WO2017094650A1

WO2017094650A1 - Workpiece gripping device

Info

Publication number: WO2017094650A1
Application number: PCT/JP2016/085134
Authority: WO
Inventors: 剛史藤田
Original assignee: Ｋｙｂ株式会社
Priority date: 2015-12-02
Filing date: 2016-11-28
Publication date: 2017-06-08
Also published as: MX2018006553A; CN108290260B; JP2017100245A; JP6643880B2; CN108290260A

Abstract

Provided is a workpiece gripping device that can stably and continuously hold a workpiece even when electrical power is not continuously supplied. A workpiece gripping device (10) is provided with a gripping operation part (30). The gripping operation part (30) is provided with a spring member (32). As a result of the elastic force generated by the spring member (32), a continuous force acting toward the side approaching a first support part (21) is imparted to a second support part (22). The operation of the gripping operation part (30) causes the first support part (21) and the second support part (22) to continuously press a receiving part (192) of a workpiece (190) while fitted to the receiving part (192). The workpiece gripping device (10) also has a grip release part that, if a force in a predetermined direction is applied at a predetermined position, moves the second support part (22) against the continuous force acting on the second support part (22) produced by the gripping operation part (30) and releases the grip of the first support part (21) and the second support part (22) on the receiving part (192).

Description

Work gripping device

The present invention relates to a workpiece gripping device.

Patent Document 1 discloses an example of an apparatus for gripping a work. In the workpiece clamping device disclosed in Patent Document 1, a mounting base 51 on which a seating surface of the workpiece W is seated, and a tip collet portion 54a projecting on the mounting base 51 are formed on the seating surface of the workpiece W. A collet clamper 54 fitted in the positioning hole, a pull rod 55 configured to move forward and backward within the collet clamper 54 and extending the collet portion 54a, and an actuator 57 for moving the pull rod 55 forward and backward are provided. In this apparatus, the positioning hole 71 of the workpiece W is fitted into the collet portion 54 a protruding on the mounting base 51 to position the workpiece W with respect to the mounting base 51. Then, by operating the actuator 57 and pulling the pull rod 55 in the backward direction, the collet portion 54 a is expanded and closely fitted into the positioning hole 71, and the workpiece W is fixed to the mounting base 51.

JP 2001-96436 A

In the technology of Patent Document 1, in order to fix the workpiece W by closely fitting the collet portion 54a to the positioning hole 71, the collet portion 54a must be continuously expanded. The power of the actuator 57 is continuously applied to the pull rod 55.

As described above, in the technique of Patent Document 1, power for continuing to grip the work must be continuously applied by the electric device (actuator 57), and thus it is difficult to supply electric power during gripping. There is a problem that it is difficult to apply in the environment.

The present invention has been made in view of the above circumstances, and should solve the problem of providing a workpiece gripping device that can hold a workpiece continuously and stably without continuing to supply electric power. It is an issue.

The workpiece gripping device according to the present invention includes a first support portion including a convex portion or a hole portion, a second support portion including the convex portion or the hole portion and movable, and a first orthogonal to the extending direction of the second support portion. A first urging portion that urges the second support portion with respect to the direction. The workpiece gripping device includes a grip releasing unit that moves the second support unit in a direction opposite to the first direction in response to a force applied from the outside.

In the workpiece gripping device of the present invention, the second support portion is configured to be movable, and the first biasing portion biases the second support portion with respect to a first direction orthogonal to the extending direction of the second support portion. Make a configuration. In this configuration, when the work is gripped so that the first support part and one part of the work are in the inserted state and the second support part and the other part of the work are in the inserted state, the first urging part is attached. Due to the force, a continuous force is generated in the second support portion toward the side approaching the first support portion or the side moving away from the first support portion. Thereby, in the 1st support part and the 2nd support part, the force which pushes each site | part of a workpiece | work continuously arises, and a frictional force arises between each site | part of a workpiece | work. When such a frictional force is generated, the insertion state of the first support part and the second support part and each part of the work is stably maintained, so that the work can be stably held. And since it is the structure which gives a force to the 2nd support part by urging | biasing of a 1st urging | biasing part, even if it does not continue supplying large electric power, a workpiece | work can be hold | gripped continuously and stably. Furthermore, the workpiece gripping device includes a grip release unit that moves the second support unit in a direction opposite to the first direction in response to a force applied from the outside. For this reason, the releasing operation using an external force is possible, and the holding can be released without providing complicated electric power in the workpiece holding device.

In the present invention, the grip release part may include a shaft part and a conversion part. And the structure which converts the movement operation of a shaft part into the movement operation of the 2nd support part may be sufficient as a conversion part.

According to this configuration, the moving force can be converted into the moving operation of the second support portion by applying the moving force to the shaft portion directly from the outside or indirectly through another member. In particular, if the operation can move the shaft portion, the second support portion can be moved even if the position away from the second support portion is operated, which is advantageous in applications where such an operation is desired.

In the present invention, the shaft portion may be installed in a second direction different from the first direction, and may be configured to move in the axial direction by applying a force to one end side. The converter may be connected to the other end of the shaft and the second support, and the converter may be configured to convert the movement of the shaft into the movement of the second support.

According to this configuration, the vicinity of one end side of the shaft portion can be used as the operation region, and the vicinity of the other end side can be used as the operation region of the conversion unit. Therefore, it is desirable to operate the shaft portion from one end side, and this is an advantageous structure when it is desirable to place the workpiece on the side opposite to the operation side. As described above, even when the work placement area and the operation area are separated from each other in the axial direction, the operation force from the outside can be reliably transmitted to the second support portion to release the grip.

The present invention includes a gripping main body portion having a first support portion, a second support portion, and a first biasing portion, a rotation support portion that rotatably supports the gripping main body portion, and rotation of the gripping main body portion with respect to the rotation support portion. It may include a rotation restricting portion to restrict. And the structure by which the rotation control of the holding | maintenance main body part with respect to a rotation support part is cancelled | released when force is applied to the rotation control part from the outside may be sufficient.

According to this configuration, the work body can be gripped in the form supported by the first support part and the second support part in the grip body part, and by rotating the grip body part gripping the work in this way, The posture can be changed. Furthermore, since this configuration includes a rotation restricting portion, the posture of the workpiece is determined by restricting the rotation of the gripping main body portion as required, and the posture of the workpiece allowing the rotation of the gripping main body portion. It is possible to switch between the states that can be changed.

In the present invention, the grip main body may include a first backing plate. The rotation restricting portion includes a second receiving plate that faces the first receiving plate, and a rotation positioning portion that is connected to the rotation support portion and contacts the second receiving plate to perform rotation positioning of the gripping main body portion. It may be. Further, the rotation restricting portion is provided between the first receiving plate and the second receiving plate, and biases the second receiving plate in the direction of the rotating positioning portion to bring the second receiving plate into contact with the rotating positioning portion. You may provide the 2nd energizing part. Then, by moving the second backing plate in the direction opposite to the biasing direction of the second biasing portion, the rotational positioning portion and the second backing plate are not in contact with each other, and the rotational positioning of the gripping main body portion is released. It may be.

According to this configuration, the second receiving plate is urged in the direction of the rotation positioning portion by the second urging portion provided between the first receiving plate and the second receiving plate, and the second receiving plate is rotated. With the simple structure of contacting the positioning portion, the rotation of the gripping main body portion can be stably regulated. Further, since the rotational positioning of the gripping main body can be released by moving the second backing plate in the direction opposite to the urging direction against the urging of the second urging portion, it is complicated from the outside. The rotational positioning can be released by a simple moving operation without performing the releasing operation.

