WO2022163000A1 - ワーク保持装置およびワーク搬送装置 - Google Patents
ワーク保持装置およびワーク搬送装置 Download PDFInfo
- Publication number
- WO2022163000A1 WO2022163000A1 PCT/JP2021/033296 JP2021033296W WO2022163000A1 WO 2022163000 A1 WO2022163000 A1 WO 2022163000A1 JP 2021033296 W JP2021033296 W JP 2021033296W WO 2022163000 A1 WO2022163000 A1 WO 2022163000A1
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- WO
- WIPO (PCT)
- Prior art keywords
- predetermined plane
- claw portion
- claw
- work
- direction orthogonal
- Prior art date
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 104
- 238000006243 chemical reaction Methods 0.000 claims abstract description 16
- 210000000078 claw Anatomy 0.000 claims description 256
- 239000000463 material Substances 0.000 description 13
- 239000000047 product Substances 0.000 description 8
- 238000003780 insertion Methods 0.000 description 6
- 230000037431 insertion Effects 0.000 description 6
- 230000002093 peripheral effect Effects 0.000 description 6
- 230000005484 gravity Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 239000013067 intermediate product Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
- B23B31/19—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving parallel to the axis of the chuck
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
- B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
- B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
- B23B31/1627—Details of the jaws
- B23B31/16275—Form of the jaws
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B2231/00—Details of chucks, toolholder shanks or tool shanks
- B23B2231/34—Jaws
- B23B2231/345—Different jaws
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B2231/00—Details of chucks, toolholder shanks or tool shanks
- B23B2231/56—Chucks with more than one set of gripping means
Definitions
- the present invention relates to a work holding device and a work transfer device.
- Patent Document 1 discloses a plurality of sets of work hands configured to be capable of gripping a work, and the spacing between each set of work hands being variable according to the properties of the work.
- a workpiece supply/unload device including a variable workpiece hand mechanism is disclosed.
- a plurality of sets of work hands are provided, and the intervals between the work hands of each set are variable according to the properties of the work.
- An unprocessed workpiece is gripped by one hand, a processed workpiece is gripped by another set of work hands, or a long workpiece is gripped by a plurality of sets of work hands.
- an object of the present invention is to solve the above-described problems. It is to provide a conveying device.
- a workpiece holding device includes a plurality of first claws arranged in a predetermined plane at intervals and capable of linear movement in a direction parallel to the predetermined plane, and The second claw portion and the third claw portion, which are arranged to face each other in the direction in which the second claw portion and the third claw portion are arranged, and the first claw portion are converted into linear motion in the direction orthogonal to the predetermined plane, thereby generating the second claw portion.
- the first claw, the second claw, and the third claw have gripping surfaces that contact the workpiece to be held, and the gripping surface of the first claw is the gripping surface of the second claw and the third claw. have different shapes.
- a work holding device includes a plurality of first claws arranged in a predetermined plane at intervals and capable of linear movement in a direction parallel to the predetermined plane;
- the second claw portion and the third claw portion which are arranged to face each other in the orthogonal direction, and the linear motion associated with the operation of the first claw portion are converted into linear motion in the direction orthogonal to the predetermined plane, and the a motion conversion mechanism that transmits the motion to the second claw and linearly moves the second claw in a direction orthogonal to a predetermined plane;
- the third claw portion is provided integrally with the first claw portion.
- a work holding device includes a plurality of first claws arranged in a predetermined plane at intervals and capable of linear movement in a direction parallel to the predetermined plane;
- the second claw portion and the third claw portion which are arranged to face each other in the orthogonal direction, and the linear motion associated with the operation of the first claw portion are converted into linear motion in the direction orthogonal to the predetermined plane, and the a motion conversion mechanism that transmits the motion to the second claw and linearly moves the second claw in a direction orthogonal to a predetermined plane;
- the motion conversion mechanism has a first inclined surface extending obliquely to a predetermined plane, and is capable of linear motion in a direction parallel to the predetermined plane together with the first claw, and is orthogonal to the predetermined plane. and a fixed member having a second inclined surface in surface contact with the first inclined surface.
- the second claw portion is provided on the motion member at a position away from the first inclined surface in a direction perpendicular to the predetermined plane.
- a work holding device includes a plurality of first claws arranged in a predetermined plane at intervals and capable of linear movement in a direction parallel to the predetermined plane;
- the second claw portion and the third claw portion which are arranged to face each other in the orthogonal direction, and the linear motion associated with the operation of the first claw portion are converted into linear motion in the direction orthogonal to the predetermined plane, and the a motion conversion mechanism that transmits the motion to the second claw and linearly moves the second claw in a direction orthogonal to a predetermined plane;
- the motion conversion mechanism section converts the linear motion accompanying the movement of the first claw portion into linear motion in a direction orthogonal to the predetermined plane, and converts the linear motion to the second claw portion.
- the transmission causes the second pawl to move linearly in a direction orthogonal to the predetermined plane.
- the second claw portion and the third claw portion are provided at positions displaced from the plurality of first claw portions in a direction perpendicular to the predetermined plane.
- the work holding device configured in this way, when a work is held by the plurality of first claws, the work is less likely to interfere with the second claw and the third claw. When a work is gripped by the portion and the third claws, the work is less likely to interfere with the plurality of first claws.
