WO2021171752A1 - Workpiece gripping mechanism - Google Patents

Workpiece gripping mechanism Download PDF

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Publication number
WO2021171752A1
WO2021171752A1 PCT/JP2020/047423 JP2020047423W WO2021171752A1 WO 2021171752 A1 WO2021171752 A1 WO 2021171752A1 JP 2020047423 W JP2020047423 W JP 2020047423W WO 2021171752 A1 WO2021171752 A1 WO 2021171752A1
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WO
WIPO (PCT)
Prior art keywords
gripping
pins
grip
bolt
pair
Prior art date
Application number
PCT/JP2020/047423
Other languages
French (fr)
Japanese (ja)
Inventor
なつみ 築地
典弘 川本
雄平 石津
泰彦 杉浦
Original Assignee
ジヤトコ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ジヤトコ株式会社 filed Critical ジヤトコ株式会社
Priority to JP2022503112A priority Critical patent/JP7165284B2/en
Priority to CN202080097641.7A priority patent/CN115190833A/en
Publication of WO2021171752A1 publication Critical patent/WO2021171752A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a work gripping mechanism.
  • JP2003-21184A discloses a robot hand for screw fastening work.
  • the robot hand of JP2003-21184A has a socket that fits externally on the head of the screw.
  • the socket fitted to the head of the screw is rotated around the central axis of the screw to rotate the socket and the screw integrally, and the screw is screwed into the mating member and fastened.
  • the socket of JP2003-21184A has a fitting hole opened in a portion facing the screw, and the head of the screw is inserted into the fitting hole so that the socket fits outside the head of the screw.
  • the general outer shape of the head of the screw is a polygon such as a hexagon. Therefore, the cross-sectional shape of the fitting hole seen from the direction of the central axis of the screw is formed to be the same as the outer shape of the head of the screw.
  • the socket when the socket is fitted onto the head of the screw, it is necessary to align the phase of the socket and the screw in the circumferential direction around the central axis. It is preferable that the time required for phase matching can be shortened or omitted because the screw fastening work can be performed more efficiently.
  • a first grip with a pair of parallel grip pins It has a second grip that includes a pair of grip pins that are parallel to each other.
  • the first grip portion and the second grip portion are work gripping mechanisms provided so as to be relatively displaceable on a common axis.
  • a work gripping mechanism configured to grip a work by the pair of gripping pins of the first gripping portion and the pair of gripping pins of the second gripping portion is provided.
  • the time required for phase matching can be omitted, so that the screw fastening work can be performed more efficiently.
  • FIG. 1 is a diagram illustrating a robot arm.
  • FIG. 2A is a diagram illustrating a bolt which is an object to be gripped.
  • FIG. 2B is a diagram illustrating a bolt which is an object to be gripped.
  • FIG. 3A is a diagram illustrating a hand.
  • FIG. 3B is a diagram illustrating a hand.
  • FIG. 4A is a diagram illustrating a hand.
  • FIG. 4B is a diagram illustrating a hand.
  • FIG. 5A is a diagram illustrating a grip portion.
  • FIG. 5B is a diagram illustrating a grip portion.
  • FIG. 5C is a diagram illustrating a grip portion.
  • FIG. 5D is a diagram illustrating a grip portion.
  • FIG. 6A is a diagram illustrating a grip portion.
  • FIG. 6A is a diagram illustrating a grip portion.
  • FIG. 6B is a diagram illustrating a grip portion.
  • FIG. 7A is a diagram illustrating a process of gripping a bolt with a hand.
  • FIG. 7B is a diagram illustrating a process of gripping a bolt with a hand.
  • FIG. 7C is a diagram illustrating a process of gripping a bolt with a hand.
  • FIG. 7D is a diagram illustrating a process of gripping a bolt with a hand.
  • FIG. 8 is a diagram illustrating a process of gripping a bolt with a hand.
  • FIG. 9A is a diagram illustrating a process of gripping a bolt with a hand.
  • FIG. 9B is a diagram illustrating a process of gripping a bolt with a hand.
  • FIG. 10A is a diagram illustrating a grip portion according to a modified example.
  • FIG. 10B is a diagram illustrating a grip portion according to a modified example.
  • FIG. 1 is a diagram illustrating a robot arm 21.
  • FIG. 2A is a side view of the bolt 3
  • FIG. 2B is a cross-sectional view of the head portion 31 of the bolt 3 cut along the line IIb-IIb in FIG. 2A.
  • the robot 2 includes a conventionally known articulated robot arm 21.
  • the robot arm 21 is configured by connecting a plurality of arm parts so as to be rotatable around eight rotation axes X1 to X8.
  • the base end portion of the robot arm 21 is rotatably provided on the base 20 around the rotation axis X1.
  • a connecting portion 25 with the hand 4 is rotatably provided around the rotation axis X8.
  • the hand 4 can rotate around the rotation axis X8 integrally with the connecting portion 25.
  • the object (work) to be gripped by the hand 4 is the headed bolt 3.
  • the robot arm 21 is driven by a control device (not shown), arranges the bolt 3 gripped by the hand 4 at a desired position (coordinates), and then rotates the hand 4 around the rotation axis X8, whereby the hand 4
  • the gripped bolt 3 is screwed into the mating member and fastened.
  • the bolt 3 has a head portion 31 having a diameter larger than that of the shaft portion 32 at one end of the shaft portion 32.
  • the head portion 31 of the bolt 3 has a regular polygonal shape in a cross-sectional view orthogonal to the central axis C of the bolt 3.
  • the head 31 of the bolt 3 has a regular hexagonal cross section in which a plurality of linear outer peripherals 311 are continuously connected in the circumferential direction around the central axis C.
  • the length of each outer periphery of the head 31 is the same length L3.
  • the head 31 when viewed from the direction of the central axis C has three sets of outer peripherals 311 and 311 parallel to each other with the central axis C in between.
  • the head 31 of the bolt 3 is gripped by the hand 4.
  • FIG. 3A is a front view of the hand 4 when the hand 4 is arranged in the direction in which the bolt 3 is gripped, and is a cross-sectional view showing a part thereof.
  • FIG. 3B is a cross-sectional view taken along the line IIIb-IIIb in FIG. 3A, which illustrates the arrangement of the gripping pin 64 and the positioning pin 66.
  • the hand 4 is provided on the fixed portion 40 connected to the connecting portion 25, the pair of movable portions 45 (45A, 45B), and the movable portion 45 (45A, 45B). It has a work gripping mechanism 1 composed of a gripping portion 6 (6A, 6B).
  • the fixing portion 40 has a columnar base member 41. In the base member 41, the connecting portion 25 of the robot arm 21 is connected to a substantially central portion in the longitudinal direction of the base member 41. Support wall portions 42, 42 for supporting the movable portions 45 (45A, 45B) are provided at one end 41a and the other end 41b of the base member 41 in the longitudinal direction.
  • the support wall portions 42, 42 extend from the lower side surface 41d of the base member 41 in a direction away from the connecting portion 25 (lower side in FIG. 3A).
  • the lower side surface 41d is a side surface opposite to the side surface 41c to which the connecting portion 25 in the reference line Cz direction is connected.
  • the support wall portions 42, 42 are provided in a direction orthogonal to the base member 41.
  • the support wall portions 42, 42 are symmetrically arranged on one side and the other side of the reference line Cz with the reference line Cz in between.
  • the reference line Cz is a straight line that passes through the center of the base member 41 in the longitudinal direction and is orthogonal to the longitudinal direction of the base member 41, and is concentric with the rotation axis X8 of the connecting portion 25 described above.
  • the hand 4 rotates around the reference line Cz (rotation axis X8) in conjunction with the rotation of the connecting portion 25 of the robot arm 21.
  • Through holes 420 and 420 are provided on the lower end portions 42a and 42a of the support wall portions 42 and 42.
  • the through holes 420 and 420 penetrate the support wall portions 42 and 42 in the thickness direction (axis Cx direction).
  • the through holes 420 and 420 are located at the center of the support wall portion 42 in the width direction (axis Cy direction).
  • the through holes 420 and 420 are arranged in parallel with each other at intervals in the longitudinal direction (vertical direction in FIG. 3A) of the support wall portion 42.
  • the axis Cx is a straight line orthogonal to the reference line Cz and along the displacement direction of the movable portions 45 (45A, 45B).
  • the axis line Cy is a straight line orthogonal to the reference line Cz and along the width direction (vertical direction in FIG. 3B) of the movable portions 45 (45A, 45B).
  • the reference line Cz and the axis lines Cx and Cy are orthogonal to each other.
  • the guide pins 46, 46 of the movable portions 45 penetrate through the through holes 420, 420 of the support wall portions 42, 42.
  • the movable portions 45 (45A, 45B) are provided so as to be movable in the axis Cx direction at the support wall portions 42, 42 by the guide pins 46, 46 penetrating the through holes 420, 420.
  • the movable portions 45A and 45B are provided at intervals on a common axis Cx along the longitudinal direction of the base member 41.
  • the movable portion 45A and the movable portion 45B are provided on one side and the other side of the reference line Cz with the same distance from the reference line Cz (see FIG. 3A).
  • the movable portion 45A and the movable portion 45B can be relatively displaced in the axis Cx direction in a state where the distances from the reference line Cz are aligned by a drive mechanism (not shown).
  • the movable portion 45A and the movable portion 45B can be relatively displaced in the axis Cx direction in a state where the distances from the axis Cy orthogonal to the reference line Cz are aligned.
  • the movable portions 45A and 45B have a plate-shaped base portion 47 to which a pair of guide pins 46 and 46 are connected.
  • the base portion 47 is provided outside the support wall portion 42 in the axis Cx direction and parallel to the support wall portion 42.
  • the base end portions 46b, 46b of the pair of guide pins 46, 46 are inserted into the support holes 471, 471 provided in the base portion 47.
  • the guide pins 46 and 46 extend from the side surface 47c on the support wall portion 42 side of the base portion 47 toward the reference line Cz.
  • the tips 46a and 46a of the guide pins 46 and 46 reach above the grip portions 6A and 6B.
  • the base portion 47 has a predetermined length L47 in the reference line Cz direction.
  • the end portion 47a of the base portion 47 on the side opposite to the base member 41 (lower side in FIG. 3A) is arranged at a position farther from the base member 41 than the support wall portion 42.
  • Connecting beams 48, 48 extending to the reference line Cz side are fixed to the end portion 47a side of the base portion 47.
  • the connecting beams 48, 48 are provided on both sides of the base portion 47 in the width direction (axis Cy direction), and are provided in parallel with each other in a symmetrical positional relationship with the axis Cx in between (see FIG. 3B). ).
  • the connecting beams 48, 48 extending from the base 47 are parallel to the guide pins 46, 46.
  • the connecting beams 48, 48 extend toward the reference line Cz at positions avoiding interference with the support wall portion 42.
  • Gripping portions 6A and 6B for gripping the bolts 3 are fixed to the tips 48a and 48a of the connecting beams 48 and 48 by bolts B1 and B3 having hexagonal holes.
  • FIG. 4A is a perspective view of the movable portion 45 (45A, 45B), and is a view showing the movable portion 45A on one side and the movable portion 45B on the other side separately.
  • FIG. 4B is an exploded perspective view of the grip portion 6A attached to the movable portion 45A.
  • FIG. 5A is a front view of the grip portion 6.
  • FIG. 5B is a cross-sectional view of the grip portion 6 cut along the Vb-Vb line in FIG. 5A.
  • FIG. 5C is a cross-sectional view of the grip portion 6 cut along the Vc-Vc line in FIG. 5A.
  • FIG. 5D is a cross-sectional view of the grip portion 6 cut along the Vd-Vd line in FIG. 5A. Since the grip portions 6A and 6B have the same configuration, they are referred to as grip portions 6 in FIG. 5A.
  • the grip portions 6A and 6B are composed of a grip block 61 having a pair of grip pins 64 and 64 and a positioning block 65 and 65 having a positioning pin 66.
  • the gripping block 61 is provided with a support portion 611 for supporting the gripping pins 64 and 64 at the center of the plate-shaped base portion 610.
  • regions on both ends in the longitudinal direction are joint surfaces with the connecting beams 48, 48.
  • the other side surface 610b of the base portion 610 in the thickness direction has regions on both ends in the longitudinal direction serving as joint surfaces of the positioning blocks 65 and 65.
  • the joint surfaces of the connecting beams 48 and 48 and the joint surfaces of the positioning blocks 65 and 65 are flat surfaces parallel to each other.
  • the positioning blocks 65, 65 are pressed against the side surface 610b of the base portion 610 by the fastening force of the bolts B3, B3 penetrating the positioning blocks 65, 65 and the base portion 610.
  • the base portion 610 of the gripping block 61 is fixed to the tips 48a and 48a of the connecting beams 48 and 48 by bolts B1 and B3 penetrating the regions on both ends in the longitudinal direction.
  • the positioning block 65 has a rectangular parallelepiped shape, and one side edge 65c in the reference line Cz direction is provided at a position where it is flush with the side edge 61c of the gripping block 61. ..
  • the other side edge 65d of the positioning block 65 is provided between the other side edge 65d of the gripping block 61 and the other side edge 61d of the gripping block 61 at a distance at which the bolt B1 can be arranged.
  • a cylindrical positioning pin 66 is fixed to the side edge 65c of the positioning block 65.
  • the positioning pin 66 projects downward from the side edge 65c of the positioning block 65.
  • the support portion 611 extends between the positioning blocks 65, 65 in a direction away from the connecting beam 48.
  • the end surface 65a of the positioning block 65 is arranged at a position separated from the connecting beam 48 by a predetermined distance L1 than the end surface 61a of the gripping block 61.
  • a support hole 612 into which a cylindrical gripping pin 64 is inserted is opened in the lower side edge 61c of the support portion 611.
  • a bolt B2 penetrating the support portion 611 is screwed into the upper end portion of the gripping pin 64, and the gripping pin 64 is prevented from falling off from the support portion 611 by the bolt B2.