It is a perspective view of the workpiece transfer apparatus of Embodiment 1. It is a top view of the workpiece transfer apparatus of Embodiment 1. It is a front view of the workpiece transfer apparatus of Embodiment 1. It is a perspective view which shows the workpiece holding apparatus of the workpiece transfer apparatus of Embodiment 1. It is a front view of a workpiece holding device. It is a side view of a workpiece holding device. It is a rear view of a workpiece holding device. It is a top view of a workpiece holding device. It is a longitudinal cross-sectional view of a workpiece holding device. It is a cross-sectional view of a workpiece gripping device. It is the enlarged view to which a part of FIG. 10 was expanded. It is a perspective view which shows a switching operation apparatus and a cancellation | release operation apparatus. It is a top view which shows a switching operation apparatus and a cancellation | release operation apparatus. (A) is explanatory drawing explaining cancellation | release operation, (B) is explanatory drawing explaining switching operation.

<Embodiment 1>
Embodiment 1 which is an example which actualized the workpiece | work holding apparatus of this invention is demonstrated referring drawings.

First, an outline of the workpiece transfer apparatus 1 according to the first embodiment will be described. The workpiece transfer apparatus 1 shown in FIGS. 1 to 3 is configured to grip a workpiece 190 (FIGS. 2, 5, and 6) by a workpiece gripping device 10 as shown in FIGS. 4 to 6. 2, 5, 6, and the like, the outer shape of the work 190 to be grasped is virtually illustrated by a two-dot chain line.

First, the outline | summary of the workpiece transfer apparatus 1 is demonstrated.
The workpiece transfer device 1 shown in FIGS. 1 to 3 performs a switching operation between a rotating body 3 that rotates about a rotation axis C2 (FIGS. 2 and 3) and a rotation driving device 2 that drives the rotating body 3. A switching operation device 5, a release operation device 7 for performing a release operation, and a rotation operation device 9 for performing a rotation operation are provided.

As shown in FIG. 2, the rotating body 3 has a configuration in which a plurality of work gripping devices 10 are arranged at equal intervals away from the rotation axis C2 and rotate around the rotation axis C2. The rotation drive device 2 functions as a control unit, is configured to give a rotation driving force to the rotating body 3, and operates to perform control to stop the rotating body 3 at a plurality of rotation positions. When the rotary body 3 is driven by the rotation driving device 2, the plurality of workpiece gripping devices 10 move along a predetermined rotation path, and each of the plurality of workpiece gripping devices 10 has a plurality of predetermined stop positions. Works to stop at.

The workpiece gripping device 10 that forms a part of the rotating body 3 functions as a gripping portion, and has a configuration in which the workpiece 190 is continuously pressed and gripped by a support member to which the elastic force from the first biasing portion is transmitted. The workpiece gripping device 10 has an appearance as shown in FIG. 4 and targets a workpiece 190 as shown in FIGS. 5 and 6 for gripping. The workpiece 190 to be grasped is formed by forming a plurality of receiving portions 192 having hole portions 194 on one surface side.

As shown in FIGS. 5 and 6, the work gripping device 10 is provided with a first support portion 21, and the first support portion 21 is connected to any one of a plurality of receiving portions 192 formed on the work 190. It is comprised as a convex part which contacts in an insertion state. Further, the workpiece gripping device 10 is provided with a second support portion 22 having a configuration in which a distance from the first support portion 21 is changed, and the second support portion 22 extends along the protruding direction of the first support portion 21. It is comprised as a convex part arranged. The 2nd support part 22 contacts in the insertion state with the 2nd receiving part 192B different from the 1st receiving part 192A in which the 1st support part 21 will be in an insertion state among the several receiving parts 192 formed in the workpiece | work 190. Make a configuration.

As shown in FIG. 5, the workpiece transfer device 1 is provided with a gripping operation unit 30. The gripping operation unit 30 includes a spring member 32 that is an elastic member corresponding to an example of a first urging unit, and the spring member 32 urges the second support unit 22 based on an elastic force generated by itself. The spring member 32 has a continuous force toward the second support portion 22 in a first direction (one side in the lateral direction that is closer to the first support portion 21) perpendicular to the extending direction of the second support portion 22. It is configured to be energized to give The gripping operation unit 30 includes an inner wall surface of the receiving part 192 in each of the first supporting part 21 and the second supporting part 22 in a state where the first supporting part 21 and the second supporting part 22 are engaged with the receiving part 192, respectively. A force to continuously press is generated.

Furthermore, the workpiece transfer device 1 is provided with a grip release unit. Specifically, the link mechanism 40 shown in FIG. 5 and FIG. 10 functions as a grip releasing unit, and enters a predetermined position (rear end portion 44A of the shaft member 44) of the work gripping device 10 from the outside in a predetermined direction (front). It operates in response to the application of (direction) force. By this operation, the link mechanism 40 is subjected to a continuous force applied to the second support portion 22 by the gripping operation portion 30 (specifically, the attachment in the first direction generated based on the elastic force of the spring member 32). The second support portion 22 is moved in a direction opposite to the first direction against the force), and the gripping by the first support portion 21 and the second support portion 22 is released.

The two release operation devices 7 (the first release operation device 7A and the second release operation device 7B) shown in FIGS. 1 and 2 function as inner operation devices, and are configured as shown in FIGS. Eggplant. The two release operation devices 7 have the same configuration, and both drive the inner operation unit 100 arranged inside the rotation path of the workpiece gripping device 10 (gripping unit) and the inner operation unit 100. And an inner driving unit (actuator 104). The inner drive unit (actuator 104) is configured as an actuator that displaces the inner operation unit 100 to at least a position that acts on the workpiece gripping device 10 and a position that is retracted from the workpiece gripping device 10. In the release operation device 7, the actuator 104 moves the inner operation unit 100 to the workpiece gripping device 10 when the workpiece gripping device 10 is stopped at a predetermined position (a position facing the operation unit 100) under the control of the rotation driving device 2. The operation is performed to move to a position where it acts on.

The switching operation device 5 shown in FIGS. 1 and 2 also functions as an inner operation device, and has a configuration as shown in FIGS. 12 and 13. The switching operation device 5 includes an inner operation unit 110 disposed inside a rotation path of the workpiece gripping device 10 and an inner drive unit (actuator 114) that drives the inner operation unit 110. The actuator 114 is configured as an actuator that displaces the inner operation unit 110 to at least a position that acts on the workpiece gripping device 10 and a position that is retracted from the workpiece gripping device 10. The switching operation device 5 is configured such that the inner actuator 114 grips the inner operation unit 110 when the workpiece gripping device 10 is stopped at a predetermined position (a position facing the operation unit 110) under the control of the rotation driving device 2. An operation of moving to a position that acts on the device 10 is performed.

1 and 2 functions as an outer operating device. The rotary operation device 9 includes an

outer operation units

121 and 122 arranged outside a rotation path of the workpiece gripping device 10 (gripping unit) and an outer drive unit 124 that drives the

outer operation units

121 and 122. Prepare. The outer drive unit 124 is configured as a device that displaces the

outer operation units

121 and 122 to at least a position that acts on the workpiece gripping device 10 and a position that is retracted from the workpiece gripping device 10. In the rotary operation device 9, the outer drive unit 124 grips the

outer operation units

121 and 122 when the workpiece gripping device 10 is stopped at a predetermined position (a position facing the outer operation units 121 and 122). An operation of moving to a position that acts on the device 10 is performed. Further, the rotation operation device 9 also performs a rotation operation for rotating the grip main body 12 of the workpiece gripping device 10.