- the third claw portion is provided integrally with the first claw portion. According to the work holding device configured in this manner, the work holding device can be further simplified in configuration by reducing the number of parts.
- the second claw portion and the third claw portion are provided at a position surrounded by the plurality of first claw portions when viewed in a direction perpendicular to the predetermined plane.
- the position of the center of gravity of the work held by the plurality of first claws can be brought close to the position of the center of gravity of the work held by the second and third claws. can be done.
- the maximum weight of the work that can be held by the work holding device is balanced between the case where the work is held by the plurality of first claws and the case where the work is held by the second and third claws. can improve well.
- the motion converting mechanism has a first inclined surface extending obliquely with respect to a predetermined plane, is capable of linear motion in a direction parallel to the predetermined plane together with the first claw, and It includes a motion member supported so as to be capable of linear motion in a direction orthogonal to a predetermined plane, and a fixed member having a second slope surface-contacting the first slope surface.
- the second claw portion is provided on the motion member at a position away from the first inclined surface in a direction perpendicular to the predetermined plane.
- the motion member linearly moves along with the first claw in a direction parallel to the predetermined plane in accordance with the linear movement of the first claw.
- the first inclined surface is in surface contact with the second inclined surface and slides obliquely with respect to the predetermined plane, thereby linearly moving the operating member in a direction orthogonal to the predetermined plane.
- the second claw portion provided on the motion member can be linearly moved in the direction orthogonal to the predetermined plane.
- the plurality of first claw portions are arranged at intervals in the circumferential direction of a predetermined axis orthogonal to the predetermined plane, and are capable of linear movement in the radial direction of the predetermined axis.
- the work holding member includes a unit member integrally provided with a first claw portion, a third claw portion, and a support portion that supports the motion member so as to be linearly operable in a direction orthogonal to a predetermined plane.
- the work holding device configured in this way, the work holding device can be further simplified by reducing the number of parts.
- the motion member further has a third inclined surface facing away from the first inclined surface.
- the fixing member further has a fourth inclined surface facing away from the second inclined surface and in surface contact with the third inclined surface.
- the first and third inclined surfaces slide obliquely with respect to the predetermined plane while making surface contact with the second and fourth inclined surfaces, respectively.
- the motion member linearly moves in a direction orthogonal to the predetermined plane.
- the second claw portion provided on the motion member can be linearly moved in the direction orthogonal to the predetermined plane.
- a work conveying device includes any one of the work holding devices described above, and conveys the work held by the work holding device.
- the workpiece is gripped in the direction parallel to the predetermined plane by the plurality of first claws, and the second claws and Gripping of the workpiece in a direction orthogonal to the predetermined plane by the third claw can be selected.
- a work holding device which has a simple structure and can select to hold a work in different directions, and a work transfer device using such a work holding device. can provide.
- FIG. 1 is a perspective view showing a work holding device according to an embodiment of the invention
- FIG. It is another perspective view showing the work holding device in the embodiment of this invention.
- FIG. 3 is a front view showing the work holding device in FIGS. 1 and 2;
- FIG. 4 is a side view showing the workpiece holding device viewed in the direction indicated by arrow IV in FIG. 3;
- FIG. 2 is a perspective view showing a first holding form of a work by the work holding device in FIG. 1;
- FIG. 6 is a cross-sectional view showing a first holding form (clamped state) of the workpiece in FIG. 5;
- FIG. 6 is a cross-sectional view showing a first holding form (unclamped state) of the workpiece in FIG. 5;
- FIG. 3 is a front view showing the work holding device in FIGS. 1 and 2
- FIG. 4 is a side view showing the workpiece holding device viewed in the direction indicated by arrow IV in FIG. 3
- FIG. 2 is
- FIG. 4 is a perspective view showing a second holding form of a work by the work holding device in FIG. 1;
- FIG. 9 is a cross-sectional view showing a second holding form (clamped state) of the workpiece in FIG. 8;
- FIG. 9 is a sectional view showing a second holding form (unclamped state) of the workpiece in FIG. 8;
- FIG. 7 is a cross-sectional view showing a modification of the motion converting mechanism shown in FIG. 6;
- FIG. 12 is a cross-sectional view showing a modification of the motion converting mechanism viewed in the direction of the arrows on line XII-XII in FIG. 11;
- FIG. 2 is a plan view schematically showing a work conveying device using the work holding device in FIG. 1;
- FIG. 1 and 2 are perspective views showing a work holding device according to an embodiment of the invention.
- FIG. 3 is a front view showing the workpiece holding device in FIGS. 1 and 2.
- FIG. 4 is a side view showing the work holding device as seen in the direction indicated by arrow IV in FIG. 3.
- FIG. 3 is a front view showing the workpiece holding device in FIGS. 1 and 2.
- FIG. 4 is a side view showing the work holding device as seen in the direction indicated by arrow IV in FIG. 3.
- FIG. 5 is a perspective view showing the first holding form of the work by the work holding device in FIG.
- FIG. 6 is a cross-sectional view showing the first holding form (clamped state) of the workpiece in FIG.
- FIG. FIG. 9 is a cross-sectional view showing a second holding form (clamped state) of the work in FIG.