  • the gripping pins 64 in the support portion 611 are provided symmetrically with the reference line Cz in between.
  • the protruding height h1 of the gripping pin 64 from the lower side edge 61c of the gripping block 61 is the same as the protruding height h1 of the positioning pin 66 from the lower side edge 65c of the positioning block 65.
  • the gripping pin 64 and the positioning pin 66 are provided parallel to each other in a direction along the reference line Cz.
  • FIG. 6A is an enlarged view of the region B in FIG. 3B, and is a view showing a gripping mode of the head 31 of the bolt 3.
  • FIG. 6B is a diagram showing another gripping mode of the head 31 of the bolt 3.
  • the positions of the outer peripheral 311 of the head 31 of the bolt 3 are shown by virtual lines.
  • the gripping pins 64 and 64 are located on the axis Cy1 parallel to the axis Cy orthogonal to the reference line Cz.
  • the gripping pins 64, 64 have a circular cross section, and the centers of the gripping pins 64, 64 are located on the axis Cy1.
  • the gripping pins 64, 64 are provided in a symmetrical positional relationship with the reference line Cz and the axis line Cx orthogonal to the axis line Cy sandwiched between them.
  • the distance L64 between the centers of the gripping pins 64 and 64 in the axial direction Cy direction is set to be shorter than the length L3 of one side of the linear outer periphery 311 of the head 31 of the bolt 3 (L3> L64). ..
  • the pair of grip pins 64 and 64 are pressed against the same outer periphery 311 of the head 31. do.
  • the gripping pins 64 and 64 of the gripping portion 6A on one side of the reference line Cz and the gripping pins 64 and 64 of the gripping portion 6B on the other side are parallel to each other with the axis Cy sandwiched between them.
  • Each is pressure-welded.
  • the distance L64 between the centers of the gripping pins 64 and 64 is set to be shorter than the length L3 of the outer peripheral 311 of the head 31 of the bolt 3. Therefore, the head 31 of the bolt 3 is securely gripped between the gripping pins 64 and 64 of the gripping portion 6A on one side and the gripping pins 64 and 64 of the gripping portion 6B on the other side.
  • the grip pins 64 and 64 of the grip portion 6A on one side and the grip portions 6B on the other side are held.
  • the gripping pins 64, 64 of the head 31 are pressed against the adjacent outer peripherals 311 and 311 with the corner portion 31a in between, thereby restricting the movement of the bolt 3 in the axis Cx direction. Therefore, the head 31 of the bolt 3 is securely gripped between the gripping pins 64 and 64 of the gripping portion 6A on one side and the gripping pins 64 and 64 of the gripping portion 6B on the other side.
  • the positioning pins 66 and 66 are located on the axis line Cy2 parallel to the axis line Cy orthogonal to the reference line Cz.
  • the positioning pins 66, 66 have a circular cross section, and the centers of the positioning pins 66, 66 are located on the axis Cy2.
  • the axis Cy2 is located on the axis Cy side of the axis Cy1.
  • the positioning pins 66 and 66 are provided in a symmetrical positional relationship with the reference line Cz and the axis Cx orthogonal to the axis Cy sandwiched between them.
  • the separation distance L66 between the positioning pins 66 and 66 in the axial direction Cy direction is set to be longer than the length L3 of one side of the linear outer periphery 311 of the head 31 of the bolt 3 (L66> L3).
  • the positioning pins 66 and 66 are pressed against the grip pins 64 and 64 to the outer periphery.
  • the separation distance L66 is set so as to abut the outer peripheral 311 adjacent to the 311. This is to regulate the misalignment of the head 31 of the bolt 3 in the axial direction Cy direction.
  • the positioning pins 66 and 66 come into contact with the outer peripheral 311 to which the gripping pins 64 and 64 are in pressure contact with each other.
  • the distance D1 between the centers of the positioning pin 66 and the gripping pin 64 in the axis Cx direction is set so as not to prevent the positioning pin 66 and the gripping pin 64.
  • the gripping pins 64 and 64 of the gripping portion 6A on one side and the gripping pins 64 and 64 of the gripping portion 6B on the other side hinder the gripping of the head 31 of the bolt 3 by the positioning pins 66 and 66.
  • the center-to-center distance D1 is set.
  • FIG. 7A-7D and 8 are diagrams illustrating a process of gripping the bolt 3 with the hand 4.
  • FIG. 7A is a diagram showing a state in which the grip portions 6A and 6B of the hand 4 are displaced in a direction closer to the reference line Cz in order to grip the bolt 3.
  • FIG. 7B is a cross-sectional view taken along the line VIIb-VIIb in FIG. 7A, which is a diagram illustrating the positional relationship between the head portion 31 of the bolt 3 and the gripping pin 64 and the positioning pin 66.
  • FIG. 7A is a diagram showing a state in which the grip portions 6A and 6B of the hand 4 are displaced in a direction closer to the reference line Cz in order to grip the bolt 3.
  • FIG. 7B is a cross-sectional view taken along the line VIIb-VIIb in FIG. 7A, which is a diagram illustrating the positional relationship between the head portion 31 of the bolt 3 and the gripping pin 64 and the positioning pin 66.
  • FIG. 7C is a diagram showing a state in which the grip portions 6A and 6B have reached the positions where the grip pins 64 and 64 come into contact with the head 31 of the bolt 3.
  • FIG. 7D is a diagram illustrating the positional relationship between the head portion 31 of the bolt 3 and the gripping pin 64 and the positioning pin 66 when the gripping portions 6A and 6B reach the positions shown in FIG. 7C.
  • the movable portions 45A and 45B are separated from each other in the axis Cx direction, and the grip portions 6A and 6B are arranged at intervals that can accommodate the head 31 of the bolt 3.
  • the robot arm 21 is operated to move the hand 4 to a position where the head portion 31 of the bolt 3 is arranged between the grip portions 6A and 6B, and then the grip portions 6A and 6B are brought closer to each other. (See FIGS. 7A and 7B).
  • the grip pins 64 and 64 of the grip portions 6A and 6B approach and come into contact with the head 31 of the bolt 3 (see FIGS. 7C and 7D).
  • the parts (grip pins 64, 64, positioning pins 66, 66) on the grip portions 6A and 6B that first contact the head 31 of the bolt 3 differ depending on the phase around the reference line Cz of the bolt 3. ..
  • the rotation direction of the bolt 3 is the clockwise direction or the counterclockwise direction in FIG. 8A, depending on the angular position of the bolt 3 around the reference line Cz.
  • the bolt 3 rotates clockwise (see (b) in FIG. 8)
  • the bolt 3 makes one outer peripheral 311 and the other outer peripheral 311 with the reference line Cz sandwiched between them orthogonal to the axis Cx.
  • Rotate to an orthogonal position see (c) in FIG. 8).
  • the outer peripherals 311 and 311 parallel to each other of the bolt 3 are formed. Be grasped.
  • the distance L64 between the centers of the gripping pins 64 and 64 in the axial direction Cy direction is set to be shorter than the length L3 of one side of the linear outer peripheral 311 of the head 31 of the bolt 3. (L3> L64: see FIG. 6A).
  • the pair of grip pins 64 and 64 are headed. It is pressed against the same outer periphery 311 in 31.
  • the gripping pins 64 and 64 of the gripping portion 6A on one side of the reference line Cz and the gripping pins 64 and 64 of the gripping portion 6B on the other side are arranged in parallel with each other with the axis line Cy in between. Press contact with 311 and 311.
  • the center-to-center distance L64 of the grip pins 64, 64 is set to be shorter than the length L3 of the outer peripheral 311 of the head 31 of the bolt 3. .. Therefore, the head 31 of the bolt 3 is securely gripped between the gripping pins 64 and 64 of the gripping portion 6A on one side and the gripping pins 64 and 64 of the gripping portion 6B on the other side.
  • the separation distance L66 of the positioning pins 66, 66 in the axial direction Cy direction is larger than the length L3 of one side of the linear outer peripheral 311 of the head 31 of the bolt 3. It is set longer (L66> L3: see FIG. 6A).
  • the positioning pins 66 and 66 are moved by the grip pins 64 and 64. It abuts on the outer periphery 311 adjacent to the pressure-welded outer periphery 311. As a result, the displacement of the head 31 of the bolt 3 in the axial direction Cy direction is regulated. Therefore, the bolt 3 is gripped between the grip portion 6A on one side and the grip portion 6B on the other side in a state where the central axis C is aligned with the reference line Cz.
  • the corner of the bolt 3 is between the pair of gripping pins 64, 64 of the grip portion 6A on one side and the pair of gripping pins 64, 64 of the grip portion 6B on the other side sandwiching the reference line Cz.
  • the outer peripherals 311 and 311 adjacent to each other with the portion 31a in between are pressed against each other.
  • the gripping pins 64 and 64 are provided in a symmetrical positional relationship with the axis Cx sandwiched between them. Therefore, when the head 31 of the bolt 3 is oriented as shown in FIG. 8 (e), the bolt 3 has a pair of grip pins 64 of the grip portion 6A on one side in a state where the rotation around the reference line Cz is restricted. , 64 and the pair of gripping pins 64, 64 of the gripping portion 6B on the other side are securely gripped.
  • the pair of gripping pins 64, 64 of the gripping portions 6 (6A, 6B) have a circular cross section. Therefore, regardless of whether the gripping mode of the bolt 3 gripped by the gripping portion 6 (6A, 6B) is any of (c) and (e) of FIG. 8, a pair of gripping portions 6 (6A, 6B) are gripped.
  • the pins 64 and 64 come into line contact with the outer peripheral 311 of the head 31 of the bolt 3. Therefore, the work to be gripped is not limited to the headed bolt as long as it has an outer circumference capable of line contact. Further, in the case of bolts having different sizes of the head 31, the positions where the grip pins 64 and 64 come into contact are only changed. Therefore, even if the bolts have different sizes of the head 31, the same grip portion 6 ( It can be gripped using 6A, 6B).
  • 9A-9C is a diagram illustrating a process of gripping the bolt 3 with the hand 4 when the reference line Cz of the hand 4 and the central axis C of the bolt 3 do not match.
  • FIG. 9A when the central axis C of the bolt 3 is displaced in the radial direction of the axis Cx and the central axis C and the reference line Cz do not match, the positioning pin of the grip portion 6A on one side
  • the 66 and the positioning pin 66 of the grip portion 6B on the other side come into contact with the head 31 of the bolt 3 before the grip pins 64 and 64.
  • the positioning pins 66 and 66 come into contact with the outer periphery 311 and 311 of the bolt 3 and then slide as the grip portions 6A and 6B move in the directions toward each other. Then, the pressing force acting on the outer peripherals 311 and 311 from the positioning pins 66 and 66 causes the bolt 3 to displace the central axis C of the bolt 3 in the direction closer to the reference line Cz (downward in the figure). (See FIG. 9B). Finally, the bolt 3 is displaced between the pair of gripping pins 64 and 64 of the gripping portions 6A and 6B after the central axis C of the bolt 3 is displaced to a position where it overlaps the reference line Cz. (See FIG. 9C).
  • the control when the hand 4 is moved to the target coordinates by the robot arm 21 does not require strict control such that the central axis C of the bolt 3 and the reference line Cz are surely matched. It is possible to reduce the load in controlling the robot arm 21 and the cost required for control.
  • FIGS. 10A and 10B are diagrams for explaining a modified example of the grip portion, and FIG. 10A is a diagram for explaining the grip portions 6A'and 6B' according to the modified example.
  • FIG. 10B is a diagram for explaining the grip portions 6A ′′ and 6B ′′ according to the modified example.
  • the grip portion 6 (6A, 6B) has a pair of grip pins 64, 64 and a pair of positioning pins 66, 66, respectively, has been described as an example.
  • the pair of positioning pins 66, 66 do not necessarily have to be provided on both grip portions 6A, 6B, but may be provided on at least one grip portion 6A, 6B.
  • the grip portion 6A'and the grip portion 6B' each have one positioning pin 66. Then, the positioning pin 66 of one grip portion 6A'and the positioning pin 66 of the other grip portion 6B'are on one side (upper side in FIG. 10A) and the other side (lower side in FIG. 10A) of the axis Cx. It is provided in a positional relationship shifted by 180 ° in the circumferential direction around the reference line Cz.
  • the head 31 of the bolt 3 is held by the pair of grip pins 64 and 64 of the grip portion 6A'and the pair of grip pins 64 of the grip portion 6B'.
  • the movement of the bolt 3 in the axial line Cy direction can be reliably regulated by the positioning pins 66 and 66.
  • only one grip portion 6A'' has a pair of positioning pins 66, 66.
  • the head 31 of the bolt 3 is attached to the pair of grip pins 64 and 64 of the grip portion 6A ′′ and the pair of grip portions 6B ′′.
  • the movement of the bolt 3 in the axial line Cy direction can be regulated by the positioning pins 66 and 66.
  • the case where the grip portion 6A and the grip portion 6B arranged at intervals in the axis Cx direction move relative to each other with the same distance from the reference line Cz (axis line Cy) is illustrated. .. If the bolt 3 can be gripped with the central axis C of the bolt 3 and the reference line Cz aligned, only one of the grip portion 6A and the grip portion 6B is displaced in the axis Cx direction. It may be used as a positioning mechanism.
  • the work gripping mechanism 1 is A grip portion 6A (first grip portion) having a pair of grip pins 64, 64 parallel to each other, It has a grip portion 6B (second grip portion) including a pair of grip pins 64, 64 parallel to each other (see FIG. 3).
  • the grip portion 6A and the grip portion 6B are provided so as to be relatively displaceable on a common axis Cx.
  • the pair of gripping pins 64, 64 of the grip portion 6A and the pair of gripping pins 64, 64 of the grip portion 6B are arranged at intervals in the axis Cy direction orthogonal to the axis Cx, respectively.