Next, the rotating body 3 will be described in detail.
As shown in FIGS. 1 to 3, the rotary body 3 includes a rotary table 3A as a base and a plurality of workpiece gripping devices 10 fixed to the rotary table 3A, and these rotate integrally. The composition to make. The plurality of workpiece gripping devices 10 are arranged at equal intervals in the circumferential direction around the rotation axis C2. As shown in FIG. 2, all the rotation axes C 1 in the plurality of workpiece gripping apparatuses 10 are arranged on a predetermined virtual plane orthogonal to the rotation axis C 2 of the rotating body 3. The plurality of workpiece gripping devices 10 have the same angle (72 ° in the example of FIG. 2) formed by both rotation axes C1 of both workpiece gripping devices 10 in any adjacent pair of workpiece gripping devices 10. It has become. In FIG. 1 and FIG. 2, the plurality of workpiece gripping devices 10 are specifically shown as a first workpiece gripping device 10A, a second workpiece gripping device 10B, a third workpiece gripping device 10C, a fourth workpiece gripping device 10D, and a fifth workpiece. It is shown as a gripping device 10E, which has the same structure. Below, the structure common to all the workpiece holding apparatuses 10 is demonstrated.

The workpiece gripping device 10 has an appearance as shown in FIGS. 4 to 8, and as shown in FIG. 4, the grip body 12 that grips the workpiece 190 (FIG. 5) and the grip body 12 can be freely rotated. And a support base 14 (rotation support portion) to be supported. As shown in FIG. 5, the grip body 12 includes the first support portion 21, the second support portion 22, and the grip operation portion 30 that are integrated together, and these are integrated around the rotation axis C 1. It has a structure that can rotate. In the following description, the direction parallel to the rotation axis C1 of the gripping main body 12 is defined as the front-rear direction of the workpiece gripping device 10, and the direction parallel to the rotation axis C2 of the rotation driving device 2 shown in FIG. The up and down direction. A direction perpendicular to the front-rear direction and the vertical direction is defined as a lateral direction of the workpiece gripping device 10.

As shown in FIGS. 9 and 10, the grip main body 12 includes a base 50 in which a through-hole 50 A extending in parallel with a direction orthogonal to the rotation axis C 2 (FIG. 2) of the rotary drive device 2 is formed. Furthermore, the grip body 12 includes a displacement portion 52 that can be moved toward and away from the base portion 50, and a spring member 54 that applies an elastic force in a direction that separates the base portion 50 and the displacement portion 52. The base 50 is configured integrally with a plurality of components and is rotatably held by the support base 14. A bearing portion 16 is provided between the base portion 50 and the support base 14. The base portion 50 is rotatably supported by the support base 14 via the bearing portion 16 in a state where movement in the direction of the rotation axis C1 is restricted and movement in a plane direction orthogonal to the rotation axis C1 is restricted. The structure rotates around the axis C1.

As shown in FIG. 4, the support base 14 holds the support plate 90 with the support plate 90 extending in the vertical direction with the radial direction of rotation orthogonal to the rotation axis C 2 (FIG. 2) of the rotary drive device 2 as the plate thickness direction. And a base portion 94 fixed to the rotary table 3A of the rotary drive device 2. Furthermore,

arm portions

91 and 92 are connected to the support base 14 in a fixed state, and these

arm portions

91 and 92 extend from the rear surface portion of the support plate 90 to the rear side of the workpiece gripping device 10. As shown in FIGS. 9 and 10, the support plate 90 of the support base 14 is formed with a through-hole portion 90A penetrating in the thickness direction (front-rear direction), and is inserted into the through-hole portion 90A. The base 50 is arranged. And the bearing part 16 is arrange | positioned between the inner peripheral part of 90 A of through-hole parts, and the outer peripheral part of the base part 50, and it has the structure where the base part 50 can rotate in the form supported by this bearing part 16. FIG. The base portion 50 includes an intermediate portion 62 that is a portion inserted through the through-hole portion 90A. Further, the base portion 50 includes a front wall portion 64 projecting in the rotational radius direction orthogonal to the rotation axis C1 on the front end portion side of the intermediate portion 62, and a rotation radius direction orthogonal to the rotation axis C1 on the rear end portion side of the intermediate portion 62. And a rear wall portion 66 projecting from the rear wall.

As shown in FIG. 10, the first support portion 21, the second support portion 22, the gripping operation portion 30, and the like are provided on the front surface portion 50 B configured on the front surface side of the front wall portion 64 in the base portion 50. The 1st support part 21 is comprised as a convex part. The first support portion 21 is configured to protrude forward along the front-rear direction and is not displaceable with respect to a portion (that is, the intermediate portion 62) supported by the support plate 90 in the base portion 50. It is fixed so that the positional relationship between and does not change. As shown in FIG. 11, the first support portion 21 is formed in a columnar shape centering on the center line B 1 in the front-rear direction, and the tip end portion has a tapered shape. The first support portion 21 is configured such that relative displacement in the front-rear direction with respect to the support base 14 and relative displacement in the plane direction orthogonal to the rotation axis C1 are restricted, and relative displacement is not performed in these directions. The distance between the center line B1 of the first support portion 21 and the rotation axis C1 is always kept constant. The 1st support part 21 comprised in this way makes the structure which contacts 194A in the insertion state inserted in the hole 194A formed in the workpiece | work 190 (refer also FIG. 5, FIG. 6).

2nd support part 22 is comprised as a convex part. The second support portion 22 is configured to protrude forward along the front-rear direction and can be slightly displaced with respect to the first support portion 21. The second support portion 22 protrudes forward from a base portion 34 configured to be movable on the front surface portion 50B of the base portion 50, and is disposed along the protruding direction (that is, the front-rear direction) of the first support portion 21. Has been. As shown in FIG. 11, the second support portion 22 is formed in a columnar shape centering on the center line B 2 in the front-rear direction, and the tip end portion has a tapered shape. The second support portion 22 is restricted from relative displacement in the front-rear direction with respect to the support base 14 and relative displacement in the front-rear direction with respect to the first support portion 21, and the first support portion 21 and the second support portion 22 have a front-rear positional relationship. It is designed not to change. On the other hand, the second support portion 22 is allowed to move in a plane direction orthogonal to the rotation axis C1, and the distance between the center line B2 of the second support portion 22 and the rotation axis C1 can be changed. Specifically, the base portion 34 is assembled so as to be slidable in the lateral direction with respect to the front wall portion 64 fixed to the intermediate portion 62. In the workpiece gripping device 10, the base portion 34 and the base portion 34 are fixed thereto. The second support part 22 can be slid in the lateral direction. And the 2nd support part 22 of the 2nd support part 22 comprised in this way makes the structure which contacts the hole part 194B in the insertion state inserted in the hole part 194B formed in the workpiece | work 190 (FIG. 5). See also FIG.

As shown in FIG. 5, a gripping operation unit 30 is provided on the front surface portion 50 B configured on one surface side (front surface side) of the base portion 50. The gripping operation unit 30 includes the above-described base portion 34 and a spring member 32 that applies an elastic force toward the one side to the base portion 34. The base portion 34 is configured to move in a direction intersecting with the direction of the convex portion constituting the second support portion 22 in conjunction with the second support portion 22. Specifically, the base portion 34 has a plate-like configuration in which the front-rear direction is the plate thickness direction, and is slidably held on the front wall portion 64. The base portion 34 is restricted from moving relative to the front wall portion 64 in the front-rear direction and the up-down direction, and is allowed to move in the lateral direction (left-right direction) within a predetermined range. The spring member 32 continuously pushes the base portion 34 configured to be slidable only in the lateral direction to one side in the lateral direction (the side where the second support portion 22 approaches the first support portion 21). Specifically, the spring member 32 is sandwiched between the fixing portion 36 fixed to the front wall portion 64 and the extending portion 34B extending downward from the main body portion 34A of the base portion 34, and the spring member 32 extends. The part 34B is continuously pushed to the side away from the fixed part 36 (side approaching the first support part 21).