- FIG. 10 is a cross-sectional view showing the second holding form (unclamped state) of the workpiece in FIG.
- a work holding device 10 in this embodiment is a device for holding a work.
- the workpiece holding device 10 has a plurality of first claws 21 (21A, 21B, 21C).
- the first claw portion 21 has a claw shape, and a plurality of first claw portions 21 can grip a workpiece.
- the plurality of first claw portions 21 are arranged in a predetermined plane 110 shown in FIG. 4 with a space between them.
- the first claw portion 21 can linearly move in a direction parallel to the predetermined plane 110 .
- the plurality of first claw portions 21 are arranged at intervals in the circumferential direction around the central axis 120 .
- the plurality of first claw portions 21 are arranged at regular intervals in the circumferential direction around the central axis 120 .
- the central axis 120 extends in a direction orthogonal to the predetermined plane 110.
- the first claw portion 21 linearly moves in the radial direction of the central axis 120 .
- the plurality of first claw portions 21 linearly move in the radial direction of the central axis 120 while synchronizing with each other.
- the first claw portion 21 has a first gripping surface 22 , a second gripping surface 23 , a third gripping surface 24 and a fourth gripping surface 25 .
- the first gripping surface 22, the second gripping surface 23, the third gripping surface 24, and the fourth gripping surface 25 are arranged in the axial direction of the central axis 120 in the order listed.
- the first gripping surface 22 is arranged closest to the base member 12 (end surface 12a) described later in the axial direction of the central axis 120
- the fourth gripping surface 25 is disposed closest to the base member described later in the axial direction of the central axis 120. 12 (end face 12a).
- the first gripping surface 22 , the second gripping surface 23 , the third gripping surface 24 and the fourth gripping surface 25 form a step in the radial direction of the central axis 120 between adjacent gripping surfaces in the axial direction of the central axis 120 .
- the diameter of the first gripping surface 22 is the largest among the diameters of the first gripping surface 22 , the second gripping surface 23 , the third gripping surface 24 and the fourth gripping surface 25 .
- the diameter of the second gripping surface 23 is smaller than the diameter of the first gripping surface 22, the diameter of the third gripping surface 24 is smaller than the diameter of the second gripping surface 23, and the diameter of the fourth gripping surface 25 is smaller than the diameter of the second gripping surface 23. 3 smaller than the diameter of the gripping surface 24;
- the fourth gripping surface 25 has the smallest diameter among the diameters of the first gripping surface 22 , the second gripping surface 23 , the third gripping surface 24 and the fourth gripping surface 25 .
- the first gripping surfaces 22 have the same diameter among the plurality of first claws 21, the second gripping surfaces 23 have the same diameter among the plurality of first claws 21, and the third gripping surfaces 24 have the same diameter.
- the diameters of the plurality of first claws 21 are the same, and the diameters of the fourth gripping surfaces 25 are the same among the plurality of first claws 21 .
- the plurality of first claw portions 21 linearly move in the radial direction of the central axis 120 while maintaining the above-described relationship in which the diameters of the gripping surfaces of the plurality of first claw portions 21 are equal to each other.
- the workpiece 210 is gripped by the plurality of first claws 21 .
- the workpiece 210 has a cylindrical shape as a whole, and an inner collar portion 225 that is radially inwardly folded is provided at its axial end.
- the plurality of first claws 21 move linearly outward in the radial direction of the central axis 120 so that the third gripping surfaces 24 of the plurality of first claws 21 are It abuts on the inner peripheral surface 225 a of the inner collar portion 225 in the radial direction of the central axis 120 .
- the gripping direction of the workpiece 210 in the first holding mode is a direction parallel to the predetermined plane 110 , more specifically, the radial direction of the central axis 120 included in the predetermined plane 110 .
- the plurality of first claws 21 linearly move radially inwardly of the central axis 120 so that the third gripping surfaces 24 of the plurality of first claws 21 move toward the inner flange portion. 225 is separated from the inner peripheral surface 225a. As a result, an unclamped state is obtained in which the work 210 is no longer gripped by the plurality of first claws 21 .
- the position where the plurality of first claws 21 grips the workpiece may be any one of the first gripping surface 22, the second gripping surface 23, the third gripping surface 24, and the fourth gripping surface 25. . Due to the configuration in which the first claw portion 21 has a stepped gripping surface, it is possible to widely handle a plurality of types of workpieces having different inner diameters. Moreover, the gripping of the workpiece by the plurality of first claws is not limited to the inner diameter gripping (lining) of the workpiece, and may be the outer diameter gripping in which the plurality of first claws contact the outer peripheral surface of the workpiece.
- the first holding form of the work is the three first claws 21 (21A, 21B, 21C)
- the invention is not limited to this.
- the number may be a plurality other than three.
- the two first claws may be arranged on the same straight line included in a predetermined plane and linearly operated on the same straight line. .
- the work holding device 10 further has a second claw portion 31, a third claw portion 41, and a motion conversion mechanism portion 71.
- Each claw portion of the second claw portion 31 and the third claw portion 41 has a claw shape, and the workpiece can be gripped by the second claw portion 31 and the third claw portion 41 .