  • the bolt 3 (work) is gripped by a pair of gripping pins 64, 64 of the gripping portion 6A and a pair of gripping pins 64, 64 of the gripping portion 6B.
  • the bolt 3 is gripped by the pressure contact force of the pair of gripping pins 64, 64 of the gripping portion 6A and the pair of gripping pins 64, 64 of the gripping portion 6B. Therefore, when gripping the bolt 3, the bolt 3 is gripped. And the gripping pins 64, 64 do not need to be phase-matched. Therefore, the bolt 3 can be gripped more easily.
  • the work gripping mechanism according to this embodiment has the following configuration. (2)
  • the pair of gripping pins 64 and 64 of the gripping portion 6A and the pair of gripping pins 64 and 64 of the gripping portion 6B are provided parallel to the axis Cx and the reference line Cz orthogonal to the axis Cy, respectively. ..
  • the pair of gripping pins 64 and 64 of the grip portion 6A and the pair of gripping pins 64 and 64 of the grip portion 6B are provided at the same distance from the axis Cx. There is.
  • the pair of gripping pins 64, 64 of the grip portion 6A are provided in a symmetrical positional relationship with the axis Cx sandwiched between them, and the pair of gripping pins 64, 64 of the grip portion 6B are provided with the axis lines. It is provided in a symmetrical positional relationship with Cx in between. Therefore, the bolt 3 is gripped by a pair of gripping pins 64, 64 on one side and a pair of gripping pins 64, 64 on the other side, which are in line contact with the bolt 3. Therefore, as long as the gripping pins 64 and 64 have a shape that allows line contact, the bolt 3 can be easily gripped without being affected by the difference in the overall shape of the bolt 3.
  • the work gripping mechanism according to this embodiment has the following configuration.
  • the bolt 3 has a head portion 31 as a contact portion where the pair of gripping pins 64, 64 abuts on the outer periphery.
  • the head portion 31 when viewed from the central axis C direction of the bolt 3 has a regular polygonal shape in which a plurality of linear outer peripheral 311s are continuously connected in the circumferential direction around the central axis C.
  • the head 31 when viewed from the direction of the central axis C of the bolt 3 has a regular hexagonal shape having three sets of outer peripherals 311 and 311 parallel to each other with the central axis C in between.
  • the pair of gripping pins 64, 64 are arranged at intervals in the axis Cy direction orthogonal to the axis Cx.
  • the separation distance (distance between centers L64) of the pair of gripping pins 64, 64 is set to be shorter than the length L3 of the outer peripheral 311 seen from the central axis C direction of the bolt 3.
  • the outer peripherals 311 and 311 parallel to each other in the head 31 of the bolt 3 are appropriately formed by the pair of gripping pins 64 and 64 of the gripping portion 6A and the pair of gripping pins 64 and 64 of the gripping portion 6B. Can be grasped.
  • the work gripping mechanism has the following configuration. (4) Positioning pins 66, 66 that regulate the movement of the bolt 3 in the orthogonal direction (axis Cy direction) of the axis Cx are located on one side and the other side of the axis Cx when viewed from the axial direction of the reference line Cz. (See Fig. 3).
  • the work gripping mechanism according to this embodiment has the following configuration. (5)
  • the positioning pin 66 on one side and the positioning pin 66 on the other side are provided at the same distance from the axis Cx.
  • the positioning pin 66 on one side and the positioning pin 66 on the other side are longer than one side (outer periphery 311) of the regular hexagonal head 31 viewed from the central axis C direction of the bolt 3 (separation distance L66). However, they are arranged at intervals in the direction orthogonal to the axis Cx (axis Cy direction).
  • the work gripping mechanism according to this embodiment has the following configuration. (6)
  • the positioning pin 66 on one side is provided on the grip portion 6A'(first grip portion).
  • the positioning pin 66 on the other side is provided on the grip portion 6B'(second grip portion).
  • the minimum number of positioning pins 66 can prevent the bolt 3 from being displaced in the axial direction Cy direction.
  • the work gripping mechanism according to this embodiment has the following configuration. (7)
  • the positioning pin 66 on one side and the positioning pin 66 on the other side are provided on one or both of the grip portion 6A (first grip portion) and the grip portion 6B (second grip portion). ..
  • the positioning pin 66 on one side and the positioning pin 66 on the other side are provided on the same grip portion 6A or grip portion 6B, or on both the grip portion 6A and the grip portion 6B. , It is possible to prevent the displacement of the bolt 3 in the axial direction Cy direction.
  • the work gripping mechanism has the following configuration. (8) When viewed from the axial direction of the reference line Cz, the positioning pin 66 of the grip portion 6A on one side and the positioning pin 66 of the grip portion 6B on the other side are the pair of grip pins 64, 64 of the grip portion 6A, respectively. It is located on the reference line Cz side of the pair of gripping pins 64, 64 of the gripping portion 6B.

Abstract

The workpiece gripping mechanism according to the present invention comprises a first gripping unit provided with a pair of gripping pins parallel to each other, and a second gripping unit provided with a pair of gripping pins parallel to each other. The first gripping unit and the second gripping unit are provided on a common axial line in a relatively displaceable manner. The workpiece gripping mechanism grips a workpiece with the pair of gripping pins of the first gripping unit and the pair of gripping pins of the second gripping unit.

Description

ワーク把持機構Work gripping mechanism
　本発明は、ワーク把持機構に関する。 The present invention relates to a work gripping mechanism.
　ＪＰ２００３－２１１３８４Ａには、ネジの締結作業用のロボットハンドが開示されている。 JP2003-21184A discloses a robot hand for screw fastening work.
　ＪＰ２００３－２１１３８４Ａのロボットハンドは、ネジの頭部に外嵌するソケットを有している。ロボットハンドは、ネジの頭部に外嵌させたソケットを、ネジの中心軸周りに回転させることで、ソケットとネジを一体に回転させて、ネジを相手側部材に螺入して締結する。 The robot hand of JP2003-21184A has a socket that fits externally on the head of the screw. In the robot hand, the socket fitted to the head of the screw is rotated around the central axis of the screw to rotate the socket and the screw integrally, and the screw is screwed into the mating member and fastened.
　ＪＰ２００３－２１１３８４Ａのソケットは、ネジとの対向部に嵌合穴が開口しており、嵌合穴にネジの頭部が挿入されることで、ソケットがネジの頭部に外嵌する。
　ネジの中心軸方向から見て、ネジの頭部の一般的な外形は、６角形などの多角形である。そのため、ネジの中心軸方向から見た嵌合穴の断面形状は、ネジの頭部の外形と同じ形状に形成されている。 The socket of JP2003-21184A has a fitting hole opened in a portion facing the screw, and the head of the screw is inserted into the fitting hole so that the socket fits outside the head of the screw.
When viewed from the direction of the central axis of the screw, the general outer shape of the head of the screw is a polygon such as a hexagon. Therefore, the cross-sectional shape of the fitting hole seen from the direction of the central axis of the screw is formed to be the same as the outer shape of the head of the screw.
　ここで、ソケットをネジの頭部に外嵌させる際には、中心軸周りの周方向におけるソケットとネジとの位相合わせが必要になる。
　位相合わせに要する時間を短縮または省略できると、ネジの締結作業をより効率的に行えるので好ましい。 Here, when the socket is fitted onto the head of the screw, it is necessary to align the phase of the socket and the screw in the circumferential direction around the central axis.
It is preferable that the time required for phase matching can be shortened or omitted because the screw fastening work can be performed more efficiently.
　本発明のある態様によれば、
　互いに平行な一対の把持ピンを備える第１把持部と、
　互いに平行な一対の把持ピンを備える第２把持部と、を有し、
　前記第１把持部と前記第２把持部が、共通の軸線上で相対変位可能に設けられたワーク把持機構であって、
　前記第１把持部の前記一対の把持ピンと、前記第２把持部の前記一対の把持ピンでワークを把持するように構成したワーク把持機構が提供される。 According to certain aspects of the invention
A first grip with a pair of parallel grip pins,
It has a second grip that includes a pair of grip pins that are parallel to each other.
The first grip portion and the second grip portion are work gripping mechanisms provided so as to be relatively displaceable on a common axis.
A work gripping mechanism configured to grip a work by the pair of gripping pins of the first gripping portion and the pair of gripping pins of the second gripping portion is provided.
　上記態様によれば、位相合わせに要する時間を省略できるので、ネジの締結作業をより効率的に行うことができる。 According to the above aspect, the time required for phase matching can be omitted, so that the screw fastening work can be performed more efficiently.
図１は、ロボットアームを説明する図である。FIG. 1 is a diagram illustrating a robot arm. 図２Ａは、把持対象物であるボルトを説明する図である。FIG. 2A is a diagram illustrating a bolt which is an object to be gripped. 図２Ｂは、把持対象物であるボルトを説明する図である。FIG. 2B is a diagram illustrating a bolt which is an object to be gripped. 図３Ａは、ハンドを説明する図である。FIG. 3A is a diagram illustrating a hand. 図３Ｂは、ハンドを説明する図である。FIG. 3B is a diagram illustrating a hand. 図４Ａは、ハンドを説明する図である。FIG. 4A is a diagram illustrating a hand. 図４Ｂは、ハンドを説明する図である。FIG. 4B is a diagram illustrating a hand. 図５Ａは、把持部を説明する図である。FIG. 5A is a diagram illustrating a grip portion. 図５Ｂは、把持部を説明する図である。FIG. 5B is a diagram illustrating a grip portion. 図５Ｃは、把持部を説明する図である。FIG. 5C is a diagram illustrating a grip portion. 図５Ｄは、把持部を説明する図である。FIG. 5D is a diagram illustrating a grip portion. 図６Ａは、把持部を説明する図である。FIG. 6A is a diagram illustrating a grip portion. 図６Ｂは、把持部を説明する図である。FIG. 6B is a diagram illustrating a grip portion. 図７Ａは、ハンドでボルトを把持する過程を説明する図である。FIG. 7A is a diagram illustrating a process of gripping a bolt with a hand. 図７Ｂは、ハンドでボルトを把持する過程を説明する図である。FIG. 7B is a diagram illustrating a process of gripping a bolt with a hand. 図７Ｃは、ハンドでボルトを把持する過程を説明する図である。FIG. 7C is a diagram illustrating a process of gripping a bolt with a hand. 図７Ｄは、ハンドでボルトを把持する過程を説明する図である。FIG. 7D is a diagram illustrating a process of gripping a bolt with a hand. 図８は、ハンドでボルトを把持する過程を説明する図である。FIG. 8 is a diagram illustrating a process of gripping a bolt with a hand. 図９Ａは、ハンドでボルトを把持する過程を説明する図である。FIG. 9A is a diagram illustrating a process of gripping a bolt with a hand. 図９Ｂは、ハンドでボルトを把持する過程を説明する図である。FIG. 9B is a diagram illustrating a process of gripping a bolt with a hand. 図９Ｃは、ハンドでボルトを把持する過程を説明する図である。FIG. 9C is a diagram illustrating a process of gripping a bolt with a hand. 図１０Ａは、変形例にかかる把持部を説明する図である。FIG. 10A is a diagram illustrating a grip portion according to a modified example. 図１０Ｂは、変形例にかかる把持部を説明する図である。FIG. 10B is a diagram illustrating a grip portion according to a modified example.
　以下、本発明の実施形態を、ボルト３の締結作業を実施するロボット２に適用した場合を例に挙げて説明する。
　図１は、ロボットアーム２１を説明する図である。
　図２Ａは、ボルト３の側面図であり、図２Ｂは、図２ＡにおけるIIb－IIb線に沿ってボルト３の頭部３１を切断した断面図である。 Hereinafter, an embodiment of the present invention will be described by exemplifying a case where the embodiment of the present invention is applied to a robot 2 that performs a bolt 3 fastening operation.
FIG. 1 is a diagram illustrating a robot arm 21.
FIG. 2A is a side view of the bolt 3, and FIG. 2B is a cross-sectional view of the head portion 31 of the bolt 3 cut along the line IIb-IIb in FIG. 2A.
　図１に示すように、ロボット２は、従来公知の多関節型のロボットアーム２１を備えている。ロボットアーム２１は、８つの回転軸Ｘ１～Ｘ８周りに回動可能となるように複数の腕部品を連結して構成される。
　ロボットアーム２１の基端部は、ベース２０上で回転軸Ｘ１回りに回転可能に設けられている。ロボットアーム２１の先端部には、ハンド４との連結部２５が、回転軸Ｘ８回りに回転可能に設けられている。 As shown in FIG. 1, the robot 2 includes a conventionally known articulated robot arm 21. The robot arm 21 is configured by connecting a plurality of arm parts so as to be rotatable around eight rotation axes X1 to X8.
The base end portion of the robot arm 21 is rotatably provided on the base 20 around the rotation axis X1. At the tip of the robot arm 21, a connecting portion 25 with the hand 4 is rotatably provided around the rotation axis X8.
　ハンド４は、連結部２５と一体に回転軸Ｘ８回りに回転可能である。
　本実施形態では、ハンド４で把持する対象物（ワーク）が、有頭のボルト３である。
　ロボットアーム２１は、図示しない制御装置により駆動されて、ハンド４で把持したボルト３を、所望の位置（座標）に配置したのち、ハンド４を回転軸Ｘ８回りに回転させることで、ハンド４で把持されたボルト３を、相手側部材に螺入して締結する。 The hand 4 can rotate around the rotation axis X8 integrally with the connecting portion 25.
In the present embodiment, the object (work) to be gripped by the hand 4 is the headed bolt 3.
The robot arm 21 is driven by a control device (not shown), arranges the bolt 3 gripped by the hand 4 at a desired position (coordinates), and then rotates the hand 4 around the rotation axis X8, whereby the hand 4 The gripped bolt 3 is screwed into the mating member and fastened.