Thus, the base portion 34 is continuously pushed toward the first support portion 21 by the elastic force of the spring member 32. For this reason, if the lateral interval between the second support portion 22 and the first support portion 21 is equal to or greater than the predetermined first interval, the second support portion 22 is continuously approaching the first support portion 21. Force is generated. When the distance between the second support part 22 and the first support part 21 reaches the first distance, the operation of the base part 34 further approaching the first support part 21 side is restricted by a stopper (not shown). Is done. That is, the interval between the second support portion 22 and the first support portion 21 is the minimum interval within a range in which the first interval can be changed. On the other hand, when a force on the opposite side (the side away from the first support portion 21) is applied to the base portion 34 by the transmission member 42 during the release operation described later, the base portion 34 is moved to the other side in the lateral direction (first support). Move to the side away from the part 21). When the lateral distance between the second support part 22 and the first support part 21 reaches a predetermined second distance, the contact part 36A and the extension part 34B, which form a part of the fixed part 36, contact each other. Further, the operation in which the base portion 34 further moves away from the first support portion 21 is restricted. That is, the interval between the second support portion 22 and the first support portion 21 is the maximum interval within a range in which the second interval can change.

In this configuration, as shown in FIGS. 5 and 6, when the first support portion 21 is inserted into the hole portion 194A formed in the workpiece 190 and the second support portion 22 is inserted into the hole portion 194B. The force which tries to make the 2nd support part 22 approach the 1st support part 21 side continuously arises. For this reason, the part between the hole part 194 A and the hole part 194 B in the work 190 is sandwiched between the first support part 21 and the second support part 22. At this time, the first support portion 21 comes into contact with the inner wall portion of the hole portion 194A while being inserted into the hole portion 194A, and continuously presses the inner wall portion, so that a frictional force is generated between them. . Similarly, the second support portion 22 contacts with the inner wall portion of the hole portion 194B while being inserted into the hole portion 194B, and continuously presses the inner wall portion, so that a frictional force is generated between them. . Therefore, the first support portion 21 and the second support portion 22 are not easily removed from the

holes

194A and 194B, and the workpiece 190 is stably held by the grip main body portion 12.

The predetermined first interval described above is the interval when the first support portion 21 and the second support portion 22 sandwich the portion between the hole portion 194A and the hole portion 194B (that is, the interval in the gripping state). ) Is narrower than. Therefore, the movement restriction by the stopper described above is not performed in the gripping state. In addition, at the predetermined second interval described above, the distance between the centers of the first support portion 21 and the second support portion 22, that is, the distance between the center line B1 and the center line B2 shown in FIG. , 194B is set to be approximately the same as the center-to-center distance. The outer diameter of the first support portion 21 is slightly smaller than the inner diameter of the hole portion 194A, and the first support portion 21 is in an inserted state with a slight gap. Similarly, the outer diameter of the second support part 22 is slightly smaller than the inner diameter of the hole part 194B, and is in an inserted state with a slight gap. Therefore, at the second interval, the first support portion 21 and the second support portion 22 can be easily inserted into the

hole portions

194A and 194B, and the first support portion 21 and the second support portion are inserted from the

hole portions

194A and 194B. It becomes easy to pull out 22.

Next, a cancellation | release part and a related structure are demonstrated.
As shown in FIGS. 9 and 10, the workpiece transfer device 1 includes a link mechanism 40 including a transmission member 42 and a shaft member 44 provided in the workpiece gripping device 10, and the link mechanism 40 serves as a grip release unit. Function. A release operation device 7 (FIG. 1, FIG. 2, etc.) capable of operating the link mechanism 40 is provided at a position different from the workpiece gripping device 10.

As shown in FIG. 10, the shaft member 44 corresponds to an example of a shaft portion, and extends in the axial direction along the direction of the second support portion 22 and moves in the axial direction. Specifically, the axial direction of the shaft member 44 is the front-rear direction, and the shaft center of the shaft member 44 is the rotation axis C1 described above. As shown in FIGS. 9 and 10, the grip main body 12 is provided with a displacement portion 52 behind the rear wall portion 66 of the base 50, and the displacement portion 52 is arranged with the plate thickness direction as the front-rear direction. Is retained. As shown in FIG. 10, the displacement portion 52 includes a displacement plate 70 configured in a plate shape, and a force is continuously applied to the displacement plate 70 in a direction away from the rear wall portion 66 by a pair of

spring members

71 and 72. Has been added. The base portion 50 does not move in the front-rear direction and is only allowed to rotate, and the

spring members

71 and 72 keep the displacement portion 52 away from the base portion 50 by continuously pushing the displacement portion 52 rearward. A force of direction (backward) is always applied. In a state where no force is applied by the switching operation device 5 to be described later, the displacement portion 52 is maintained in the arrangement and posture as shown in FIGS.

In the displacement portion 52, a through-hole portion 70A penetrating in the thickness direction is formed at the center of the displacement plate 70, and the shaft member 44 is inserted into the through-hole portion 70A. That is, the shaft member 44 is inserted through the through hole portion 50 A of the base portion 50 near the front portion and the center, and is inserted through the through hole portion 70 A of the displacement portion 52 near the rear end portion. 4 and 7, the rear end portion 44A of the shaft member 44 is exposed to the rear side, and the front end portion 44B side of the shaft member 44 is the front wall portion 64 as shown in FIGS. It is arranged in the vicinity and is connected to the transmission member 42. The transmission member 42 corresponds to an example of a conversion unit, and is configured to convert an axial movement operation of the shaft member 44 into a movement operation of the second support unit 22. One end side of the transmission member 42 is rotatably connected to the shaft member 44. The connecting rotation axis is the vertical direction. Furthermore, the other end side of the transmission member 42 is rotatably connected to the base portion 34 described above, and the rotation axis of the connection is the vertical direction. The transmission member 42 configured as described above is configured to be displaced along a plane direction orthogonal to the vertical direction, and displacement in a direction intersecting the plane direction is restricted. Since one end side of the transmission member 42 is connected to the shaft member 44, it moves only in the front-rear direction, and the other end side of the transmission member 42 moves only in the lateral direction because it is connected to the base portion 34.

In the link mechanism 40 configured in this manner, the shaft member 44 moves in the axial direction when a force is applied to one end side of the shaft member 44 that is installed in a second direction different from the first direction. . The transmission member 42 is connected to the other end side of the shaft member 44 and the second support portion, and acts to convert the movement operation of the shaft member 44 into the movement operation of the second support portion 22. . Specifically, the movement operation in the axial direction of the portion arranged on one side in the axial direction of the shaft member 44 (the portion on the front end portion 44B side) is converted into the movement operation in the lateral direction of the base portion 34. The position of the base portion 34 in the horizontal direction and the position of the shaft member 44 in the front-rear direction correspond to each other, and as the shaft member 44 moves rearward in the axial direction, the base portion 34 moves to the one side in the horizontal direction (to the first support portion 21). Move to the closer side. Conversely, as the shaft member 44 moves forward in the axial direction, the base portion 34 moves to the other side in the lateral direction (side away from the first support portion 21). As described above, a force is continuously applied to the base portion 34 on the side approaching the first support portion 21 by the spring member 32 shown in FIG. Therefore, when the first support portion 21 and the second support portion 22 are inserted into the

holes

194A and 194B and are not operated by the release operation device 7 as shown in FIG. The support portion 22 is held at a position where the

hole portions

194A and 194B are sandwiched. And the shaft member 44 is arrange | positioned in the back position corresponding to the position of the base part 34 in the state pinched | interposed in this way.