- the motion conversion mechanism 71 converts the linear motion accompanying the operation of the first claw portion 21 into linear motion in a direction orthogonal to the predetermined plane 110 and transmits the linear motion to the second claw portion 31 . Linear movement is performed in a direction orthogonal to the predetermined plane 110 . A specific structure of the motion converting mechanism 71 will be described later in detail.
- the second claw portion 31 and the third claw portion 41 are arranged to face each other in the direction perpendicular to the predetermined plane 110 .
- the second claw portion 31 is arranged on the side closer to the base member 12 (end surface 12a) described later in the direction orthogonal to the predetermined plane 110, and the third claw portion 41 is arranged in the direction orthogonal to the predetermined plane 110, which will be described later. It is arranged on the far side from the base member 12 (end surface 12a).
- the second claw portion 31 can move linearly in a direction perpendicular to the predetermined plane 110 .
- the third claw portion 41 cannot linearly move in the direction orthogonal to the predetermined plane 110 .
- the second claw portion 31 has a gripping surface 31a.
- the third claw portion 41 has a gripping surface 41a.
- the gripping surface 31 a and the gripping surface 41 a are arranged parallel to the predetermined plane 110 .
- the gripping surface 31a and the gripping surface 41a face each other in a direction orthogonal to the predetermined plane 110. As shown in FIG. Along with the linear movement of the second claw portion 31, the distance between the gripping surfaces 31a and 41a in the direction orthogonal to the predetermined plane 110 increases or decreases.
- the second claw portion 31 and the third claw portion 41 are provided at positions displaced from the plurality of first claw portions 21 in the direction orthogonal to the predetermined plane 110 .
- the gripping surface 31 a and the gripping surface 41 a are provided at positions shifted in a direction orthogonal to the predetermined plane 110 from the first gripping surface 22 , the second gripping surface 23 , the third gripping surface 24 and the fourth gripping surface 25 .
- the second claw portion 31 and the third claw portion 41 are provided at positions surrounded by the plurality of first claw portions 21 when viewed in a direction perpendicular to the predetermined plane 110 .
- the gripping surface 31 a and the gripping surface 41 a are the first gripping surface 22 , the second gripping surface 23 , the third gripping surface 24 and the fourth gripping surface 24 of the plurality of first claws 21 when viewed in a direction orthogonal to the predetermined plane 110 .
- a gripping surface 25 is provided on the inner side of the extending peripheral surface.
- the work 215 is gripped by the second claw portion 31 and the third claw portion 41 .
- the work 215 is a component that constitutes the work 210 shown in FIGS.
- Work 215 generally has a semi-cylindrical shape obtained by dividing work 210 into two parts.
- a workpiece 210 is obtained by combining two workpieces 215 using a bolt or the like.
- the second claw portion 31 linearly moves in a direction orthogonal to the predetermined plane 110 and in a direction approaching the third claw portion 41.
- the gripping surface 31a abuts the end surface 225b of the inner collar portion 225 in the direction orthogonal to the predetermined plane 110, and the gripping surface 41a of the third claw portion 41 contacts the end surface 225c of the inner collar portion 225 in the direction orthogonal to the predetermined plane 110. abut.
- a clamped state in which the workpiece 210 is gripped by the second claw portion 31 and the third claw portion 41 is obtained.
- the gripping direction of the workpiece 215 in this second holding mode is the direction orthogonal to the predetermined plane 110 (the axial direction of the central axis 120).
- the gripping direction of the workpiece 210 in the first holding form and the gripping direction of the workpiece 215 in the second holding form are orthogonal to each other.
- the grip surface 31a of the second claw portion 31 is gripped by linear movement of the second claw portion 31 in a direction perpendicular to the predetermined plane 110 and away from the third claw portion 41. As shown in FIG. is separated from the end face 225b of the inner collar portion 225. As shown in FIG. As a result, an unclamped state is obtained in which the workpiece 210 is no longer held by the second claw portion 31 and the third claw portion 41 .
- the motion converting mechanism 71 converts the linear motion accompanying the operation of the first claw 21 into linear motion in the direction orthogonal to the predetermined plane 110 and transmits the linear motion to the second claw 31 .
- the workpiece 210 is gripped in the direction parallel to the predetermined plane 110 by the plurality of first claws 21, and the second claws 31 and the second claws It is possible to realize the workpiece holding device 10 which can select the gripping of the workpiece 215 in the direction orthogonal to the predetermined plane 110 by the three claw portions 41 with a simple configuration.
- the second claw portion 31 and the third claw portion 41 are provided at positions shifted in the direction perpendicular to the predetermined plane 110 from the plurality of first claw portions 21 .
- Such a configuration makes it difficult for the work 210 to interfere with the second claw 31 and the third claw 41 when the work 210 is gripped by the plurality of first claws 21 . Further, when the workpiece 215 is gripped by the second claw portion 31 and the third claw portion 41, interference between the workpiece 215 and the plurality of first claw portions 21 is less likely.
- the second claw portion 31 and the third claw portion 41 are provided at positions surrounded by the plurality of first claw portions 21 when viewed in a direction orthogonal to the predetermined plane 110 .
- the center of gravity of the workpiece 210 gripped by the plurality of first claws 21 can be brought closer to the center of gravity of the workpiece 215 gripped by the second claws 31 and the third claws 41 .