　図２Ａに示すように、ボルト３は、軸部３２の一端に、軸部３２よりも大径の頭部３１を有している。
　図２Ｂに示すように、ボルト３の頭部３１は、ボルト３の中心軸Ｃに直交する断面視において、正多角形形状を有している。
　本実施形態では、ボルト３の頭部３１は、複数の直線状の外周辺３１１を中心軸Ｃ周りの周方向に連続的に連ねた正六角形形状の断面を有している。頭部３１の各外周辺３１１長さは、総て同じ長さＬ３である。
　中心軸Ｃ方向から見て頭部３１は、中心軸Ｃを間に挟んで互いに平行な外周辺３１１、３１１を３組有している。ボルト３は、当該ボルト３の頭部３１がハンド４で把持される。 As shown in FIG. 2A, the bolt 3 has a head portion 31 having a diameter larger than that of the shaft portion 32 at one end of the shaft portion 32.
As shown in FIG. 2B, the head portion 31 of the bolt 3 has a regular polygonal shape in a cross-sectional view orthogonal to the central axis C of the bolt 3.
In the present embodiment, the head 31 of the bolt 3 has a regular hexagonal cross section in which a plurality of linear outer peripherals 311 are continuously connected in the circumferential direction around the central axis C. The length of each outer periphery of the head 31 is the same length L3.
The head 31 when viewed from the direction of the central axis C has three sets of outer peripherals 311 and 311 parallel to each other with the central axis C in between. As for the bolt 3, the head 31 of the bolt 3 is gripped by the hand 4.
　図３Ａは、ハンド４が、ボルト３を把持する際の向きに配置された時のハンド４の正面図であって、一部を切り欠いて断面で示した図である。図３Ｂは、図３ＡにおけるIIIb－IIIb断面図であって、把持ピン６４と位置決めピン６６の配置を説明する図である。
　なお、以下の説明においては、ハンド４の構成部品の位置関係を説明する際に、必要に応じて、図３Ａの配置における上側と下側、基準線Ｃｚを基準とした一方側と他方側、図３Ｂにおける軸線Ｃｙを基準とした一方側と他方側、という文言を用いて説明する。 FIG. 3A is a front view of the hand 4 when the hand 4 is arranged in the direction in which the bolt 3 is gripped, and is a cross-sectional view showing a part thereof. FIG. 3B is a cross-sectional view taken along the line IIIb-IIIb in FIG. 3A, which illustrates the arrangement of the gripping pin 64 and the positioning pin 66.
In the following description, when explaining the positional relationship of the components of the hand 4, the upper side and the lower side in the arrangement of FIG. 3A, one side and the other side with reference to the reference line Cz, as necessary. The following will be described using the terms “one side and the other side” with respect to the axis Cy in FIG. 3B.
　図３Ａ、図３Ｂに示すように、ハンド４は、連結部２５に連結された固定部４０と、一対の可動部４５（４５Ａ、４５Ｂ）と、可動部４５（４５Ａ、４５Ｂ）に設けられた把持部６（６Ａ、６Ｂ）と、から構成されるワーク把持機構１を有している。
　固定部４０は、柱状のベース部材４１を有している。ベース部材４１では、当該ベース部材４１の長手方向の略中央部に、ロボットアーム２１の連結部２５が連結されている。
　ベース部材４１の長手方向における一端４１ａと他端４１ｂには、可動部４５（４５Ａ、４５Ｂ）を支持するための支持壁部４２、４２が設けられている。
　支持壁部４２、４２は、ベース部材４１の下側の側面４１ｄから、連結部２５から離れる方向（図３Ａにおける下側）に延びている。
　下側の側面４１ｄは、基準線Ｃｚ方向における連結部２５が連結された側面４１ｃとは反対側の側面である。 As shown in FIGS. 3A and 3B, the hand 4 is provided on the fixed portion 40 connected to the connecting portion 25, the pair of movable portions 45 (45A, 45B), and the movable portion 45 (45A, 45B). It has a work gripping mechanism 1 composed of a gripping portion 6 (6A, 6B).
The fixing portion 40 has a columnar base member 41. In the base member 41, the connecting portion 25 of the robot arm 21 is connected to a substantially central portion in the longitudinal direction of the base member 41.
Support wall portions 42, 42 for supporting the movable portions 45 (45A, 45B) are provided at one end 41a and the other end 41b of the base member 41 in the longitudinal direction.
The support wall portions 42, 42 extend from the lower side surface 41d of the base member 41 in a direction away from the connecting portion 25 (lower side in FIG. 3A).
The lower side surface 41d is a side surface opposite to the side surface 41c to which the connecting portion 25 in the reference line Cz direction is connected.
　支持壁部４２、４２は、ベース部材４１に対して直交する向きで設けられている。支持壁部４２、４２は、基準線Ｃｚの一方側と他方側で、基準線Ｃｚを間に挟んで対称に配置されている。基準線Ｃｚは、ベース部材４１の長手方向の中心を通ると共に、ベース部材４１の長手方向に直交する直線であり、前記した連結部２５の回転軸Ｘ８と同芯である。ハンド４は、ロボットアーム２１の連結部２５の回転に連動して、基準線Ｃｚ（回転軸Ｘ８）回りに回転するようになっている。 The support wall portions 42, 42 are provided in a direction orthogonal to the base member 41. The support wall portions 42, 42 are symmetrically arranged on one side and the other side of the reference line Cz with the reference line Cz in between. The reference line Cz is a straight line that passes through the center of the base member 41 in the longitudinal direction and is orthogonal to the longitudinal direction of the base member 41, and is concentric with the rotation axis X8 of the connecting portion 25 described above. The hand 4 rotates around the reference line Cz (rotation axis X8) in conjunction with the rotation of the connecting portion 25 of the robot arm 21.
　支持壁部４２、４２の下側の端部４２ａ、４２ａ側には、貫通孔４２０、４２０が設けられている。貫通孔４２０、４２０は、支持壁部４２、４２を厚み方向（軸線Ｃｘ方向）に貫通している。
　貫通孔４２０、４２０は、支持壁部４２の幅方向（軸線Ｃｙ方向）の中央部に位置している。貫通孔４２０、４２０は、支持壁部４２の長手方向（図３Ａにおける上下方向）に間隔をあけて、互いに平行に並んでいる。 Through holes 420 and 420 are provided on the lower end portions 42a and 42a of the support wall portions 42 and 42. The through holes 420 and 420 penetrate the support wall portions 42 and 42 in the thickness direction (axis Cx direction).
The through holes 420 and 420 are located at the center of the support wall portion 42 in the width direction (axis Cy direction). The through holes 420 and 420 are arranged in parallel with each other at intervals in the longitudinal direction (vertical direction in FIG. 3A) of the support wall portion 42.
　ここで、軸線Ｃｘは、基準線Ｃｚに直交すると共に、可動部４５（４５Ａ、４５Ｂ）の変位方向に沿う直線である。軸線Ｃｙは、基準線Ｃｚに直交すると共に、可動部４５（４５Ａ、４５Ｂ）の幅方向（図３Ｂにおける上下方向）に沿う直線である。
　基準線Ｃｚと、軸線Ｃｘ、Ｃｙは、互いに直交している。 Here, the axis Cx is a straight line orthogonal to the reference line Cz and along the displacement direction of the movable portions 45 (45A, 45B). The axis line Cy is a straight line orthogonal to the reference line Cz and along the width direction (vertical direction in FIG. 3B) of the movable portions 45 (45A, 45B).
The reference line Cz and the axis lines Cx and Cy are orthogonal to each other.
　支持壁部４２、４２の貫通孔４２０、４２０を、可動部４５（４５Ａ、４５Ｂ）のガイドピン４６、４６が貫通している。
　可動部４５（４５Ａ、４５Ｂ）は、貫通孔４２０、４２０を貫通したガイドピン４６、４６により、支持壁部４２、４２で軸線Ｃｘ方向に移動可能に設けられている。
　可動部４５Ａ、４５Ｂは、ベース部材４１の長手方向に沿う共通の軸線Ｃｘ上で間隔をあけて設けられている。 The guide pins 46, 46 of the movable portions 45 (45A, 45B) penetrate through the through holes 420, 420 of the support wall portions 42, 42.
The movable portions 45 (45A, 45B) are provided so as to be movable in the axis Cx direction at the support wall portions 42, 42 by the guide pins 46, 46 penetrating the through holes 420, 420.
The movable portions 45A and 45B are provided at intervals on a common axis Cx along the longitudinal direction of the base member 41.
　正面視において、可動部４５Ａと可動部４５Ｂは、基準線Ｃｚとの距離を揃えた状態で、基準線Ｃｚの一方側と他方側に設けられている（図３Ａ参照）。可動部４５Ａと可動部４５Ｂは、図示しない駆動機構により、基準線Ｃｚとの距離を揃えた状態で、軸線Ｃｘ方向で相対変位可能である。さらに、図３Ｂに示すように、可動部４５Ａと可動部４５Ｂは、基準線Ｃｚに直交する軸線Ｃｙとの距離を揃えた状態で、軸線Ｃｘ方向で相対変位可能である。 In front view, the movable portion 45A and the movable portion 45B are provided on one side and the other side of the reference line Cz with the same distance from the reference line Cz (see FIG. 3A). The movable portion 45A and the movable portion 45B can be relatively displaced in the axis Cx direction in a state where the distances from the reference line Cz are aligned by a drive mechanism (not shown). Further, as shown in FIG. 3B, the movable portion 45A and the movable portion 45B can be relatively displaced in the axis Cx direction in a state where the distances from the axis Cy orthogonal to the reference line Cz are aligned.
　可動部４５Ａ、４５Ｂは、一対のガイドピン４６、４６が連結された板状の基部４７を有している。
　基部４７は、軸線Ｃｘ方向における支持壁部４２の外側で、支持壁部４２に対して平行に設けられている。一対のガイドピン４６、４６の基端部４６ｂ、４６ｂは、基部４７に設けた支持穴４７１、４７１に挿入されている。
　ガイドピン４６、４６は、基部４７おける支持壁部４２側の側面４７ｃから、基準線Ｃｚに向けて延出している。ガイドピン４６、４６の先端４６ａ、４６ａは、把持部６Ａ、６Ｂの上方まで達している。 The movable portions 45A and 45B have a plate-shaped base portion 47 to which a pair of guide pins 46 and 46 are connected.
The base portion 47 is provided outside the support wall portion 42 in the axis Cx direction and parallel to the support wall portion 42. The base end portions 46b, 46b of the pair of guide pins 46, 46 are inserted into the support holes 471, 471 provided in the base portion 47.
The guide pins 46 and 46 extend from the side surface 47c on the support wall portion 42 side of the base portion 47 toward the reference line Cz. The tips 46a and 46a of the guide pins 46 and 46 reach above the grip portions 6A and 6B.
　基部４７は、基準線Ｃｚ方向に所定長さＬ４７を有している。基部４７におけるベース部材４１とは反対側（図３Ａにおける下側）の端部４７ａは、支持壁部４２よりもベース部材４１から離れた位置に配置されている。
　基部４７の端部４７ａ側には、基準線Ｃｚ側に延びる連結梁４８、４８が固定されている。連結梁４８、４８は、基部４７の幅方向（軸線Ｃｙ方向）の両側に設けられており、軸線Ｃｘを間に挟んで対称となる位置関係で、互いに平行に設けられている（図３Ｂ参照）。 The base portion 47 has a predetermined length L47 in the reference line Cz direction. The end portion 47a of the base portion 47 on the side opposite to the base member 41 (lower side in FIG. 3A) is arranged at a position farther from the base member 41 than the support wall portion 42.
Connecting beams 48, 48 extending to the reference line Cz side are fixed to the end portion 47a side of the base portion 47. The connecting beams 48, 48 are provided on both sides of the base portion 47 in the width direction (axis Cy direction), and are provided in parallel with each other in a symmetrical positional relationship with the axis Cx in between (see FIG. 3B). ).
　図３Ａに示すように、基部４７から延びる連結梁４８、４８は、ガイドピン４６、４６に対して平行である。連結梁４８、４８は、支持壁部４２との干渉を避けた位置を、基準線Ｃｚ側に延びている。連結梁４８、４８の先端４８ａ、４８ａには、ボルト３を把持するための把持部６Ａ、６Ｂが、六角穴付きのボルトＢ１、Ｂ３で固定されている。 As shown in FIG. 3A, the connecting beams 48, 48 extending from the base 47 are parallel to the guide pins 46, 46. The connecting beams 48, 48 extend toward the reference line Cz at positions avoiding interference with the support wall portion 42. Gripping portions 6A and 6B for gripping the bolts 3 are fixed to the tips 48a and 48a of the connecting beams 48 and 48 by bolts B1 and B3 having hexagonal holes.
　図４Ａは、可動部４５（４５Ａ、４５Ｂ）の斜視図であって、一方側の可動部４５Ａと他方側の可動部４５Ｂとに分けて示した図である。図４Ｂは、可動部４５Ａに取り付けられる把持部６Ａの分解斜視図である。
　図５Ａは、把持部６の正面図である。図５Ｂは、図５ＡにおけるVb－Vb線に沿って把持部６を切断した断面図である。図５Ｃは、図５ＡにおけるVc－Vc線に沿って把持部６を切断した断面図である。図５Ｄは、図５ＡにおけるVd－Vd線に沿って把持部６を切断した断面図である。なお、把持部６Ａ、６Ｂは、同じ構成であるので、図５Ａでは、把持部６と表記している。 FIG. 4A is a perspective view of the movable portion 45 (45A, 45B), and is a view showing the movable portion 45A on one side and the movable portion 45B on the other side separately. FIG. 4B is an exploded perspective view of the grip portion 6A attached to the movable portion 45A.
FIG. 5A is a front view of the grip portion 6. FIG. 5B is a cross-sectional view of the grip portion 6 cut along the Vb-Vb line in FIG. 5A. FIG. 5C is a cross-sectional view of the grip portion 6 cut along the Vc-Vc line in FIG. 5A. FIG. 5D is a cross-sectional view of the grip portion 6 cut along the Vd-Vd line in FIG. 5A. Since the grip portions 6A and 6B have the same configuration, they are referred to as grip portions 6 in FIG. 5A.