On the other hand, when the operation unit 100 of the release operation device 7 presses the shaft member 44 forward, as shown by a two-dot chain line shown in FIG. 14A, the shaft member 44 moves forward rather than the rear position described above. To do. In accordance with the forward movement of the shaft member 44, the base portion 34 and the second support portion 22 move to the other side in the lateral direction (side away from the first support portion 21).

12 and 13 is a device for applying an operating force for moving the shaft member 44 in the axial direction, and is fixed to a fixed base 4 configured so as not to be displaced. In the example of FIGS. 1 and 2, a first release operation device 7 A used when loading the workpiece 190 into the workpiece transfer device 1 and a second release operation device 7 B used when carrying out the workpiece 190 are provided. ing. These

release operation devices

7A and 7B have the same structure. Below, the structure common to both the release operation apparatuses 7 is demonstrated.

The release operation device 7 shown in FIGS. 12 and 13 is operated so as to push an operation target portion (specifically, the rear end portion 44A) provided on the rear end side of the shaft member 44 shown in FIGS. It is a device to do. As shown in FIGS. 12 and 13, the release operation device 7 includes an operation unit 100 (inner operation unit) and an actuator 104 (inner drive unit) that drives the operation unit 100. The actuator 104 is constituted by a linear actuator such as an air cylinder, and is configured to reciprocate the operation unit 100 along a predetermined direction (rotational radius direction) orthogonal to the rotation axis C2. The release operation device 7 reciprocates the operation unit 100 between a retracted position indicated by a solid line in FIGS. 13 and 14A and an approach position indicated by a two-dot chain line in FIGS. 13 and 14A. Make the configuration to be. As shown in FIG. 14A, the operation unit 100 is arranged so as not to act on the work gripping device 10 away from the path of the operation target portion (rear end portion 44A) in the work gripping device 10 in the retracted position. And in the approach position, it becomes the arrangement | positioning which can act on the workpiece | work holding | grip apparatus 10 near the path | route of the operation target part (rear end part 44A).

In the release operation device 7, the operation unit 100 grips the work 190 with respect to the work gripping device 10 as the actuator 104 moves the operation unit 100 to a position (the above-described approach position) that acts on the work gripping device 10. Perform operations that change the state. Specifically, with the operation of the release operation device 7, the sandwiched state in which the portion between the hole portions 194 A and 194 B of the workpiece 190 is pressed and pressed by the first support portion 21 and the second support portion 22, like this It is switched to the release state in which the pinching in the pressing state is released. As shown in FIG. 13, a protruding portion 102 that protrudes in the moving direction of the operating portion 100 (the rotational radius direction of the rotating body 3) is formed on the distal end surface of the operating portion 100, and protrudes as shown in FIG. The portion 102 is disposed at a height similar to that of the shaft member 44 in the vertical direction. In the release operating device 7, the actuator 104 shown in FIG. 13 drives the operating unit 100 when the rotating body 3 stops due to the positional relationship between the protruding portion 102 and the shaft member 44, and the two-dot chain line in FIG. As described above, the protrusion 102 is operated so as to push the rear end 44 A of the shaft member 44.

As shown in FIGS. 1 and 2, in the workpiece transfer device 1, the rotating body 3 is annularly arranged around the fixed base 4 and rotates around the rotation axis C2. On the other hand, the release operating device 7 and the switching operating device 5 fixed to the fixed base 4 are fixed so as not to rotate, and each has a configuration extending in the rotational radius direction orthogonal to the rotation axis C2, as shown in FIG. . That is, the rotary table 3A and the plurality of workpiece gripping devices 10 fixed thereto move relative to the release operation device 7 and the switching operation device 5 fixed to the fixed base 4. As a result, each workpiece gripping device 10 changes its positional relationship with the release operation device 7 and the switching operation device 5.

Specifically, one of the release operation devices 7 and one of the plurality of workpiece gripping devices 10 are arranged to face each other when the rotating body 3 reaches a predetermined rotational position. For example, in the example of FIG. 2, the release operation device 7A and the first workpiece gripping device 10A are arranged to face each other, and the release operation device 7B and the fifth workpiece gripping device 10E are arranged to face each other. At this time, as shown in FIG. 14A, the protruding portion 102 of the operation unit 100 provided in one release operation device 7 is formed on the axial extension of the shaft member 44 provided in one workpiece gripping device 10. Be placed.

When the rotating body 3 stops in a state where any one of the release operation devices 7 and one of the workpiece gripping devices 10 is in the positional relationship as shown in FIG. 14A, the actuator 104 (FIG. 13) of the release operation device 7 Is driven, and the operation unit 100 is displaced as shown by a two-dot chain line shown in FIG. Then, the protrusion part 102 formed in the operation part 100 contacts the rear end part 44A of the shaft member 44 and pushes the shaft member 44 forward. In a state where the pressing operation is not performed, the shaft member 44 is held at the solid line position (rear position) shown in FIG. 14A by the elastic force of the spring member 32 (FIG. 5). When the pressing operation by the protrusion 102 is performed, the extruded shaft member 44 moves to the front side from the solid line position (rear position). When the shaft member 44 moves to the front side in this way, the link mechanism 40 performs a conversion operation accordingly, and the base portion 34 and the second support portion 22 are in the other side in the lateral direction (the side away from the first support portion 21). Move to. Thus, in the state where the shaft member 44 is pressed by the protruding portion 102, the extended portion 34B of the base portion 34 is maintained in a state of being in contact with the contact portion 36A. In this state, the center-to-center distance between the first support portion 21 and the second support portion 22 shown in FIG. 11 is the same as the center-to-center distance between the

hole portions

194A and 194B (the above-described second interval). The workpiece 190 can be attached to and removed from the grip body 12.

In the work transfer device 1 shown in FIG. 2, the position (first position) facing the release operation device 7 A in the movement range of the work gripping device 10 is the position (loading position) for receiving the work 190. Each time the rotating body 3 rotates 72 degrees from the state where the workpiece gripping device 10A faces the release operation device 7A as shown in FIG. 2, the workpiece gripping device 10 facing the release operation device 7A is changed to the workpiece gripping device 10B. The workpiece holding device 10C and the workpiece holding device 10D are switched in this order. In addition, any work gripping device 10 has a loading position as a starting position, and each time the rotating body 3 rotates by 72 °, a position facing the apparatus 8A (second position) and a position facing the apparatus 8B (third position). (Position) sequentially. Furthermore, the position is switched sequentially to a position facing the switching operation device 5 and the rotation operation device 9 (fourth position) and a position facing the release operation device 7B (fifth position). In such a movement range of the workpiece gripping device 10, a position (fifth position) facing the release operation device 7B is a position (unloading position) where the workpiece 190 is removed.

When the release operation is performed by the first release operation device 7A when the workpiece gripping device 10 is in the carry-in position (first position) as in the first workpiece gripping device 10A shown in FIG. The distance between the centers of the first support portion 21 and the second support portion 22 is switched to the second interval described above. That is, when the release operation is performed at the loading position, the first support portion 21 and the second support portion 22 are easily inserted into the

holes

194A and 194B of the workpiece 190, and the workpiece 190 is easily assembled to the workpiece gripping device 10. be able to. The work of attaching the work 190 to the work gripping apparatus 10 at the carry-in position may be performed by an automatic movement device such as a robot or may be performed manually by an operator. After the first support portion 21 and the second support portion 22 of the workpiece gripping device 10 in the loading position are inserted into the

holes

194A and 194B of the workpiece 190, the driving of the actuator 104 of the first release operation device 7A is stopped. Then, the operation unit 100 is returned to the retracted position. Accordingly, in the workpiece gripping apparatus 10, the shaft member 44 is returned to the rear position, the interval between the first support portion 21 and the second support portion 22 is narrowed, and the workpiece 190 is gripped.