- the maximum weight of the work that can be held by the work holding device 10 is determined by the plurality of first claws 21 and the second claws 31 and 41. can be improved in a well-balanced manner between
- the work holding device 10 further has a base member 12 and a plurality of sliders 14 (14A, 14B, 14C).
- the base member 12 is a member for supporting the plurality of first claw portions 21 , second claw portions 31 and third claw portions 41 .
- the base member 12 has an end face 12a.
- the end face 12a is a plane orthogonal to the predetermined plane 110. As shown in FIG.
- a plurality of sliders 14 are provided on the end surface 12a.
- the base member 12 incorporates an actuator (not shown) for operating the plurality of sliders 14 .
- the plurality of sliders 14 (14A, 14B, 14C) can linearly move in a direction parallel to the predetermined plane 110 (radial direction of the central axis 120) by receiving outputs from the actuators.
- the first claw portion 21A, the first claw portion 21B and the first claw portion 21C are fixed to the slider 14A, the slider 14B and the slider 14C, respectively.
- the work holding device 10 has a first unit member 51, a second unit member 52, and a third unit member 53.
- the 1st unit member 51, the 2nd unit member 52, and the 3rd unit member 53 consist of metal block bodies.
- the first unit member 51 has a first claw portion 21A, a third claw portion 41, a base portion 26, and a support portion 56.
- the first unit member 51 is integrally provided with the first claw portion 21A, the third claw portion 41, the base portion 26, and the support portion 56.
- the third claw portion 41 is provided integrally with the first claw portion 21A.
- the base portion 26 lies on the end surface 12a.
- the base portion 26 has a plate shape that is thick in the axial direction of the central axis 120 and extends in the radial direction of the central axis 120 .
- the base portion 26 of the first unit member 51 is fastened to the slider 14A using bolts or the like.
- the first claw portion 21A is provided so as to protrude from the base portion 26 in the axial direction of the central axis 120 in a direction away from the base member 12 (end surface 12a).
- the support portion 56 is provided so as to protrude from the base portion 26 in the axial direction of the central axis 120 in a direction away from the base member 12 (end surface 12a).
- the support portion 56 is provided side by side in the radial direction of the first claw portion 21A and the central axis 120 .
- the support portion 56 is arranged radially inside the central axis 120 with respect to the first claw portion 21A.
- the support portion 56 supports an operation member 61 to be described later so as to be linearly operable in a direction orthogonal to the predetermined plane 110 .
- the third claw portion 41 is provided at the tip of the first claw portion 21A projecting from the base portion 26.
- the third claw portion 41 is provided at a position bent radially inward of the central axis 120 from the distal end portion of the first claw portion 21A.
- the third claw portion 41 faces the support portion 56 with a gap therebetween in the direction orthogonal to the predetermined plane 110 .
- the third claw portion 41 is provided on the opposite side of the base member 12 across the first claw portion 21A in the direction orthogonal to the predetermined plane 110 .
- the second unit member 52 has a first claw portion 21B and a base portion 26.
- the first claw portion 21B and the base portion 26 are provided integrally with the second unit member 52 .
- the third unit member 53 has a first claw portion 21 ⁇ /b>C and a base portion 26 .
- the third unit member 53 is integrally provided with the first claw portion 21C and the base portion 26 .
- the base portion 26 lies on the end surface 12a.
- the base portion 26 has a plate shape that is thick in the axial direction of the central axis 120 and extends in the radial direction of the central axis 120 .
- the base portion 26 of the second unit member 52 is fastened to the slider 14B using bolts or the like.
- the base portion 26 of the third unit member 53 is fastened to the slider 14C using bolts or the like.
- the first claw portion 21B is provided so as to protrude from the base portion 26 in the axial direction of the central axis 120 in a direction away from the base member 12 (end surface 12a).
- the first claw portion 21C is provided so as to protrude from the base portion 26 in the axial direction of the central axis 120 in a direction away from the base member 12 (end surface 12a).
- the third unit member 53 has the same shape as the second unit member 52 .
- the motion converting mechanism 71 has an operating member 61 and a fixed member 76. As shown in FIG. The motion member 61 is provided on the first unit member 51 . The motion member 61 is built in the first unit member 51 . A second claw portion 31 is provided on the operating member 61 .
- the fixed member 76 is fixed to the base member 12 .
- the fixing member 76 is provided on the end face 12a.
- the fixing member 76 is fastened to the base member 12 using bolts or the like.
- the fixed member 76 is provided between the base member 12 (end surface 12 a ) and the motion member 61 in the direction perpendicular to the predetermined plane 110 .
- the motion member 61 is composed of a shaft extending in a direction orthogonal to the predetermined plane 110 .
- the motion member 61 has a first inclined surface 67 .
- the fixing member 76 consists of a block body.
- the fixed member 76 has a second inclined surface 77 .
- the second inclined surface 77 consists of a flat surface.
- the second inclined surface 77 is provided at a position away from the end surface 12 a in a direction orthogonal to the predetermined plane 110 .
- the second inclined surface 77 extends obliquely with respect to the predetermined plane 110 .
- the central axis 120 obliquely crosses the second inclined surface 77 .
- the length between the end surface 12 a and the second inclined surface 77 in the direction orthogonal to the predetermined plane 110 varies along the radial position of the central axis 120 .