　図４Ａ、図４Ｂに示すように、把持部６Ａ、６Ｂは、一対の把持ピン６４、６４を有する把持ブロック６１と、位置決めピン６６を有する位置決めブロック６５、６５と、から構成される。
　図５Ａ、図５Ｂに示すように、把持ブロック６１は、板状の基部６１０の中央部に把持ピン６４、６４を支持する支持部６１１が設けられている。
　基部６１０の厚み方向の一方の側面６１０ａは、長手方向（図５Ｂにおける左右方向）の両端側の領域が、連結梁４８、４８との接合面となっている。そして、基部６１０の厚み方向の他方の側面６１０ｂは、長手方向の両端側の領域が、位置決めブロック６５、６５の接合面となっている。連結梁４８、４８との接合面と、位置決めブロック６５、６５の接合面は、互いに平行な平坦面である。 As shown in FIGS. 4A and 4B, the grip portions 6A and 6B are composed of a grip block 61 having a pair of grip pins 64 and 64 and a positioning block 65 and 65 having a positioning pin 66.
As shown in FIGS. 5A and 5B, the gripping block 61 is provided with a support portion 611 for supporting the gripping pins 64 and 64 at the center of the plate-shaped base portion 610.
On one side surface 610a in the thickness direction of the base portion 610, regions on both ends in the longitudinal direction (left-right direction in FIG. 5B) are joint surfaces with the connecting beams 48, 48. The other side surface 610b of the base portion 610 in the thickness direction has regions on both ends in the longitudinal direction serving as joint surfaces of the positioning blocks 65 and 65. The joint surfaces of the connecting beams 48 and 48 and the joint surfaces of the positioning blocks 65 and 65 are flat surfaces parallel to each other.
　位置決めブロック６５、６５は、当該位置決めブロック６５、６５と基部６１０を貫通したボルトＢ３、Ｂ３の締結力で、基部６１０の側面６１０ｂに圧接している。
　把持ブロック６１の基部６１０は、長手方向の両端側の領域を貫通したボルトＢ１、Ｂ３により、連結梁４８、４８の先端４８ａ、４８ａに固定されている。 The positioning blocks 65, 65 are pressed against the side surface 610b of the base portion 610 by the fastening force of the bolts B3, B3 penetrating the positioning blocks 65, 65 and the base portion 610.
The base portion 610 of the gripping block 61 is fixed to the tips 48a and 48a of the connecting beams 48 and 48 by bolts B1 and B3 penetrating the regions on both ends in the longitudinal direction.
　図５Ｄに示すように、位置決めブロック６５は、直方体形状を成しており、基準線Ｃｚ方向の一方の側縁６５ｃが、把持ブロック６１の側縁６１ｃと面一となる位置に設けられている。位置決めブロック６５の他方の側縁６５ｄは、把持ブロック６１の他方の側縁６１ｄとの間に、ボルトＢ１を配置可能な間隔をあけて設けられている。 As shown in FIG. 5D, the positioning block 65 has a rectangular parallelepiped shape, and one side edge 65c in the reference line Cz direction is provided at a position where it is flush with the side edge 61c of the gripping block 61. .. The other side edge 65d of the positioning block 65 is provided between the other side edge 65d of the gripping block 61 and the other side edge 61d of the gripping block 61 at a distance at which the bolt B1 can be arranged.
　位置決めブロック６５の側縁６５ｃには、円柱形状の位置決めピン６６が固定されている。位置決めピン６６は、位置決めブロック６５の側縁６５ｃから下側に突出している。 A cylindrical positioning pin 66 is fixed to the side edge 65c of the positioning block 65. The positioning pin 66 projects downward from the side edge 65c of the positioning block 65.
　図５Ｂに示すように、支持部６１１は、位置決めブロック６５、６５の間を、連結梁４８から離れる方向に延びている。
　図５Ｃに示すように把持ブロック６１の端面６１ａよりも、位置決めブロック６５の端面６５ａのほうが、所定距離Ｌ１だけ連結梁４８から離れた位置に配置されている。 As shown in FIG. 5B, the support portion 611 extends between the positioning blocks 65, 65 in a direction away from the connecting beam 48.
As shown in FIG. 5C, the end surface 65a of the positioning block 65 is arranged at a position separated from the connecting beam 48 by a predetermined distance L1 than the end surface 61a of the gripping block 61.
　支持部６１１の下側の側縁６１ｃには、円柱形状の把持ピン６４が挿入される支持孔６１２が開口している。把持ピン６４の上端部には、支持部６１１を貫通したボルトＢ２が螺入しており、把持ピン６４は、支持部６１１からの脱落がボルトＢ２により阻止されている。 A support hole 612 into which a cylindrical gripping pin 64 is inserted is opened in the lower side edge 61c of the support portion 611. A bolt B2 penetrating the support portion 611 is screwed into the upper end portion of the gripping pin 64, and the gripping pin 64 is prevented from falling off from the support portion 611 by the bolt B2.
　図５Ａに示すように、支持部６１１において把持ピン６４は、基準線Ｃｚを間に挟んで対称に設けられている。
　把持ブロック６１の下側の側縁６１ｃからの把持ピン６４の突出高さｈ１は、位置決めブロック６５の下側の側縁６５ｃからの位置決めピン６６の突出高さｈ１と同じである。
　把持ピン６４と位置決めピン６６は、基準線Ｃｚに沿う向きで互いに平行に設けられている。 As shown in FIG. 5A, the gripping pins 64 in the support portion 611 are provided symmetrically with the reference line Cz in between.
The protruding height h1 of the gripping pin 64 from the lower side edge 61c of the gripping block 61 is the same as the protruding height h1 of the positioning pin 66 from the lower side edge 65c of the positioning block 65.
The gripping pin 64 and the positioning pin 66 are provided parallel to each other in a direction along the reference line Cz.
　図６Ａは、図３Ｂにおける領域Ｂの拡大図であって、ボルト３の頭部３１の把持態様を示した図である。図６Ｂは、ボルト３の頭部３１の他の把持態様を示した図である。なお、図６Ａ、図６Ｂでは、ボルト３の頭部３１の外周辺３１１の位置を仮想線で示している。 FIG. 6A is an enlarged view of the region B in FIG. 3B, and is a view showing a gripping mode of the head 31 of the bolt 3. FIG. 6B is a diagram showing another gripping mode of the head 31 of the bolt 3. In FIGS. 6A and 6B, the positions of the outer peripheral 311 of the head 31 of the bolt 3 are shown by virtual lines.
　図６Ａ、図６Ｂに示すように、把持ピン６４、６４は、基準線Ｃｚに直交する軸線Ｃｙに平行な軸線Ｃｙ１上に位置している。
　把持ピン６４、６４は、円形の断面を有しており、把持ピン６４、６４の中心は、軸線Ｃｙ１上に位置している。
　把持ピン６４、６４は、基準線Ｃｚと軸線Ｃｙに直交する軸線Ｃｘを間に挟んで対称となる位置関係で設けられている。
　軸線Ｃｙ方向における把持ピン６４、６４の中心間距離Ｌ６４は、ボルト３の頭部３１の直線状の外周辺３１１の一辺の長さＬ３よりも短い長さに設定されている（Ｌ３＞Ｌ６４）。 As shown in FIGS. 6A and 6B, the gripping pins 64 and 64 are located on the axis Cy1 parallel to the axis Cy orthogonal to the reference line Cz.
The gripping pins 64, 64 have a circular cross section, and the centers of the gripping pins 64, 64 are located on the axis Cy1.
The gripping pins 64, 64 are provided in a symmetrical positional relationship with the reference line Cz and the axis line Cx orthogonal to the axis line Cy sandwiched between them.
The distance L64 between the centers of the gripping pins 64 and 64 in the axial direction Cy direction is set to be shorter than the length L3 of one side of the linear outer periphery 311 of the head 31 of the bolt 3 (L3> L64). ..
　これにより、ボルト３の頭部３１が図６Ａに示す向きで、把持部６Ａ、６Ｂの間に把持された際に、一対の把持ピン６４、６４が、頭部３１の同じ外周辺３１１に圧接する。
　ここで、基準線Ｃｚの一方側の把持部６Ａの把持ピン６４、６４と、他方側の把持部６Ｂの把持ピン６４、６４は、軸線Ｃｙを間に挟んで互いに平行な外周辺３１１、３１１に、それぞれ圧接する。上記したように把持ピン６４、６４の中心間距離Ｌ６４は、ボルト３の頭部３１の外周辺３１１の長さＬ３よりも短い長さに設定されている。そのため、ボルト３の頭部３１は、一方側の把持部６Ａの把持ピン６４、６４と、他方側の把持部６Ｂの把持ピン６４、６４との間で確実に把持される。 As a result, when the head 31 of the bolt 3 is gripped between the grip portions 6A and 6B in the direction shown in FIG. 6A, the pair of grip pins 64 and 64 are pressed against the same outer periphery 311 of the head 31. do.
Here, the gripping pins 64 and 64 of the gripping portion 6A on one side of the reference line Cz and the gripping pins 64 and 64 of the gripping portion 6B on the other side are parallel to each other with the axis Cy sandwiched between them. , Each is pressure-welded. As described above, the distance L64 between the centers of the gripping pins 64 and 64 is set to be shorter than the length L3 of the outer peripheral 311 of the head 31 of the bolt 3. Therefore, the head 31 of the bolt 3 is securely gripped between the gripping pins 64 and 64 of the gripping portion 6A on one side and the gripping pins 64 and 64 of the gripping portion 6B on the other side.
　また、ボルト３の頭部３１が図６Ｂに示す向きで、把持部６Ａ、６Ｂの間に把持された際に、一方側の把持部６Ａの把持ピン６４、６４と、他方側の把持部６Ｂの把持ピン６４、６４が、頭部３１における角部３１ａを間に挟んで隣接する外周辺３１１、３１１にそれぞれ圧接することで、ボルト３の軸線Ｃｘ方向の移動を規制する。そのため、ボルト３の頭部３１は、一方側の把持部６Ａの把持ピン６４、６４と、他方側の把持部６Ｂの把持ピン６４、６４との間で確実に把持される。 Further, when the head 31 of the bolt 3 is gripped between the grip portions 6A and 6B in the direction shown in FIG. 6B, the grip pins 64 and 64 of the grip portion 6A on one side and the grip portions 6B on the other side are held. The gripping pins 64, 64 of the head 31 are pressed against the adjacent outer peripherals 311 and 311 with the corner portion 31a in between, thereby restricting the movement of the bolt 3 in the axis Cx direction. Therefore, the head 31 of the bolt 3 is securely gripped between the gripping pins 64 and 64 of the gripping portion 6A on one side and the gripping pins 64 and 64 of the gripping portion 6B on the other side.
　位置決めピン６６、６６は、基準線Ｃｚに直交する軸線Ｃｙに平行な軸線Ｃｙ２上に位置している。
　位置決めピン６６、６６は、円形の断面を有しており、位置決めピン６６、６６の中心は、軸線Ｃｙ２上に位置している。
　軸線Ｃｙ２は、軸線Ｃｙ１よりも軸線Ｃｙ側に位置している。
　位置決めピン６６、６６は、基準線Ｃｚと軸線Ｃｙに直交する軸線Ｃｘを間に挟んで対称となる位置関係で設けられている。 The positioning pins 66 and 66 are located on the axis line Cy2 parallel to the axis line Cy orthogonal to the reference line Cz.
The positioning pins 66, 66 have a circular cross section, and the centers of the positioning pins 66, 66 are located on the axis Cy2.
The axis Cy2 is located on the axis Cy side of the axis Cy1.
The positioning pins 66 and 66 are provided in a symmetrical positional relationship with the reference line Cz and the axis Cx orthogonal to the axis Cy sandwiched between them.
　軸線Ｃｙ方向における位置決めピン６６、６６の離間距離Ｌ６６は、ボルト３の頭部３１の直線状の外周辺３１１の一辺の長さＬ３よりも長く設定されている（Ｌ６６＞Ｌ３）。 The separation distance L66 between the positioning pins 66 and 66 in the axial direction Cy direction is set to be longer than the length L3 of one side of the linear outer periphery 311 of the head 31 of the bolt 3 (L66> L3).
　本実施形態では、ボルト３の頭部３１が図６Ａに示す向きで、把持部６Ａ、６Ｂの間に把持された際に、位置決めピン６６、６６が、把持ピン６４、６４が圧接した外周辺３１１に隣接する外周辺３１１に当接するように、離間距離Ｌ６６が設定されている。ボルト３の頭部３１の軸線Ｃｙ方向の位置ずれを規制するためである。 In the present embodiment, when the head 31 of the bolt 3 is in the direction shown in FIG. 6A and is gripped between the grip portions 6A and 6B, the positioning pins 66 and 66 are pressed against the grip pins 64 and 64 to the outer periphery. The separation distance L66 is set so as to abut the outer peripheral 311 adjacent to the 311. This is to regulate the misalignment of the head 31 of the bolt 3 in the axial direction Cy direction.
　さらに、ボルト３の頭部３１が図６Ｂに示す向きで、把持部６Ａ、６Ｂの間に把持された際に、位置決めピン６６、６６が、把持ピン６４、６４が圧接した外周辺３１１に接触しないように、位置決めピン６６と把持ピン６４との軸線Ｃｘ方向の中心間距離Ｄ１が設定されている。
　位置決めピン６６、６６が、把持ピン６４、６４が圧接した外周辺３１１に接触すると、一方側の把持部６Ａと他方側の把持部６Ｂとの互いに近づく方向への変位が規制される。そうすると、一方側の把持部６Ａの把持ピン６４、６４と、他方側の把持部６Ｂの把持ピン６４、６４によるボルト３の頭部３１の把持が位置決めピン６６、６６により阻害される。かかる事態の発生を防ぐために、中心間距離Ｄ１が設定されている。 Further, when the head 31 of the bolt 3 is gripped between the gripping portions 6A and 6B in the direction shown in FIG. 6B, the positioning pins 66 and 66 come into contact with the outer peripheral 311 to which the gripping pins 64 and 64 are in pressure contact with each other. The distance D1 between the centers of the positioning pin 66 and the gripping pin 64 in the axis Cx direction is set so as not to prevent the positioning pin 66 and the gripping pin 64.
