in FIGS. 1 to 8, but a rubber elastic body or a spring member other than the O-ring is used. The configuration may be acceptable. Furthermore, the same urging means (the urging force adjusting mechanism) as the fixed base mechanism of the above embodiment may be used as the urging means of the moving base mechanism. Further, in the embodiment shown in FIG. 1 to FIG. 8, a plurality of urging means (O-ring 30, ball) are arranged in the width direction of the moving side cap member 27 and the fixed side cap member 67 in the moving base device 20 and the fixed base device 60. However, the present invention is not limited to this, and when a desired urging force can be obtained by one urging means, only one urging means is provided for the moving side cap member 27 and the fixed side cap member 67. It is good also as a structure provided.

Further, regarding the pressing means of the moving base device (moving base mechanism), in the embodiment shown in FIGS. 1 to 8, a screw mechanism including the clamp bolt 9 and the T-groove nut 44 is employed as the pressing means. The means is not limited to the screw mechanism, and an actuator (fluid pressure actuator, electric actuator, etc.) may be used.

For example, in the configuration shown in FIG. 16, a direct acting actuator 112 that linearly moves the output shaft is used as the pressing means in the moving base device 20 instead of the screw mechanism of the embodiment shown in FIGS. It is configured. The actuator 112 is housed in the movement-side base portion 23 of the movement-side body frame 33 with its output shaft 113 facing upward, which is a direction parallel to the pressing direction. Then, the output shaft 113 of the actuator 112 is inserted into the through hole 114 formed in the moving side guide member 25 from below, and the downward end surface of the engaging portion provided at the distal end portion of the output shaft 113 is moved to the moving side guide. The configuration is such that the upper surface of the member 25 is engaged. According to this configuration, when the actuator 112 drives the output shaft 113 in the contracting direction, a pressing force toward the placement surface 3 acts on the moving side guide member 25.

In the configuration shown in FIG. 16, the main body portion of the actuator 112 is arranged on the moving-side main body frame 33. Instead, the main body portion of the actuator 112 is provided on the moving-side guide member 25 and is moved downward. You may make it engage the front-end | tip of the output shaft which faced with the to-be-engaged part provided in the main body frame.

Further, not only a direct acting actuator, but also a configuration in which an operating shaft provided in place of the screw mechanism in the moving base mechanism of the embodiment shown in FIGS. 1 to 8 can be moved up and down by a rotary actuator. More specifically, for example, an operation shaft provided in place of the output shaft 113 of the embodiment shown in FIG. 16 is fixed to a rack of a rack and pinion mechanism, and the rack is displaced by a pinion connected to a rotary actuator. Configuration is conceivable.

In the embodiment shown in FIG. 1 to FIG. 8, the pressing means (clamp bolt 9) in the moving base device (moving base mechanism) 20 applies a pressing force to the moving side guide member 25 from above and below. The pressing means may apply a pressing force to the guide member from the gripping direction. For example, in the configuration shown in FIG. 17, the moving base mechanism 20 is connected to the moving side guide member 25 and is provided integrally with a frame 116 and a push screw 115 as a pressing means having an axis parallel to the gripping direction. There is provided pressing means including a female screw portion 116 to which the pressing screw 115 is screwed.

In the configuration in which the moving base mechanism 20 has the workpiece pressing structure 22 as in the configuration shown in FIG. 17, when the pressing direction of the pressing unit is the gripping direction, the pressing unit applies a pressing force to the moving side guide member 25. Even if it is made to act, since the moving side guide member 25 is in contact with the upward slope of the moving base member 27 with its downward slope, it will receive the pressing force by the pressing means and press the moving side base member 27 toward the gripping side. However, there may be a case where the moving side cap member 27 is displaced upward along the slope of the moving side cap member 27 and the pressing force cannot be applied to the moving side cap member 27. Therefore, in the case of a configuration in which the pressing direction is the gripping direction, the moving side guide member 25 is configured so that the moving side guide member 25 can apply a pressing force to the gripping side to the moving side base member 27. It is necessary to regulate the upward displacement of 25. Therefore, in the case of this configuration, for example, a flat plate as the regulating member 117 that contacts the upper surface of the moving side guide member 25 is fixed to the upper surface of the moving side main body frame 33.