When the release operation is performed by the second release operation device 7B when the workpiece gripping device 10 is at the carry-out position (fifth position) like the fifth workpiece gripping device 10E shown in FIG. The center-to-center distance between the first support portion 21 and the second support portion 22 is switched to the second interval described above. That is, when the release operation is performed at the unloading position, the first support portion 21 and the second support portion 22 can be easily pulled out from the

holes

194A and 194B of the workpiece 190, and the workpiece 190 can be easily removed from the workpiece gripping device 10. it can. In addition, the operation | work which removes the workpiece | work 190 from the workpiece | work holding | grip apparatus 10 of a carrying out position may be performed by automatic moving apparatuses, such as a robot, and an operator may perform it manually. After the workpiece 190 is removed from the workpiece gripping device 10 in the unloading position, the driving of the actuator 104 in the second release operation device 7B is stopped, and the operation unit 100 is returned to the retracted position.

Next, the switching unit and related configurations will be described.
As shown in FIGS. 9 and 10, the workpiece gripping device 10 is provided with a position holding mechanism 18 that determines the relative position of the grip body 12 with respect to the support base 14. Further, a switching operation device 5 for operating the position holding mechanism 18 is provided inside the rotation path of the workpiece gripping device 10, and a rotation operation device for rotating the grip main body 12 outside the rotation path of the workpiece gripping device 10. 9 is provided.

The position holding mechanism 18 corresponds to an example of a rotation restricting portion, and has a function of restricting the rotation of the grip main body 12 with respect to the support base 14 (the rotation supporting portion). When the force is applied from the outside to the position holding mechanism 18 (rotation restricting portion) by the switching operation device 5, the rotation restriction of the grip main body portion 12 with respect to the support base 14 is released. Specifically, the position holding mechanism 18 switches the state of the grip main body 12 supported by the support base 14 between a “rotation restricted state” that restricts rotation and a “rotation allowed state” that allows rotation. Make a configuration. When a predetermined switching operation is performed from the outside, the position holding mechanism 18 switches the state of the grip main body 12 supported by the support base 14 to the “rotation allowable state”, and when this switching operation is released, The state of the grip body 12 supported by the support base 14 is switched to the “rotation restricted state”. The “rotation restricted state” is a state in which the grip main body 12 cannot rotate with respect to the support base 14, and the grip main body 12 is positioned at one rotational position and the posture of the grip main body 12 is determined. is there. The “rotation allowable state” is a state in which the grip main body 12 can rotate with respect to the support base 14, and the posture of the grip main body 12 can be changed by rotating the grip main body 12. . The grip body 12 is rotated in response to a predetermined rotation operation from the outside by the rotation operation device 9 while being switched to the “permitted rotation state” by the position holding mechanism 18. 14 is changed in posture.

The position holding mechanism 18 mainly includes a displacement portion 52, a slide mechanism that holds the displacement portion 52 so as to be slidable in the front-rear direction,

spring members

71 and 72,

arm portions

91 and 92, and a protruding portion 96. . In this configuration, the rear wall portion 66 provided in the grip main body 12 corresponds to the first receiving plate, and the displacement portion 52 corresponds to the second receiving plate. The rear wall portion 66 (first receiving plate) and the displacement portion 52 (second receiving plate) are arranged to face each other. The

arm portions

91 and 92 and the projecting portion 96 correspond to an example of a rotational positioning portion, and are connected to the support base 14 and contact the displacement portion 52 to rotationally position the grip main body portion 12. The

spring members

71 and 72 provided between the rear wall portion 66 and the displacement portion 52 correspond to a second urging portion, urge the displacement portion 52 in the direction of the rotational positioning portion (rear side), and the displacement portion 52. Functions to contact the protrusion 96. In the position holding mechanism 18, the projecting portion 96 and the displacement portion 52 are brought into non-contact by moving the displacement portion 52 in a direction opposite to the urging direction of the spring members 71 and 72 (that is, the front side). The rotational positioning of the part 12 is released. A hole portion 74 penetrating in the thickness direction is formed in the displacement portion 52 configured in a plate shape. A protruding portion 96 that protrudes forward is formed on the arm portion 91 of the support base 14. As shown in FIG. 10, when the switching operation for the displacement portion 52 is not performed and the gripping main body portion 12 is at a predetermined rotational position, the protruding portion 96 is inserted into the hole portion 74. In this state, the vicinity of the distal end portion of the arm portion 91 is disposed on the rear side of the displacement portion 52, and the protruding portion 96 protruding near the distal end portion of the arm portion 91 is inserted into the hole portion 74 from the rear side. Thus, since the protrusion part 96 by the side of the support stand 14 and the hole 74 by the side of the holding body part 12 are fitted, the holding body part 12 cannot be rotated. Since the displacement part 52 is continuously pushed to the rear side by the

spring members

71 and 72, the displacement part 52 is not shown in the state where the switching operation (pressing operation to the front side) is not performed on the displacement part 52. 10 is maintained at the rear position. Therefore, in a state where the switching operation for the displacement portion 52 is not performed, the fitting state between the protruding portion 96 and the hole portion 74 is maintained, and the “rotation restricted state” is maintained.

14B, the switching operation device 5 pushes the displacement portion 52 forward against the force of the

spring members

71 and 72, and moves the displacement portion 52 forward. Perform the operation. Then, as the displacement portion 52 approaches the rear wall portion 66, the hole portion 74 moves forward with respect to the protruding portion 96, and the protruding portion 96 comes out of the hole portion 74. When the projecting portion 96 comes out of the hole 74 in this way, the grip main body portion 12 enters the “rotation allowable state”, and the grip main body portion 12 can rotate about the rotation axis C1.

Although not shown in FIG. 10 and the like, the arm portion 92 is also formed with a protrusion (not shown), and in the state of FIG. 10, this protrusion fits into a hole (not shown) formed in the displacement portion 52. ing. And when the displacement part 52 is pushed ahead by the switching operation apparatus 5 like the dashed-two dotted line of FIG.14 (B), in addition to the protrusion part 96 coming out from the hole part 74, the protrusion part of the arm part 92 (Not shown) also comes out of the hole (not shown) of the displacement portion 52. As a result, the gripping main body 12 enters the “permitted state of rotation”.

Next, operation operations by the switching operation device 5 and the rotation operation device 9 will be described.
The switching operation device 5 and the rotation operation device 9 each grip the workpiece disposed at a position (fourth position) between the switching operation device 5 and the rotation operation device 9 every time the rotating body 3 rotates and stops by 72 °. An operation is performed on the apparatus 10. For example, in the state of FIG. 2, the switching operation device 5 and the rotation operation device 9 operate the fourth work gripping device 10D.