When the positioning pins 66, 66 come into contact with the outer peripheral 311 to which the grip pins 64, 64 are in pressure contact with each other, the displacement of the grip portion 6A on one side and the grip portion 6B on the other side in the direction of approaching each other is restricted. Then, the gripping pins 64 and 64 of the gripping portion 6A on one side and the gripping pins 64 and 64 of the gripping portion 6B on the other side hinder the gripping of the head 31 of the bolt 3 by the positioning pins 66 and 66. In order to prevent the occurrence of such a situation, the center-to-center distance D1 is set.
　以下、ハンド４によるボルト３の把持を説明する。
　図７Ａ－７Ｄおよび図８は、ハンド４でボルト３を把持する過程を説明する図である。
　図７Ａは、ボルト３を把持するために、ハンド４の把持部６Ａ、６Ｂを基準線Ｃｚに近づける方向に変位させている状態を示した図である。図７Ｂは、図７ＡにおけるVIIb－VIIb断面図であって、ボルト３の頭部３１と、把持ピン６４および位置決めピン６６との位置関係を説明する図である。
　図７Ｃは、把持部６Ａ、６Ｂが、ボルト３の頭部３１に把持ピン６４、６４が接触する位置まで到達した状態を示した図である。図７Ｄは、把持部６Ａ、６Ｂが図７Ｃに示す位置に到達したときのボルト３の頭部３１と、把持ピン６４および位置決めピン６６との位置関係を説明する図である。 Hereinafter, gripping of the bolt 3 by the hand 4 will be described.
7A-7D and 8 are diagrams illustrating a process of gripping the bolt 3 with the hand 4.
FIG. 7A is a diagram showing a state in which the grip portions 6A and 6B of the hand 4 are displaced in a direction closer to the reference line Cz in order to grip the bolt 3. FIG. 7B is a cross-sectional view taken along the line VIIb-VIIb in FIG. 7A, which is a diagram illustrating the positional relationship between the head portion 31 of the bolt 3 and the gripping pin 64 and the positioning pin 66.
FIG. 7C is a diagram showing a state in which the grip portions 6A and 6B have reached the positions where the grip pins 64 and 64 come into contact with the head 31 of the bolt 3. FIG. 7D is a diagram illustrating the positional relationship between the head portion 31 of the bolt 3 and the gripping pin 64 and the positioning pin 66 when the gripping portions 6A and 6B reach the positions shown in FIG. 7C.
　始めに、可動部４５Ａ、４５Ｂを軸線Ｃｘ方向に離間させて、ボルト３の頭部３１を収容可能な間隔を開けて、把持部６Ａ、６Ｂを配置する。
　この状態で、ロボットアーム２１を操作して、把持部６Ａ、６Ｂの間にボルト３の頭部３１が配置される位置まで、ハンド４を移動させたのち、把持部６Ａ、６Ｂを互いに近づける方向に変位させる（図７Ａ、図７Ｂ参照）。 First, the movable portions 45A and 45B are separated from each other in the axis Cx direction, and the grip portions 6A and 6B are arranged at intervals that can accommodate the head 31 of the bolt 3.
In this state, the robot arm 21 is operated to move the hand 4 to a position where the head portion 31 of the bolt 3 is arranged between the grip portions 6A and 6B, and then the grip portions 6A and 6B are brought closer to each other. (See FIGS. 7A and 7B).
　そうすると、この把持部６Ａ、６Ｂの移動により、把持部６Ａ、６Ｂの把持ピン６４、６４が、ボルト３の頭部３１に近づいて接触する（図７Ｃ、図７Ｄ参照）。
　ここで、ボルト３の基準線Ｃｚ周りの位相に応じて、ボルト３の頭部３１に最初に接触する把持部６Ａ、６Ｂ側の部品（把持ピン６４、６４、位置決めピン６６、６６）が異なる。 Then, due to the movement of the grip portions 6A and 6B, the grip pins 64 and 64 of the grip portions 6A and 6B approach and come into contact with the head 31 of the bolt 3 (see FIGS. 7C and 7D).
Here, the parts (grip pins 64, 64, positioning pins 66, 66) on the grip portions 6A and 6B that first contact the head 31 of the bolt 3 differ depending on the phase around the reference line Cz of the bolt 3. ..
　以下、図７Ｄに示す位置関係で、把持部６Ａ、６Ｂの把持ピン６４、６４が、ボルト３の頭部３１の角部３１ａに接触した場合を例に挙げて説明する。
　図８の（ａ）に示すように、把持部６Ａ、６Ｂの把持ピン６４、６４が、軸線Ｃｘ方向からボルト３の角部３１ａに接触すると、一方側の把持ピン６４、６４と、他方側の把持ピン６４、６４から頭部３１に作用する押圧力で、ボルト３が、基準線Ｃｚ回りに回転する。 Hereinafter, in the positional relationship shown in FIG. 7D, a case where the gripping pins 64, 64 of the gripping portions 6A and 6B come into contact with the corner portion 31a of the head portion 31 of the bolt 3 will be described as an example.
As shown in FIG. 8A, when the gripping pins 64, 64 of the gripping portions 6A, 6B come into contact with the corner portion 31a of the bolt 3 from the axis Cx direction, the gripping pins 64, 64 on one side and the gripping pins 64, 64 on the other side and the other side. The bolt 3 rotates around the reference line Cz by the pressing force acting on the head 31 from the gripping pins 64, 64 of the above.
　ボルト３の回転方向は、基準線Ｃｚ周りのボルト３の角度位置に応じて、図８の（ａ）における時計回り方向、または反時計回り方向となる。
　ボルト３が時計回り方向に回転すると（図８の（ｂ）参照）、ボルト３が、基準線Ｃｚを間に挟んだ一方の外周辺３１１と他方の外周辺３１１とを、軸線Ｃｘに直交させた角度位置（図８の（ｃ）参照）まで回転する。
　これにより、一方側の把持部６Ａの一対の把持ピン６４、６４と、他方側の把持部６Ｂの一対の把持ピン６４、６４との間で、ボルト３の互いに平行な外周辺３１１、３１１が把持される。 The rotation direction of the bolt 3 is the clockwise direction or the counterclockwise direction in FIG. 8A, depending on the angular position of the bolt 3 around the reference line Cz.
When the bolt 3 rotates clockwise (see (b) in FIG. 8), the bolt 3 makes one outer peripheral 311 and the other outer peripheral 311 with the reference line Cz sandwiched between them orthogonal to the axis Cx. Rotate to an orthogonal position (see (c) in FIG. 8).
As a result, between the pair of gripping pins 64, 64 of the grip portion 6A on one side and the pair of gripping pins 64, 64 of the grip portion 6B on the other side, the outer peripherals 311 and 311 parallel to each other of the bolt 3 are formed. Be grasped.
　前記したように、軸線Ｃｙ方向における把持ピン６４、６４の中心間距離Ｌ６４は、ボルト３の頭部３１の直線状の外周辺３１１の一辺の長さＬ３よりも短い長さに設定されている（Ｌ３＞Ｌ６４：図６Ａ参照）。 As described above, the distance L64 between the centers of the gripping pins 64 and 64 in the axial direction Cy direction is set to be shorter than the length L3 of one side of the linear outer peripheral 311 of the head 31 of the bolt 3. (L3> L64: see FIG. 6A).
　これにより、ボルト３の頭部３１が、図６Ａおよび図８の（ｃ）に示す向きで、把持部６Ａ、６Ｂの間に把持された際に、一対の把持ピン６４、６４が、頭部３１における同じ外周辺３１１に圧接する。
　ここで、基準線Ｃｚの一方側の把持部６Ａの把持ピン６４、６４と、他方側の把持部６Ｂの把持ピン６４、６４は、軸線Ｃｙを間に挟んで互いに平行に配置された外周辺３１１、３１１に圧接する。上記したように把持部６（６Ａ、６Ｂ）では、把持ピン６４、６４の中心間距離Ｌ６４が、ボルト３の頭部３１の外周辺３１１の長さＬ３よりも短い長さに設定されている。そのため、ボルト３の頭部３１は、一方側の把持部６Ａの把持ピン６４、６４と、他方側の把持部６Ｂの把持ピン６４、６４との間で確実に把持される。 As a result, when the head 31 of the bolt 3 is gripped between the grip portions 6A and 6B in the orientation shown in FIG. 6A and FIG. 8 (c), the pair of grip pins 64 and 64 are headed. It is pressed against the same outer periphery 311 in 31.
Here, the gripping pins 64 and 64 of the gripping portion 6A on one side of the reference line Cz and the gripping pins 64 and 64 of the gripping portion 6B on the other side are arranged in parallel with each other with the axis line Cy in between. Press contact with 311 and 311. As described above, in the grip portion 6 (6A, 6B), the center-to-center distance L64 of the grip pins 64, 64 is set to be shorter than the length L3 of the outer peripheral 311 of the head 31 of the bolt 3. .. Therefore, the head 31 of the bolt 3 is securely gripped between the gripping pins 64 and 64 of the gripping portion 6A on one side and the gripping pins 64 and 64 of the gripping portion 6B on the other side.
　前記したように把持部６（６Ａ、６Ｂ）では、軸線Ｃｙ方向における位置決めピン６６、６６の離間距離Ｌ６６が、ボルト３の頭部３１の直線状の外周辺３１１の一辺の長さＬ３よりも長く設定されている（Ｌ６６＞Ｌ３：図６Ａ参照）。 As described above, in the grip portion 6 (6A, 6B), the separation distance L66 of the positioning pins 66, 66 in the axial direction Cy direction is larger than the length L3 of one side of the linear outer peripheral 311 of the head 31 of the bolt 3. It is set longer (L66> L3: see FIG. 6A).
　そのため、ボルト３の頭部３１が、図６Ｂおよび図８の（ｃ）に示す向きで把持部６Ａ、６Ｂの間に把持された際に、位置決めピン６６、６６が、把持ピン６４、６４が圧接した外周辺３１１に隣接する外周辺３１１に当接する。これにより、ボルト３の頭部３１の軸線Ｃｙ方向の位置ずれが規制される。
　よって、ボルト３は、中心軸Ｃを基準線Ｃｚに一致させた状態で、一方側の把持部６Ａと、他方側の把持部６Ｂとの間で把持されることになる。 Therefore, when the head 31 of the bolt 3 is gripped between the grip portions 6A and 6B in the directions shown in FIGS. 6B and 8 (c), the positioning pins 66 and 66 are moved by the grip pins 64 and 64. It abuts on the outer periphery 311 adjacent to the pressure-welded outer periphery 311. As a result, the displacement of the head 31 of the bolt 3 in the axial direction Cy direction is regulated.
Therefore, the bolt 3 is gripped between the grip portion 6A on one side and the grip portion 6B on the other side in a state where the central axis C is aligned with the reference line Cz.
　また、図８の（ａ）に示す状態から、ボルト３が反時計回り方向に回転すると（図８の（ｄ）参照）、把持部６Ａ、６Ｂの互いに近づく方向への変位に伴って、ボルト３が、基準線Ｃｚを間に挟んだ一方の角部３１ａと他方の角部３１ａを、軸線Ｃｘ上に配置した角度位置（図８の（ｅ）参照）まで回転する。 Further, when the bolt 3 rotates in the counterclockwise direction from the state shown in FIG. 8A (see FIG. 8D), the bolts 6A and 6B are displaced as they approach each other. 3 rotates one corner portion 31a and the other corner portion 31a sandwiching the reference line Cz to an angular position (see (e) in FIG. 8) arranged on the axis Cx.
　これにより、基準線Ｃｚを間に挟んだ一方側の把持部６Ａの一対の把持ピン６４、６４と、他方側の把持部６Ｂの一対の把持ピン６４、６４との間に、ボルト３の角部３１ａを挟んで隣接する外周辺３１１、３１１が圧接する。 As a result, the corner of the bolt 3 is between the pair of gripping pins 64, 64 of the grip portion 6A on one side and the pair of gripping pins 64, 64 of the grip portion 6B on the other side sandwiching the reference line Cz. The outer peripherals 311 and 311 adjacent to each other with the portion 31a in between are pressed against each other.
　前記したように、把持ピン６４、６４は、軸線Ｃｘを間に挟んで対称となる位置関係で設けられている。
　そのため、ボルト３の頭部３１が図８の（ｅ）に示す向きになると、ボルト３は、基準線Ｃｚ回りの回転が規制された状態で、一方側の把持部６Ａの一対の把持ピン６４、６４と、他方側の把持部６Ｂの一対の把持ピン６４、６４との間で確実に把持される。 As described above, the gripping pins 64 and 64 are provided in a symmetrical positional relationship with the axis Cx sandwiched between them.
Therefore, when the head 31 of the bolt 3 is oriented as shown in FIG. 8 (e), the bolt 3 has a pair of grip pins 64 of the grip portion 6A on one side in a state where the rotation around the reference line Cz is restricted. , 64 and the pair of gripping pins 64, 64 of the gripping portion 6B on the other side are securely gripped.