- the length between the end surface 12a and the second inclined surface 77 in the direction orthogonal to the predetermined plane 110 changes along the direction of movement of the first claw portion 21A.
- the first inclined surface 67 is a flat surface.
- the first inclined surface 67 extends parallel to the second inclined surface 77 .
- the first inclined surface 67 is in surface contact with the second inclined surface 77 .
- the length of the first inclined surface 67 in the radial direction of the central shaft 120 is equal to the length of the second inclined surface 77 in the radial direction of the central shaft 120 (the operating direction of the first claw portion 21A). less than length.
- the motion member 61 is supported by the support portion 56 so as to be capable of linear motion in a direction orthogonal to the predetermined plane 110 .
- Insertion hole 57 is provided in the support portion 56 .
- Insertion hole 57 extends in a direction orthogonal to predetermined plane 110 .
- the insertion hole 57 opens at a position facing the gripping surface 41 a at one end in the direction perpendicular to the predetermined plane 110 , and opens at a position facing the second inclined surface 77 at the other end in the direction perpendicular to the predetermined plane 110 . It is open.
- An operating member 61 is inserted into the insertion hole 57 .
- the second claw portion 31 is provided on the motion member 61 at a position away from the first inclined surface 67 in the direction perpendicular to the predetermined plane 110 .
- the operating member 61 extends from the first inclined surface 67 in a direction orthogonal to the predetermined plane 110 and away from the fixed member 76 .
- the second claw portion 31 is provided at the distal end portion of the motion member 61 extending from the first inclined surface 67 in a direction away from the fixing member 76 .
- the second claw portion 31 is formed of a shaft, one end face of which in the axial direction corresponds to the gripping surface 31a, and a screw portion 36 is provided on the other side of the axial direction. The threaded portion 36 is screwed into the motion member 61 .
- the motion converting mechanism 71 further has an elastic member 68 .
- the elastic member 68 consists of a coil spring.
- the elastic member 68 is arranged inside the insertion hole 57 and on the outer periphery of the motion member 61 .
- the elastic member 68 applies an elastic force to the action member 61 in a direction to urge the first inclined surface 67 toward the second inclined surface 77 .
- the operating member 61 since the operating member 61 is supported by the supporting portion 56 of the first unit member 51 integrally provided with the first claw portion 21, when the first claw portion 21A linearly moves, the operating member 61 linearly moves in a direction parallel to the predetermined plane 110 (radial direction of the central axis 120) together with the first claw portion 21A. At this time, the first inclined surface 67 slides obliquely with respect to the predetermined plane 110 while making surface contact with the second inclined surface 77 , so that the operating member 61 linearly moves in a direction orthogonal to the predetermined plane 110 . . Thereby, the second claw portion 31 provided on the motion member 61 can be linearly moved in the direction orthogonal to the predetermined plane 110 .
- the third claw portion 41 is provided integrally with the first claw portion 21A.
- the first unit member 51 is integrally provided with the first claw portion 21A, the third claw portion 41, and a support portion 56 for supporting the operation member 61. As shown in FIG. With such a configuration, the work holding device 10 can be further simplified in configuration by reducing the number of parts.
- FIG. 11 is a cross-sectional view showing a modification of the motion conversion mechanism shown in FIG. 12 is a cross-sectional view showing a modification of the motion conversion mechanism viewed in the direction of the arrows on line XII-XII in FIG. 11.
- FIG. 11 and 12 show the locking member 76 and the portion of the operating member 61 that engages the locking member 76.
- the motion member 61 has a first inclined surface 67 and a third inclined surface 69. As shown in FIG. The first inclined surface 67 and the third inclined surface 69 are flat surfaces. The third inclined surface 69 faces the opposite side of the first inclined surface 67 .
- the fixing member 76 has a second inclined surface 77 and a fourth inclined surface 78 .
- the second inclined surface 77 and the fourth inclined surface 78 are flat surfaces.
- the fourth inclined surface 78 faces the opposite side of the second inclined surface 77 .
- the second inclined surface 77 is in surface contact with the first inclined surface 67 .
- the fourth inclined surface 78 is in surface contact with the third inclined surface 69 .
- the motion member 61 has a key portion 66 .
- the key portion 66 extends obliquely with respect to the predetermined plane 110 and forms a first inclined surface 67 and a third inclined surface 69 on the front and back sides in the direction orthogonal to the extending direction.
- a groove portion 79 is provided in the fixing member 76 .
- the groove portion 79 extends obliquely with respect to the predetermined plane 110 and has inner walls formed of a second inclined surface 77 and a fourth inclined surface 78 that face each other in a direction orthogonal to the extending direction.
- the second inclined surface 77 is in surface contact with the first inclined surface 67 and the fourth inclined surface 78 is in surface contact with the third inclined surface 69 .
- the first inclined surface 67 and the third inclined surface 69 are in surface contact with the second inclined surface 77 and the fourth inclined surface 78, respectively, and slide obliquely with respect to the predetermined plane 110.
- the motion member 61 linearly moves in a direction orthogonal to the predetermined plane 110 .
- the second claw portion 31 can be linearly moved in the direction perpendicular to the predetermined plane 110 without using the elastic member 68 shown in FIGS.