The switching operation device 5 shown in FIGS. 12 and 13 is fixed to a fixed base 4 configured so as not to be displaceable, and the operation target portion disposed at the rear end portion of the grip main body 12 shown in FIGS. 9 and 10. This is a device that operates to press (specifically, the displacement portion 52). As illustrated in FIGS. 12 and 13, the switching operation device 5 includes an operation unit 110 (inner operation unit) and an actuator 114 (inner drive unit) that drives the operation unit 110. The actuator 114 is configured by a linear actuator such as an air cylinder, and is configured to reciprocate the operation unit 110 along a predetermined direction (rotational radius direction) orthogonal to the rotation axis C2. In the example of FIG. 12, an arm portion 113 for connecting the drive shaft of the actuator 114 and the operation unit 110 is provided, and the drive shaft of the actuator 114, the arm portion 113, and the operation unit 110 are integrated in the predetermined direction. Is configured to reciprocate. The switching operation device 5 reciprocates the operation unit 110 between a retracted position indicated by a solid line in FIGS. 13 and 14B and an approach position indicated by a two-dot chain line in FIGS. 13 and 14B. Configure to operate. As shown in FIG. 14B, the operation unit 110 is arranged so as not to act on the work gripping device 10 away from the path of the operation target portion (displacement unit 52) in the work gripping device 10 in the retracted position. And in the approach position, it becomes the arrangement | positioning which can act on the workpiece | work holding | grip apparatus 10 near the path | route of the operation target part (displacement part 52).

In the switching operation device 5, the operation unit 110 grips the work 190 with respect to the work gripping device 10 as the actuator 114 moves the operation unit 110 to a position (the above-described approach position) that acts on the work gripping device 10. Perform operations that change the state. Specifically, the switching operation device 5 moves the operation unit 110 to a position (approach position) that acts on the workpiece gripping device 10, so that the posture of the workpiece 190 is not allowed to change in the gripping state of the workpiece gripping device 10. The state is changed from a state to a state in which the posture change of the workpiece 190 is allowed.

As shown in FIG. 14B, the operation portion 110 has a hole 112 that is recessed rearward in the vicinity of the center portion of the front end portion 111, and the inner diameter of the hole 112 is smaller than the outer diameter of the shaft member 44. Also, it is arranged at the same height as the shaft member 44 in the vertical direction. In the switching operation device 5, the actuator 114 shown in FIG. 13 drives the operation unit 110 when the rotating body 3 stops due to the positional relationship between the hole 112 and the shaft member 44, and the two-dot chain line in FIG. As described above, the front end portion 111 is operated so as to push the displacement plate 70 of the displacement portion 52. At this time, the shaft member 44 does not move in the front-rear direction, and the rear end 44 A is inserted into the hole 112. In addition, the operation unit 110 is rotatably connected to a distal end portion 113A that forms a part of the arm unit 113, and the operation unit 119 presses the displacement unit 52 as indicated by a two-dot chain line in FIG. In this state, the operation unit 110 and the grip main body unit 12 can rotate integrally. In this way, the rotation operation device 9 described later performs an operation so as to rotate the grip main body 12 in a state where the operation section 110 and the grip main body 12 can rotate integrally.

As shown in FIG. 2, the rotary operation device 9 includes an

outer operation unit

121, 122 arranged outside the rotation path of the workpiece gripping device 10 (gripping unit) and an

outer operation unit

121, 122 that drives the

outer operation unit

121, 122. And a drive unit 124. The outer drive unit 124 is a part that functions to rotate together with the grip main body 12 in a state where the

outer operation units

121 and 122 are moved to positions where they act on the grip main body 12. Specifically, in the state where the position holding mechanism 18 (switching unit) described above switches the grip body 12 to the “permitted rotation state” according to the operation of the switching operation device 5, the

outer operation units

121 and 122 are moved. It operates so as to rotate together with the grip body 12.

The

outer operation portions

121 and 122 have

holes

121A and 122A, respectively. Then, in a state where the direction of the rotation axis C3 of the rotary operation device 9 and the direction of the rotation axis C1 of the gripping main body 12 are aligned in the same direction, the

holes

121A and 122A are inserted into the

protrusions

12A and 12B of the gripping main body 12. And operate so as to rotate them integrally. Specifically, projecting

portions

12A and 12B are formed so as to project forward in the grip main body portion 12.

When the rotational operation device 9 is in a rotational position in which the direction of the rotational axis C3 of the rotational operation device 9 and the direction of the rotational axis C1 of the gripping main body 12 are aligned in the same direction, two points in FIGS. Like the chain line, the

operation units

121 and 122 are moved toward the grip body 12 along the direction of the rotation axis C3. The rotary operation device 9 grips a unit in which the

operation units

121 and 122 and the rotation device 126 are integrated while aligning the direction of the rotation axis C3 of the rotation operation device 9 and the direction of the rotation axis C1 of the grip body 12. A moving device 125 is provided for moving to the main body 12 side. Furthermore, a rotation device 126 that rotates the

operation units

121 and 122 around the rotation axis C3 is provided.

In this configuration, when the moving device 125 moves the unit in which the

operation units

121 and 122 and the rotating device 126 are integrated to the gripping main body 12 side, the protruding portion of the gripping main body 12 in the

holes

121A and 122A. 12A and 12B are respectively inserted. When the rotating device 126 rotates the

operation units

121 and 122 in such an insertion state, the grip body 12 is rotated. The angle at which the rotating device 126 rotates the

operation units

121 and 122 is not particularly limited, and may be 180 °, 90 °, or any other angle. The rotation device 126 is configured to maintain this angle for a predetermined time in a state where the

operation units

121 and 122 are rotated by a predetermined angle from the states as shown in FIGS. 2 and 8. Will be held at. It should be noted that during the period in which the workpiece 190 is held in the rotated posture as described above, the parts may be assembled or processed by an unillustrated assembling apparatus or processing apparatus.

As described above, in this configuration, the second support portion 22 is configured to be movable, and the spring member 32 (first biasing portion) is in a first direction orthogonal to the extending direction of the second support portion 22. The second support portion 22 is configured to be biased. In this configuration, when the work 190 is gripped so that the first support portion 21 and one part of the work 190 are inserted and the second support part 22 and another part of the work 190 are inserted, the spring member Due to the urging of 32 (first urging portion), a continuous force is generated in the second supporting portion 22 toward the side approaching the first supporting portion 21. As a result, a force that continuously presses each part of the work 190 is generated in the first support part 21 and the second support part 22, and a frictional force is generated between each part of the work 190. When such a frictional force is generated, the insertion state of the first support part 21 and the second support part 22 and each part of the work 190 is stably maintained, so that the work 190 can be stably held. . In addition, since the force is applied to the second support portion 22 by the urging of the spring member 32 (first urging portion), the workpiece 190 can be continuously and stably without continuously supplying a large amount of electric power. Can be gripped. Furthermore, the workpiece gripping device 10 has a second support in a direction opposite to the first direction (the direction in which the second support portion 22 attempts to move due to the urging of the spring member 32) in response to a force applied from the outside. The link mechanism 40 (grip releasing part) which moves the part 22 is provided. For this reason, the releasing operation using an external force is possible, and the holding can be released without providing complicated electric power in the workpiece holding device 10.

The link mechanism 40 (grip releasing part) includes a shaft member 44 (shaft part) and a transmission member 42 (conversion part). The transmission member 42 is configured to convert the movement operation of the shaft member 44 into the movement operation of the second support portion 22. According to this configuration, the moving force can be converted into the moving operation of the second support portion 22 by applying a moving force to the shaft member 44 directly from the outside or indirectly through another member. In particular, if the operation can move the shaft member 44, the second support portion 22 can be moved even if the position away from the second support portion 22 is operated, which is advantageous in applications where such an operation is desired. become.

The shaft member 44 (shaft portion) is installed in a second direction (specifically, the front-rear direction) different from the first direction (the direction in which the second support portion 22 tends to move due to the bias of the spring member 32). In addition, a force is applied to one end side to move in the axial direction. The transmission member 42 (conversion unit) is connected to the other end side of the shaft member 44 and the second support unit 22, and is configured to convert the movement operation of the shaft member 44 into the movement operation of the second support unit 22. Yes. According to this configuration, the vicinity of one end side of the shaft member 44 can be used as the operation region, and the vicinity of the other end side can be used as the operation region of the transmission member 42. Therefore, it is desirable to operate the shaft member 44 from one end side, and this is an advantageous structure when it is desirable to dispose the workpiece 190 on the side opposite to the operation side. As described above, even when the work placement area and the operation area are separated from each other in the axial direction, the operation force from the outside can be reliably transmitted to the second support portion 22 to release the grip.