Furthermore, the present invention is not limited to any of the embodiments described above, and can be changed as appropriate without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Work holding apparatus 2 Work 3 Mounting surface 5 Machine tool table 6 T groove 7 Fixing means (T groove nut)
8 Fixing means (fixing bolt)
9 Pressing means (clamp bolt)
20 Moving cap mechanism (Moving cap device)
21 gripping surface (moving side gripping surface)
22 Work pressing structure 23 Base (moving side base)
24 support surface 25 guide part (moving side guide member)
26 Slope 27 Base member (Moving side base member)
28 Slope 29 Lower surface 30 O-ring 31 Guide groove 32 Protruding portion 33 Moving side body frame 34 Fixed portion 35 Through hole 36 Bush 37 Mounting bolt 38 Pressure receiving surface 39 Cover 40 Wedge surface 41 Through hole 42 Counterbore 43 Through hole 44 T groove Nut 46 Counterbore hole 47 Receiving member 48 Seating surface 49 Return spring 50 Return spring mounting hole 51 Thinning portion 60 Fixed base mechanism (fixed base device)
61 gripping surface (fixed side gripping surface)
62 Work pressing structure 63 Base (fixed side base)
64 Support surface 65 Guide part (fixed side guide member)
66 Slope 67 Base member (fixed side base member)
68 Slope 69 Lower surface 70 Ball plunger 71 Guide groove 72 Protruding portion 73 Fixed side body frame 74 Fixed portion 75 Through hole 76 Bush 77 Mounting bolt 78 Mounting surface 79 Cover 80 Fixed surface 81 Female screw 82 Through hole 83 Mounting bolt 84 Locking bolt 85 Female screw 86 Set screw 87 Male screw member 88 Steel ball 89 Spring member (compression spring)
90 long hole 91 receiving member 92 seating surface 93 accommodation hole 94 accommodation space 100 frame 101 fixing block 102 fixing block 103 set screw 104 cap 105 frame 106 recess 107 through hole 108 adjusting bolt 109 female screw part 110 male screw part 111 compression spring 112 actuator 113 Output shaft 114 Through-hole 115 Push screw 116 Female thread 117 Restriction member 118 Female thread 119 T-groove nut 120 Fixing bolt 121 Projecting surface 121a Surface 121b Surface 121c Plane 122 Inner wall surface 122a Surface 122b Surface 122c Bottom surface 131 Projecting surface 132 Inner wall surface

Claims

A workpiece gripping device for fixing a workpiece,
A base member provided to be movable toward the gripping side, and a moving base mechanism including a pressing means for pressing the base member toward the gripping side;
In a work gripping device comprising a base member and a fixed base mechanism that is disposed opposite to the moving base mechanism and grips a work in cooperation with the moving base mechanism,
At least one of the moving base mechanism and the fixed moving base mechanism has a workpiece pressing structure,
The workpiece pressing structure is
A base portion mounted on a mounting surface on which a workpiece is mounted and having a support surface parallel to the mounting surface;
A guide part supported by the base part and having a slope facing the gripping side;
The base member;
An urging means for urging the base member in a direction away from the placement surface;
The base member of the workpiece pressing structure has a slope facing the slope in the guide portion,
The inclined surface is brought into contact with the inclined surface of the guide portion and the lower surface is disposed to face the support surface of the base portion, and is provided so as to be displaceable along the inclined surface of the guide portion.
The biasing means is provided between the base portion and the base member,
One of the inclined surface of the guide portion and the inclined surface of the base member extends in a direction orthogonal to the width direction at the center in the width direction of the inclined surface, and a cross-sectional shape in the direction orthogonal to the extending direction is V-shaped. With a guide groove that is
The other of the inclined surface of the guide portion and the inclined surface of the base member includes a protrusion having a shape and arrangement corresponding to the guide groove.
A workpiece gripping device characterized by that.
The fixed base mechanism has the work pressing structure;
The work pressing structure of the fixed base mechanism is an accommodation space formed by a recess formed at a position facing the biasing means with respect to at least one of the base portion and the base member, and houses the biasing means. Has a containment space,
The concave portion is formed on the mounting surface by the base member that is generated in a state in which the size of the accommodation space in the direction of the urging force by the urging means causes the gripping force corresponding to the workpiece to be gripped to act on the workpiece. It is formed to be equal to or larger than the size of the urging means when receiving a force corresponding to the pressing force.
The workpiece gripping apparatus according to claim 1, wherein
The moving base mechanism has the work pressing structure;
The slope of the guide part in the fixed base mechanism and the slope of the guide part in the movable base mechanism are such that the acute angle formed with respect to the mounting surface is the slope of the guide part in the fixed base mechanism. Formed to be large,
The workpiece gripping apparatus according to claim 2, wherein
The fixed base mechanism includes a biasing force adjustment mechanism that adjusts a biasing force of the biasing means.
The workpiece gripping apparatus according to claim 3, wherein
A moving base device including the moving base mechanism, and a fixed base device provided independently of the moving base device and including the fixed base mechanism,
The moving base device and the fixed base device each include a fixing means for fixing each base portion to the mounting surface.
The workpiece gripping device according to claim 3 or 4, wherein the workpiece gripping device is provided.