- the elastic member 68 since the elastic member 68 is not used, damage to the elastic member 68 can be prevented as much as possible.
- the motion conversion mechanism in the present invention is not limited to the configuration using the surface contact between the inclined surfaces in the present embodiment.
- a configuration using a link mechanism or a cam mechanism capable of converting to a linear motion in the direction of movement may be used.
- FIG. 13 is a plan view schematically showing a work conveying device using the work holding device in FIG.
- a work conveying device 310 has a work holding device 10 .
- the work conveying device 310 conveys the work held by the work holding device 10 .
- the workpiece transfer device 310 further has a robot arm 320 .
- the robot arm 320 is, for example, a six-axis controllable robot arm.
- the work holding device 10 is provided on the robot arm 320 .
- the work holding device 10 is attached to the tip of the robot arm 320 as an end effector.
- a work material table 150 a work material table 150, a first machine tool 160, a work assembly table 170, a second machine tool 180, and a finished work table 190 are provided.
- a material 215p of the work 215 is placed on the work material table 150.
- the material 215p of the workpiece 215 is gripped using the second claw portion 31 and the third claw portion 41 in the second holding mode shown in FIGS.
- the robot arm 320 By operating the robot arm 320 , the material 215 p of the work 215 is conveyed from the work material table 150 to the first machine tool 160 .
- an intermediate product 215q of the work 215 is obtained.
- an assembly 210p of the workpiece 210 is obtained by combining the two intermediate workpieces 215q on the workpiece assembly table 170.
- second machine tool 180 performs final machining (finishing) on assembly 210p of workpiece 210 to obtain finished product 210q of workpiece 210 .
- a finished product 210q of the work 210 is gripped using the plurality of first claws 21 in the first holding mode shown in FIGS.
- the finished product 210 q of the work 210 is transferred from the second machine tool 180 to the finished work table 190 .
- the workpiece is gripped in the first holding form using the plurality of first claws 21, and the second claw 31 and the third claw are adapted to the shape or processing state of the conveyed workpiece. 41 can be selected to grip the workpiece in the second holding form.
- the material 215p of the work 215 is semi-cylindrical, it cannot be gripped on the inner diameter.
- the material 215p of the work 215 is in an unprocessed state, it is not necessary to take into consideration the adhesion of scratches to the surface of the work due to gripping of the work. For this reason, for conveying the material 215p of the work 215 from the work material table 150 to the first machine tool 160, the work gripping by the second holding form using the second claw portion 31 and the third claw portion 41 is selected. ing.
- the finished product 210q of the work 210 is cylindrical and the inner peripheral surface 225a of the inner collar portion 225 is finished, it is possible to hold the inner diameter.
- the finished product 210q of the work 210 has been finished, it is necessary to avoid scratches on the surface of the work due to gripping of the work. For this reason, for conveying the finished product 210q of the workpiece 210 from the second machine tool 180 to the finished workpiece table 190, the second holding form using the plurality of first claws 21 is selected to grip the workpiece. .
- the robot arm 320 can be used for both the transfer of the workpiece 215p and the transfer of the workpiece 215p from the workpiece table 150 to the first machine tool 160 .
- the work holding device 10 is not limited to a robot arm, and may be used, for example, in a gantry loader capable of transporting a work in three axial directions.
- This invention is mainly applied to a work holding device provided with claw members for holding a work.