In this configuration, the gripping main body portion 12 having the first support portion 21, the second support portion 22, and the spring member 32 (first biasing portion), and the support base 14 (rotational support) that rotatably supports the gripping main body portion 12. Part) and a position holding mechanism 18 (rotation restricting part) for restricting the rotation of the grip main body part 12 with respect to the support base 14. And when the force is applied to the position holding mechanism 18 (rotation restriction part) from the outside, the rotation restriction of the grip main body part 12 with respect to the support base 14 is released. According to this configuration, the work 190 can be gripped by the grip main body 12 supported by the first support portion 21 and the second support portion 22, and the grip main body 12 that grips the work 190 is thus rotated. By doing so, the posture of the workpiece 190 can be changed. Furthermore, since this configuration includes the position holding mechanism 18 (rotation restricting portion), the posture of the workpiece 190 is determined by restricting the rotation of the grasping main portion 12 as necessary, and the gripping main portion 12. It is possible to switch between a state where the rotation of the workpiece 190 can be allowed and the posture of the workpiece 190 can be changed.

In this configuration, the grip body 12 includes a rear wall 66 (first receiving plate), and the position holding mechanism 18 (rotation restricting portion) is a displacement portion 52 (second receiving plate) facing the rear wall 66. ). The position holding mechanism 18 includes a rotation positioning portion (

arm portions

91 and 92 and a protruding portion 96) that is connected to the support base 14 (rotation support portion) and performs rotation positioning of the grip main body portion 12 by contacting the displacement portion 52. . Furthermore, the position holding mechanism 18 is provided between the rear wall portion 66 and the displacement portion 52 and urges the displacement portion 52 in the direction of the rotation positioning portion to bring the displacement portion 52 into contact with the protruding portion 96. 72 (second urging unit). Then, by moving the displacement portion 52 in the direction opposite to the urging direction of the

spring members

71 and 72, the projecting portion 96 and the displacement portion 52 are not in contact with each other, and the rotational positioning of the gripping main body portion 12 is released. ing.

According to this configuration, the

spring members

71 and 72 provided between the rear wall portion 66 and the displacement portion 52 urge the displacement portion 52 in the direction of the projecting portion 96 so that the displacement portion 52 contacts the projecting portion 96. With a simple structure, the rotation of the grip body 12 can be stably regulated. Furthermore, since the rotational positioning of the grip body 12 can be released by moving the displacement part 52 in the direction opposite to the urging direction against the urging of the

spring members

71 and 72, complicated release from the outside. The rotational positioning can be released by a simple moving operation without performing the operation.

The present invention is not limited to the embodiments described with reference to the above description and drawings. For example, the following embodiments are also included in the technical scope of the present invention.
(1) In the first embodiment, an example in which only one first support portion is provided has been described. However, the number of first support portions may be two or more. Similarly, the number of second support portions may be two or more.
(2) In Embodiment 1, although the conversion part of the structure provided with two members was illustrated, the conversion part comprised by two or more members may be sufficient as a conversion part. Moreover, it is not limited to this, You may employ | adopt other well-known mechanisms which can convert the displacement of a predetermined direction into another direction.
(3) In the first embodiment, the example in which the first urging unit transmits the force indirectly to the second supporting unit via the interlocking unit has been described. However, the first urging unit is not connected to the second supporting unit. The structure which applies force directly may be sufficient.
(4) In Embodiment 1, although the structure which a cancellation | release part operate | moves according to the force of the forward direction being applied to the rear-end part of a shaft member was shown, it is not restricted to this. For example, another member may be connected near the rear end portion of the shaft member, or the shaft member may be displaced in the front-rear direction by operating the other member. Other than these configurations, any operation configuration that can apply a force in the front-rear direction to the shaft member may be used.
(5) In the first embodiment, the configuration of the

devices

8A and 8B in FIG. 2 is not particularly limited, but as various devices such as an assembling device for assembling parts to the workpiece 190 and a processing device for processing the workpiece 190. Can be configured. In addition, the device illustrated in FIG. 2 is merely an example, and a device other than the device illustrated in FIG. 2 may be disposed.
(6) In Embodiment 1, the configuration in which the gripping operation unit 30 applies a continuous force to the second support unit 22 on the side approaching the first support unit 21 is illustrated, but the gripping operation unit 30 moves away from the first support unit 21. You may give a continuous force to the side.
(7) In the first embodiment, the rotation position of the grip main body 12 is determined by inserting the protrusion 96 provided in the arm 91 into the hole 74 provided in the displacement 52. Any structure that can hold the twelve non-rotatable state may be used. For example, the unevenness may be reversed between the arm portion 91 side and the grip main body portion 12 side. That is, a projecting portion may be formed in the displacement portion 52, and the projecting portion may be inserted into a hole formed in the arm portion 91 to determine the rotational position.

DESCRIPTION OF SYMBOLS 10 ... Work holding | grip apparatus, 12 ... Grasping main-body part, 14 ... Support stand (rotation support part), 18 ... Position holding mechanism (rotation restriction part), 21 ... 1st support part, 22 ... 2nd support part, 32 ... Spring Member (first urging portion), 40 ... link mechanism (grip releasing portion), 42 ... transmission member (converting portion), 44 ... shaft member (shaft portion), 52 ... displacement portion (second receiving plate), 66 ... rear wall portion (first receiving plate), 71, 72 ... spring member (second urging portion), 91, 92 ... arm portion (rotational positioning portion), 96 ... projecting portion (rotational positioning portion)

Claims

A first support part comprising a convex part or a hole part;
A second support part which is formed of a convex part or a hole part and is movable;
A first urging portion that urges the second support portion with respect to a first direction orthogonal to the extending direction of the second support portion;
A workpiece gripping device comprising: a grip release unit that moves the second support portion in a direction opposite to the first direction in response to a force applied from outside.
The grip release part includes a shaft part and a conversion part,
The workpiece gripping apparatus according to claim 1, wherein the conversion unit converts a movement operation of the shaft portion into a movement operation of the second support portion.
The shaft portion is installed in a second direction different from the first direction and is moved in the axial direction by applying a force to one end side,
The conversion part is connected to the other end side of the shaft part and the second support part,
The workpiece gripping apparatus according to claim 2, wherein the conversion unit converts a movement operation of the shaft portion into a movement operation of the second support portion.
A gripping main body having the first support, the second support, and the first biasing portion;
A rotation support part for rotatably supporting the grip body part;
A rotation restricting portion that restricts rotation of the grip main body relative to the rotation support portion,
4. The rotation restriction of the grip body part with respect to the rotation support part is released when a force is applied to the rotation restriction part from the outside. 5. Work gripping device.
The grip main body includes a first backing plate,
The rotation restricting portion is
A second backing plate facing the first backing plate;
A rotation positioning unit connected to the rotation support unit and performing rotation positioning of the gripping main body unit by contacting the second receiving plate;
A second one provided between the first receiving plate and the second receiving plate to urge the second receiving plate in the direction of the rotational positioning portion to bring the second receiving plate into contact with the rotational positioning portion; With two biasing parts,
By moving the second backing plate in a direction opposite to the biasing direction of the second biasing portion, the rotational positioning portion and the second backing plate are not in contact with each other, and the rotational positioning of the gripping main body portion is released. The workpiece gripping device according to claim 4, wherein the workpiece gripping device is provided.