　前記したように、把持部６（６Ａ、６Ｂ）の一対の把持ピン６４、６４は、円形の断面を有している。そのため、把持部６（６Ａ、６Ｂ）で把持されたボルト３の把持態様が、図８の（ｃ）、（ｅ）の何れであっても、把持部６（６Ａ、６Ｂ）の一対の把持ピン６４、６４は、ボルト３の頭部３１の外周辺３１１に、線接触することになる。
　よって、線接触が可能な外周を有するものであれば、把持対象物であるワークは、有頭のボルトに限定されない。また、頭部３１の大きさが異なるボルトの場合には、把持ピン６４、６４が接触する位置が変わるだけであるので、頭部３１のサイズが異なるボルトであっても、同じ把持部６（６Ａ、６Ｂ）を用いて把持できる。 As described above, the pair of gripping pins 64, 64 of the gripping portions 6 (6A, 6B) have a circular cross section. Therefore, regardless of whether the gripping mode of the bolt 3 gripped by the gripping portion 6 (6A, 6B) is any of (c) and (e) of FIG. 8, a pair of gripping portions 6 (6A, 6B) are gripped. The pins 64 and 64 come into line contact with the outer peripheral 311 of the head 31 of the bolt 3.
Therefore, the work to be gripped is not limited to the headed bolt as long as it has an outer circumference capable of line contact. Further, in the case of bolts having different sizes of the head 31, the positions where the grip pins 64 and 64 come into contact are only changed. Therefore, even if the bolts have different sizes of the head 31, the same grip portion 6 ( It can be gripped using 6A, 6B).
　ここで、図８では、ハンド４の基準線Ｃｚと、ボルト３の中心軸Ｃとが一致している場合を例に挙げて説明をした。ハンド４でボルト３を把持する際に、ハンド４の基準線Ｃｚと、ボルト３の中心軸Ｃとが一致しない（僅かにズレる）場合もある。
　そこで、かかる場合においてハンド４でボルト３を把持する過程を、以下に説明する。 Here, in FIG. 8, the case where the reference line Cz of the hand 4 and the central axis C of the bolt 3 coincide with each other has been described as an example. When gripping the bolt 3 with the hand 4, the reference line Cz of the hand 4 and the central axis C of the bolt 3 may not match (slightly deviate).
Therefore, the process of gripping the bolt 3 with the hand 4 in such a case will be described below.
　図９Ａ－９Ｃは、ハンド４の基準線Ｃｚと、ボルト３の中心軸Ｃとが一致しない場合において、ハンド４でボルト３を把持する過程を説明する図である。
　図９Ａに示すように、ボルト３の中心軸Ｃが軸線Ｃｘの径方向にズレており、中心軸Ｃと基準線Ｃｚとが一致していない場合には、一方側の把持部６Ａの位置決めピン６６と、他方側の把持部６Ｂの位置決めピン６６が、把持ピン６４、６４よりも先に、ボルト３の頭部３１に接触する。 9A-9C is a diagram illustrating a process of gripping the bolt 3 with the hand 4 when the reference line Cz of the hand 4 and the central axis C of the bolt 3 do not match.
As shown in FIG. 9A, when the central axis C of the bolt 3 is displaced in the radial direction of the axis Cx and the central axis C and the reference line Cz do not match, the positioning pin of the grip portion 6A on one side The 66 and the positioning pin 66 of the grip portion 6B on the other side come into contact with the head 31 of the bolt 3 before the grip pins 64 and 64.
　図９Ａの場合には、把持部６Ａ、６Ｂの互いに近づく方向への移動に伴って、位置決めピン６６、６６が、ボルト３の外周辺３１１、３１１に接触したのち摺動する。そうすると、位置決めピン６６、６６から、外周辺３１１、３１１に作用する押圧力で、ボルト３は、当該ボルト３の中心軸Ｃを、基準線Ｃｚに近づける方向（図中、下方向）に変位する（図９Ｂ参照）。
　そして、ボルト３は、最終的に、ボルト３の中心軸Ｃが基準線Ｃｚに重なる位置まで変位したのち、把持部６Ａ、６Ｂの一対の把持ピン６４、６４の間で把持されることになる（図９Ｃ参照）。 In the case of FIG. 9A, the positioning pins 66 and 66 come into contact with the outer periphery 311 and 311 of the bolt 3 and then slide as the grip portions 6A and 6B move in the directions toward each other. Then, the pressing force acting on the outer peripherals 311 and 311 from the positioning pins 66 and 66 causes the bolt 3 to displace the central axis C of the bolt 3 in the direction closer to the reference line Cz (downward in the figure). (See FIG. 9B).
Finally, the bolt 3 is displaced between the pair of gripping pins 64 and 64 of the gripping portions 6A and 6B after the central axis C of the bolt 3 is displaced to a position where it overlaps the reference line Cz. (See FIG. 9C).
　よって、ロボットアーム２１によるハンド４を目的の座標に移動させる際の制御に、ボルト３の中心軸Ｃと基準線Ｃｚとを確実に一致させる程度の厳密な制御を必要としない。
　ロボットアーム２１の制御における負荷と、制御に要するコストの低減が可能になる。 Therefore, the control when the hand 4 is moved to the target coordinates by the robot arm 21 does not require strict control such that the central axis C of the bolt 3 and the reference line Cz are surely matched.
It is possible to reduce the load in controlling the robot arm 21 and the cost required for control.
　図１０Ａ、図１０Ｂは、把持部の変形例を説明する図であって、図１０Ａは、変形例にかかる把持部６Ａ'、６Ｂ'を説明する図である。図１０Ｂは、変形例にかかる把持部６Ａ''、６Ｂ''を説明する図である。 10A and 10B are diagrams for explaining a modified example of the grip portion, and FIG. 10A is a diagram for explaining the grip portions 6A'and 6B' according to the modified example. FIG. 10B is a diagram for explaining the grip portions 6A ″ and 6B ″ according to the modified example.
　前記した実施形態では、把持部６（６Ａ、６Ｂ）が、それぞれ、一対の把持ピン６４、６４と、一対の位置決めピン６６、６６を有している場合を例に挙げて説明をした。
　一対の位置決めピン６６、６６は、必ずしも両方の把持部６Ａ、６Ｂに設けられている必要はなく、少なくとも一方の把持部６Ａ、６Ｂに設けられていれば良い。 In the above-described embodiment, the case where the grip portion 6 (6A, 6B) has a pair of grip pins 64, 64 and a pair of positioning pins 66, 66, respectively, has been described as an example.
The pair of positioning pins 66, 66 do not necessarily have to be provided on both grip portions 6A, 6B, but may be provided on at least one grip portion 6A, 6B.
　図１０Ａの場合には、把持部６Ａ'と把持部６Ｂ'が、それぞれ１つずつ位置決めピン６６を有している。そして、一方の把持部６Ａ'の位置決めピン６６と、他方の把持部６Ｂ'の位置決めピン６６が、軸線Ｃｘの一方側（図１０Ａにおける上側）と、他方側（図１０Ａにおける下側）で、基準線Ｃｚ周りの周方向に１８０°位相をずらした位置関係で設けられている。 In the case of FIG. 10A, the grip portion 6A'and the grip portion 6B' each have one positioning pin 66. Then, the positioning pin 66 of one grip portion 6A'and the positioning pin 66 of the other grip portion 6B'are on one side (upper side in FIG. 10A) and the other side (lower side in FIG. 10A) of the axis Cx. It is provided in a positional relationship shifted by 180 ° in the circumferential direction around the reference line Cz.
　この把持部６Ａ'と把持部６Ｂ'の場合であっても、ボルト３の頭部３１を、把持部６Ａ'の一対の把持ピン６４、６４と、把持部６Ｂ'の一対の把持ピン６４、６４と、の間で把持した際に、ボルト３の軸線Ｃｙ方向への移動を、位置決めピン６６、６６で確実に規制できる。 Even in the case of the grip portion 6A'and the grip portion 6B', the head 31 of the bolt 3 is held by the pair of grip pins 64 and 64 of the grip portion 6A'and the pair of grip pins 64 of the grip portion 6B'. When gripped between 64 and 64, the movement of the bolt 3 in the axial line Cy direction can be reliably regulated by the positioning pins 66 and 66.
　図１０Ｂの場合には、一方の把持部６Ａ''のみが、一対の位置決めピン６６、６６を有している。 In the case of FIG. 10B, only one grip portion 6A'' has a pair of positioning pins 66, 66.
　この把持部６Ａ''と把持部６Ｂ''の場合であっても、ボルト３の頭部３１を、把持部６Ａ''の一対の把持ピン６４、６４と、把持部６Ｂ''の一対の把持ピン６４、６４と、の間で把持した際に、ボルト３の軸線Ｃｙ方向への移動を、位置決めピン６６、６６で規制できる。 Even in the case of the grip portion 6A ″ and the grip portion 6B ″, the head 31 of the bolt 3 is attached to the pair of grip pins 64 and 64 of the grip portion 6A ″ and the pair of grip portions 6B ″. When gripped between the gripping pins 64 and 64, the movement of the bolt 3 in the axial line Cy direction can be regulated by the positioning pins 66 and 66.
　なお、前記した実施形態では、軸線Ｃｘ方向で間隔をあけて配置した把持部６Ａと把持部６Ｂは、基準線Ｃｚ（軸線Ｃｙ）との距離を揃えた状態で、相対移動する場合を例示した。
　ボルト３の中心軸Ｃと基準線Ｃｚとを揃えた状態で、ボルト３を把持できる構成であれば、把持部６Ａと把持部６Ｂのうちの一方のみを、軸線Ｃｘ方向に変位させるように構成した位置決め機構としても良い。 In the above-described embodiment, the case where the grip portion 6A and the grip portion 6B arranged at intervals in the axis Cx direction move relative to each other with the same distance from the reference line Cz (axis line Cy) is illustrated. ..
If the bolt 3 can be gripped with the central axis C of the bolt 3 and the reference line Cz aligned, only one of the grip portion 6A and the grip portion 6B is displaced in the axis Cx direction. It may be used as a positioning mechanism.
　以上の通り、本実施形態にかかるワーク把持機構は、以下の構成を有している。
（１）ワーク把持機構１は、
　互いに平行な一対の把持ピン６４、６４を備える把持部６Ａ（第１把持部）と、
　互いに平行な一対の把持ピン６４、６４を備える把持部６Ｂ（第２把持部）と、を有する（図３参照）。
　把持部６Ａと把持部６Ｂが、共通の軸線Ｃｘ上で相対変位可能に設けられている。
　把持部６Ａの一対の把持ピン６４、６４と、把持部６Ｂの一対の把持ピン６４、６４は、それぞれ軸線Ｃｘに直交する軸線Ｃｙ方向に間隔をあけて並んでいる。
　ボルト３（ワーク）は、把持部６Ａの一対の把持ピン６４、６４と、把持部６Ｂの一対の把持ピン６４、６４で把持される。 As described above, the work gripping mechanism according to the present embodiment has the following configuration.
(1) The work gripping mechanism 1 is
A grip portion 6A (first grip portion) having a pair of grip pins 64, 64 parallel to each other,
It has a grip portion 6B (second grip portion) including a pair of grip pins 64, 64 parallel to each other (see FIG. 3).
The grip portion 6A and the grip portion 6B are provided so as to be relatively displaceable on a common axis Cx.
The pair of gripping pins 64, 64 of the grip portion 6A and the pair of gripping pins 64, 64 of the grip portion 6B are arranged at intervals in the axis Cy direction orthogonal to the axis Cx, respectively.
The bolt 3 (work) is gripped by a pair of gripping pins 64, 64 of the gripping portion 6A and a pair of gripping pins 64, 64 of the gripping portion 6B.
　このように構成すると、把持部６Ａの一対の把持ピン６４、６４と、把持部６Ｂの一対の把持ピン６４、６４の圧接力でボルト３を把持するので、ボルト３を把持するにあたり、ボルト３と把持ピン６４、６４との位相合わせを必要としない。よって、ボルト３をより簡単に把持できる。 With this configuration, the bolt 3 is gripped by the pressure contact force of the pair of gripping pins 64, 64 of the gripping portion 6A and the pair of gripping pins 64, 64 of the gripping portion 6B. Therefore, when gripping the bolt 3, the bolt 3 is gripped. And the gripping pins 64, 64 do not need to be phase-matched. Therefore, the bolt 3 can be gripped more easily.
　本実施形態にかかるワーク把持機構は、以下の構成を有している。
（２）把持部６Ａの一対の把持ピン６４、６４と、把持部６Ｂの一対の把持ピン６４、６４は、それぞれ軸線Ｃｘと軸線Ｃｙに直交する基準線Ｃｚに対して平行に設けられている。
　基準線Ｃｚの軸方向から見て、把持部６Ａの一対の把持ピン６４、６４と、把持部６Ｂの一対の把持ピン６４、６４は、軸線Ｃｘとの間に同じ間隔をあけて設けられている。 The work gripping mechanism according to this embodiment has the following configuration.
(2) The pair of gripping pins 64 and 64 of the gripping portion 6A and the pair of gripping pins 64 and 64 of the gripping portion 6B are provided parallel to the axis Cx and the reference line Cz orthogonal to the axis Cy, respectively. ..
When viewed from the axial direction of the reference line Cz, the pair of gripping pins 64 and 64 of the grip portion 6A and the pair of gripping pins 64 and 64 of the grip portion 6B are provided at the same distance from the axis Cx. There is.
このように構成すると、把持部６Ａの一対の把持ピン６４、６４は、軸線Ｃｘを間に挟んで対称となる位置関係で設けられると共に、把持部６Ｂの一対の把持ピン６４、６４は、軸線Ｃｘを間に挟んで対称となる位置関係で設けられる。
　よって、ボルト３は、当該ボルト３に線接触する一方側の一対の把持ピン６４、６４と他方側の一対の把持ピン６４、６４で把持される。
　よって、把持ピン６４、６４が線接触する領域が確保できる形状であれば、ボルト３の全体の形状における差異の影響を受けずにボルト３を簡単に把持できる。 With this configuration, the pair of gripping pins 64, 64 of the grip portion 6A are provided in a symmetrical positional relationship with the axis Cx sandwiched between them, and the pair of gripping pins 64, 64 of the grip portion 6B are provided with the axis lines. It is provided in a symmetrical positional relationship with Cx in between.