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Abstract
Description
このように構成されたワーク保持装置によれば、部品点数を削減することにより、ワーク保持装置をさらに簡易な構成にできる。
Claims (8)
- 互いに間隔を設けて所定平面内に配置され、前記所定平面に平行な方向に直線動作が可能な複数の第1爪部と、
前記所定平面に直交する方向において、互いに対向して配置される第2爪部および第3爪部と、
前記第1爪部のその動作に伴う直線運動を、前記所定平面に直交する方向の直線運動に変換して前記第2爪部に伝達し、前記第2爪部を前記所定平面に直交する方向に直線動作させる運動変換機構部とを備え、
前記第1爪部、前記第2爪部および前記第3爪部は、保持するワークと当接する把持面を有し、前記第1爪部の前記把持面は、前記第2爪部および前記第3爪部の前記把持面と異なる形状を有する、ワーク保持装置。 - 互いに間隔を設けて所定平面内に配置され、前記所定平面に平行な方向に直線動作が可能な複数の第1爪部と、
前記所定平面に直交する方向において、互いに対向して配置される第2爪部および第3爪部と、
前記第1爪部のその動作に伴う直線運動を、前記所定平面に直交する方向の直線運動に変換して前記第2爪部に伝達し、前記第2爪部を前記所定平面に直交する方向に直線動作させる運動変換機構部とを備え、
前記第3爪部は、前記第1爪部と一体に設けられる、ワーク保持装置。 - 前記第2爪部および前記第3爪部は、複数の前記第1爪部から前記所定平面に直交する方向にずれた位置に設けられる、請求項1または2に記載のワーク保持装置。
- 前記第2爪部および前記第3爪部は、前記所定平面に直交する方向に見た場合に、複数の前記第1爪部に取り囲まれた位置に設けられる、請求項1から3のいずれか1項に記載のワーク保持装置。
- 互いに間隔を設けて所定平面内に配置され、前記所定平面に平行な方向に直線動作が可能な複数の第1爪部と、
前記所定平面に直交する方向において、互いに対向して配置される第2爪部および第3爪部と、
前記第1爪部のその動作に伴う直線運動を、前記所定平面に直交する方向の直線運動に変換して前記第2爪部に伝達し、前記第2爪部を前記所定平面に直交する方向に直線動作させる運動変換機構部とを備え、
前記運動変換機構部は、
前記所定平面に対して斜め方向に延在する第1傾斜面を有し、前記第1爪部とともに前記所定平面に平行な方向に直線動作が可能であり、かつ、前記所定平面に直交する方向に直線動作が可能なように支持される動作部材と、
前記第1傾斜面と面接触する第2傾斜面を有する固定部材とを含み、
前記第2爪部は、前記第1傾斜面から前記所定平面に直交する方向に離れた位置において前記動作部材に設けられる、ワーク保持装置。 - 複数の前記第1爪部は、前記所定平面に直交する所定軸の周方向において、互いに間隔を設けて配置され、前記所定軸の半径方向に直線動作が可能であり、
前記第1爪部と、前記第3爪部と、前記動作部材を前記所定平面に直交する方向に直線動作可能なように支持する支持部とが一体に設けられたユニット部材を備える、請求項5に記載のワーク保持装置。 - 前記動作部材は、前記第1傾斜面とは反対側を向く第3傾斜面をさらに有し、
前記固定部材は、前記第2傾斜面とは反対側を向き、前記第3傾斜面と面接触する第4傾斜面をさらに有する、請求項5または6に記載のワーク保持装置。 - 請求項1から7のいずれか1項に記載のワーク保持装置を備え、
前記ワーク保持装置により保持されたワークを搬送する、ワーク搬送装置。
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US18/275,009 US20230415284A1 (en) | 2021-02-01 | 2021-09-10 | Workpiece Holding Device and Workpiece Conveyance Device |
EP21923008.3A EP4286093A1 (en) | 2021-02-01 | 2021-09-10 | Workpiece holding device and workpiece conveyance device |
CN202180092489.8A CN116802012A (zh) | 2021-02-01 | 2021-09-10 | 工件保持装置和工件输送装置 |
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JP2021014408A JP6890214B1 (ja) | 2021-02-01 | 2021-02-01 | ワーク保持装置およびワーク搬送装置 |
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Citations (7)
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JPS60113839U (ja) * | 1984-01-06 | 1985-08-01 | 新キャタピラ−三菱株式会社 | 工作物取付具 |
JPH10156658A (ja) * | 1996-11-30 | 1998-06-16 | Ochiai Nexus:Kk | クランプ装置 |
JPH11254370A (ja) * | 1998-03-04 | 1999-09-21 | Kondo Seisakusho:Kk | 薄型流体圧チャック |
JP3853376B2 (ja) * | 1997-04-09 | 2006-12-06 | 日機装株式会社 | ストローク長調整装置 |
JP2008307650A (ja) | 2007-06-15 | 2008-12-25 | Mori Seiki Co Ltd | ワーク供給搬出装置 |
JP2014073574A (ja) * | 2013-12-04 | 2014-04-24 | Fuji Mach Mfg Co Ltd | ハイブリッドチャック |
CN109571069A (zh) * | 2017-09-28 | 2019-04-05 | 新昌县储阳精密机械有限公司 | 一种用于异形工件的夹持装置 |
-
2021
- 2021-02-01 JP JP2021014408A patent/JP6890214B1/ja active Active
- 2021-09-10 WO PCT/JP2021/033296 patent/WO2022163000A1/ja active Application Filing
- 2021-09-10 EP EP21923008.3A patent/EP4286093A1/en active Pending
- 2021-09-10 CN CN202180092489.8A patent/CN116802012A/zh active Pending
- 2021-09-10 US US18/275,009 patent/US20230415284A1/en active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS60113839U (ja) * | 1984-01-06 | 1985-08-01 | 新キャタピラ−三菱株式会社 | 工作物取付具 |
JPH10156658A (ja) * | 1996-11-30 | 1998-06-16 | Ochiai Nexus:Kk | クランプ装置 |
JP3853376B2 (ja) * | 1997-04-09 | 2006-12-06 | 日機装株式会社 | ストローク長調整装置 |
JPH11254370A (ja) * | 1998-03-04 | 1999-09-21 | Kondo Seisakusho:Kk | 薄型流体圧チャック |
JP2008307650A (ja) | 2007-06-15 | 2008-12-25 | Mori Seiki Co Ltd | ワーク供給搬出装置 |
JP2014073574A (ja) * | 2013-12-04 | 2014-04-24 | Fuji Mach Mfg Co Ltd | ハイブリッドチャック |
CN109571069A (zh) * | 2017-09-28 | 2019-04-05 | 新昌县储阳精密机械有限公司 | 一种用于异形工件的夹持装置 |
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JP2022117740A (ja) | 2022-08-12 |
CN116802012A (zh) | 2023-09-22 |
EP4286093A1 (en) | 2023-12-06 |
JP6890214B1 (ja) | 2021-06-18 |
US20230415284A1 (en) | 2023-12-28 |
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