Therefore, the bolt 3 is gripped by a pair of gripping pins 64, 64 on one side and a pair of gripping pins 64, 64 on the other side, which are in line contact with the bolt 3.
Therefore, as long as the gripping pins 64 and 64 have a shape that allows line contact, the bolt 3 can be easily gripped without being affected by the difference in the overall shape of the bolt 3.
　本実施形態にかかるワーク把持機構は、以下の構成を有している。
（３）ボルト３は、一対の把持ピン６４、６４が外周に当接する当接部としての頭部３１を有している。
　ボルト３の中心軸Ｃ方向から見て頭部３１は、複数の直線状の外周辺３１１を中心軸Ｃ周りの周方向に連続的に連ねた正多角形形状を有している。
　ボルト３の中心軸Ｃ方向から見て頭部３１は、中心軸Ｃを間に挟んで互いに平行な外周辺３１１、３１１を３組持つ正六角形形状を有している。
　一対の把持ピン６４、６４は、軸線Ｃｘに直交する軸線Ｃｙ方向で間隔をあけて配置されており、
　一対の把持ピン６４、６４の離間距離（中心間距離Ｌ６４）は、ボルト３の中心軸Ｃ方向から見た外周辺３１１の長さＬ３よりも短い長さに設定されている。 The work gripping mechanism according to this embodiment has the following configuration.
(3) The bolt 3 has a head portion 31 as a contact portion where the pair of gripping pins 64, 64 abuts on the outer periphery.
The head portion 31 when viewed from the central axis C direction of the bolt 3 has a regular polygonal shape in which a plurality of linear outer peripheral 311s are continuously connected in the circumferential direction around the central axis C.
The head 31 when viewed from the direction of the central axis C of the bolt 3 has a regular hexagonal shape having three sets of outer peripherals 311 and 311 parallel to each other with the central axis C in between.
The pair of gripping pins 64, 64 are arranged at intervals in the axis Cy direction orthogonal to the axis Cx.
The separation distance (distance between centers L64) of the pair of gripping pins 64, 64 is set to be shorter than the length L3 of the outer peripheral 311 seen from the central axis C direction of the bolt 3.
　このように構成すると、ボルト３の頭部３１における互いに平行な外周辺３１１、３１１を、把持部６Ａの一対の把持ピン６４、６４と、把持部６Ｂの一対の把持ピン６４、６４で適切に把持できる。 With this configuration, the outer peripherals 311 and 311 parallel to each other in the head 31 of the bolt 3 are appropriately formed by the pair of gripping pins 64 and 64 of the gripping portion 6A and the pair of gripping pins 64 and 64 of the gripping portion 6B. Can be grasped.
　本実施形態にかかるワーク把持機構は、以下の構成を有している。
（４）基準線Ｃｚの軸方向から見て軸線Ｃｘの一方側と他方側に、軸線Ｃｘの直交方向（軸線Ｃｙ方向）へのボルト３の移動を規制する位置決めピン６６、６６が位置している（図３参照）。 The work gripping mechanism according to this embodiment has the following configuration.
(4) Positioning pins 66, 66 that regulate the movement of the bolt 3 in the orthogonal direction (axis Cy direction) of the axis Cx are located on one side and the other side of the axis Cx when viewed from the axial direction of the reference line Cz. (See Fig. 3).
　このように構成すると、ボルト３を一対の把持ピン６４、６４で把持する際に、ボルト３の軸線Ｃｙ方向への位置ずれを阻止できる。 With this configuration, when the bolt 3 is gripped by the pair of gripping pins 64, 64, it is possible to prevent the bolt 3 from being displaced in the axial direction Cy direction.
　本実施形態にかかるワーク把持機構は、以下の構成を有している。
（５）一方側の位置決めピン６６と他方側の位置決めピン６６は、軸線Ｃｘとの間に同じ間隔をあけて設けられている。
　一方側の位置決めピン６６と他方側の位置決めピン６６は、ボルト３の中心軸Ｃ方向から見た正六角形形状の頭部３１の一辺（外周辺３１１）よりも長い長さ分（離間距離Ｌ６６）だけ、軸線Ｃｘの直交方向（軸線Ｃｙ方向）で間隔をあけて配置されている。 The work gripping mechanism according to this embodiment has the following configuration.
(5) The positioning pin 66 on one side and the positioning pin 66 on the other side are provided at the same distance from the axis Cx.
The positioning pin 66 on one side and the positioning pin 66 on the other side are longer than one side (outer periphery 311) of the regular hexagonal head 31 viewed from the central axis C direction of the bolt 3 (separation distance L66). However, they are arranged at intervals in the direction orthogonal to the axis Cx (axis Cy direction).
　このように構成すると、ボルト３を一対の把持ピン６４、６４で把持する際に、ボルト３の軸線Ｃｙ方向への位置ずれを確実に阻止できる。 With this configuration, when the bolt 3 is gripped by the pair of gripping pins 64, 64, the displacement of the bolt 3 in the axial direction Cy direction can be reliably prevented.
　本実施形態にかかるワーク把持機構は、以下の構成を有している。
（６）一方側の位置決めピン６６は、把持部６Ａ'（第１把持部）に設けられており、
　他方側の位置決めピン６６は、把持部６Ｂ'（第２把持部）に設けられている。 The work gripping mechanism according to this embodiment has the following configuration.
(6) The positioning pin 66 on one side is provided on the grip portion 6A'(first grip portion).
The positioning pin 66 on the other side is provided on the grip portion 6B'(second grip portion).
　このように構成すると、最小本数の位置決めピン６６により、ボルト３の軸線Ｃｙ方向への位置ずれを阻止できる。 With this configuration, the minimum number of positioning pins 66 can prevent the bolt 3 from being displaced in the axial direction Cy direction.
　本実施形態にかかるワーク把持機構は、以下の構成を有している。
（７）一方側の位置決めピン６６と他方側の位置決めピン６６は、把持部６Ａ（第１把持部）と、把持部６Ｂ（第２把持部）のうちの一方、または両方に設けられている。 The work gripping mechanism according to this embodiment has the following configuration.
(7) The positioning pin 66 on one side and the positioning pin 66 on the other side are provided on one or both of the grip portion 6A (first grip portion) and the grip portion 6B (second grip portion). ..
　一方側の位置決めピン６６と他方側の位置決めピン６６が、同じ把持部６Ａまたは把持部６Ｂに設けられている場合や、把持部６Ａと把持部６Ｂの両方に設けられている場合の何れにおいても、ボルト３の軸線Ｃｙ方向への位置ずれを阻止できる。 Whether the positioning pin 66 on one side and the positioning pin 66 on the other side are provided on the same grip portion 6A or grip portion 6B, or on both the grip portion 6A and the grip portion 6B. , It is possible to prevent the displacement of the bolt 3 in the axial direction Cy direction.
　本実施形態にかかるワーク把持機構は、以下の構成を有している。
（８）基準線Ｃｚの軸方向から見て、一方側の把持部６Ａの位置決めピン６６と他方側の把持部６Ｂの位置決めピン６６は、それぞれ、把持部６Ａの一対の把持ピン６４、６４、把持部６Ｂの一対の把持ピン６４、６４よりも基準線Ｃｚ側に位置している。 The work gripping mechanism according to this embodiment has the following configuration.
(8) When viewed from the axial direction of the reference line Cz, the positioning pin 66 of the grip portion 6A on one side and the positioning pin 66 of the grip portion 6B on the other side are the pair of grip pins 64, 64 of the grip portion 6A, respectively. It is located on the reference line Cz side of the pair of gripping pins 64, 64 of the gripping portion 6B.
　このように構成すると、ボルト３の中心軸Ｃと、基準線Ｃｚとの位置がズレている場合であっても、位置決めピン６６によりズレを修正できる。 With this configuration, even if the position of the central axis C of the bolt 3 and the reference line Cz are misaligned, the misalignment can be corrected by the positioning pin 66.
　以上、本願発明の実施形態を説明したが、本願発明は、これら実施形態に示した態様のみに限定されるものではない。発明の技術的な思想の範囲内で、適宜変更可能である。 Although the embodiments of the present invention have been described above, the present invention is not limited to the embodiments shown in these embodiments. It can be changed as appropriate within the scope of the technical idea of the invention.
　本願は、２０２０年２月２７日付けで日本国特許庁に出願した特願２０２０－３２３６７号に基づく優先権を主張し、その出願の全ての内容は、参照により本明細書に組み込まれる。 The present application claims priority based on Japanese Patent Application No. 2020-32367 filed with the Japan Patent Office on February 27, 2020, and the entire contents of the application are incorporated herein by reference.

Claims (8)

  1. 　互いに平行な一対の把持ピンを備える第１把持部と、
    　互いに平行な一対の把持ピンを備える第２把持部と、を有し、
    　前記第１把持部と前記第２把持部が、共通の軸線上で相対変位可能に設けられたワーク把持機構であって、
    　前記第１把持部の前記一対の把持ピンと、前記第２把持部の前記一対の把持ピンでワークを把持するように構成した、ワーク把持機構。     A first grip with a pair of parallel grip pins,
    It has a second grip that includes a pair of grip pins that are parallel to each other.
    The first grip portion and the second grip portion are work gripping mechanisms provided so as to be relatively displaceable on a common axis.
    A work gripping mechanism configured to grip a work with the pair of gripping pins of the first gripping portion and the pair of gripping pins of the second gripping portion.
  2. 　前記第１把持部の前記一対の把持ピンと、前記第２把持部の前記一対の把持ピンは、前記軸線に直交する基準線に対して平行に設けられており、
    　前記基準線の軸方向から見て、前記第１把持部の前記一対の把持ピンと、前記第２把持部の前記一対の把持ピンは、前記軸線との間に同じ間隔をあけて設けられている、
    請求項１に記載のワーク把持機構。     The pair of gripping pins of the first gripping portion and the pair of gripping pins of the second gripping portion are provided parallel to a reference line orthogonal to the axis line.
    When viewed from the axial direction of the reference line, the pair of gripping pins of the first gripping portion and the pair of gripping pins of the second gripping portion are provided at the same distance from the axis. ,
    The work gripping mechanism according to claim 1.
  3. 　前記ワークは、前記一対の把持ピンが外周に当接する当接部を有しており、
    　前記ワークの中心軸方向から見て前記当接部は、前記中心軸を間に挟んで互いに平行な外周辺を持つ正多角形形状を成しており、
    　前記一対の把持ピンは、前記軸線の直交方向で間隔をあけて配置されており、
    　前記一対の把持ピンの離間距離は、前記ワークの中心軸方向から見た前記外周辺の長さよりも短い長さに設定されている、
    請求項２に記載のワーク把持機構。     The work has a contact portion where the pair of gripping pins abuts on the outer periphery.
    When viewed from the central axis direction of the work, the contact portion has a regular polygonal shape having outer periphery parallel to each other with the central axis in between.
    The pair of gripping pins are arranged at intervals in the direction orthogonal to the axis.
    The separation distance of the pair of gripping pins is set to be shorter than the length of the outer periphery as seen from the central axis direction of the work.
    The work gripping mechanism according to claim 2.
  4. 　前記基準線の軸方向から見て前記軸線の一方側と他方側に、前記軸線の直交方向への前記ワークの移動を規制する位置決めピンが位置している、
    請求項３に記載のワーク把持機構。     Positioning pins that regulate the movement of the work in the direction orthogonal to the axis are located on one side and the other side of the axis when viewed from the axial direction of the reference line.
    The work gripping mechanism according to claim 3.
  5. 　前記一方側の位置決めピンと前記他方側の位置決めピンは、前記軸線との間に同じ間隔をあけて設けられていると共に、前記ワークの中心軸方向から見た前記正多角形形状の当接部の一辺よりも長い長さ分だけ、前記軸線の直交方向で間隔をあけて配置されている、
    請求項４に記載のワーク把持機構。     The positioning pin on one side and the positioning pin on the other side are provided at the same distance from the axis, and the contact portion of the regular polygonal shape viewed from the central axis direction of the work. They are arranged at intervals in the direction orthogonal to the axis by a length longer than one side.
    The work gripping mechanism according to claim 4.
  6. 　前記一方側の位置決めピンは、前記第１把持部に設けられており、
    　前記他方側の位置決めピンは、前記第２把持部に設けられている、
    請求項５に記載のワーク把持機構。     The positioning pin on one side is provided on the first grip portion.
    The positioning pin on the other side is provided on the second grip portion.
    The work gripping mechanism according to claim 5.
  7. 　前記一方側の位置決めピンと前記他方側の位置決めピンは、前記第１把持部と前記第２把持部のうちの一方、または両方に設けられている、
    請求項５に記載のワーク把持機構。     The positioning pin on one side and the positioning pin on the other side are provided on one or both of the first grip portion and the second grip portion.
    The work gripping mechanism according to claim 5.
  8. 　前記基準線の軸方向から見て、前記一方側の位置決めピンと前記他方側の位置決めピンは、前記一対の把持ピンよりも前記基準線側に位置している、
    請求項４から請求項７の何れか一項に記載のワーク把持機構。     The positioning pin on one side and the positioning pin on the other side are located closer to the reference line than the pair of gripping pins when viewed from the axial direction of the reference line.
    The work gripping mechanism according to any one of claims 4 to 7.
PCT/JP2020/047423 2020-02-27 2020-12-18 Workpiece gripping mechanism WO2021171752A1 (en)

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JP2010214543A (en) * 2009-03-17 2010-09-30 Denso Corp Workpiece holding device
JP2011056627A (en) * 2009-09-10 2011-03-24 Honda Motor Co Ltd Hand and manipulator device
JP2011073100A (en) * 2009-09-30 2011-04-14 Kawasaki Heavy Ind Ltd Picking method and hand device
JP2012139765A (en) * 2010-12-28 2012-07-26 Toyota Motor Corp Gripping machine
JP2013240859A (en) * 2012-05-21 2013-12-05 Yaskawa Electric Corp Robot hand, robot system, and method for manufacturing artifact

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