WO2023171169A1 - チャック装置及びローダ装置 - Google Patents

チャック装置及びローダ装置 Download PDF

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Publication number
WO2023171169A1
WO2023171169A1 PCT/JP2023/002357 JP2023002357W WO2023171169A1 WO 2023171169 A1 WO2023171169 A1 WO 2023171169A1 JP 2023002357 W JP2023002357 W JP 2023002357W WO 2023171169 A1 WO2023171169 A1 WO 2023171169A1
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WO
WIPO (PCT)
Prior art keywords
axis
arm
distance
chuck device
claw portion
Prior art date
Application number
PCT/JP2023/002357
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
章雄 中島
Original Assignee
村田機械株式会社
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 村田機械株式会社 filed Critical 村田機械株式会社
Priority to JP2024505941A priority Critical patent/JPWO2023171169A1/ja
Publication of WO2023171169A1 publication Critical patent/WO2023171169A1/ja

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Classifications

    • 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
    • B23B31/1612—Jaws movement actuated by cam surface in a radial plane
    • 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
    • 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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Definitions

  • the present invention relates to a chuck device and a loader device.
  • a chuck device that grips an object by moving a plurality of claws forward and backward with respect to a central axis.
  • Such a chuck device has a configuration in which a plurality of claws are moved back and forth in a linear direction along the radial direction of the central axis.
  • increasing the movement stroke of the claw results in an increase in the size of the entire chuck device.
  • a configuration has been proposed in which the arm on which the claw is provided is rotated around a predetermined axis to move the claw forward and backward with respect to the central axis (for example, in the patent (See Reference 1).
  • An object of the present invention is to provide a chuck device and a loader device that are capable of stably gripping an object while ensuring a large movement stroke of the claw portion.
  • a chuck device includes a base including a drive shaft rotated by a drive unit, an arm base attached to the drive shaft and rotatable with respect to the base, and a first axis of the drive shaft attached to the base.
  • a cam member including a plurality of cam grooves whose distance from the first axis gradually changes along the circumference; an arm member, each of the plurality of arm members includes a first arm extending in a radial direction from the rotation axis to the second axis, and a claw portion extending from the tip of the first arm in a direction parallel to the first axis.
  • the arm base rotates relative to the base to rotate around the first shaft, and the cam follower is guided by the cam groove to swing the first arm around the second shaft.
  • the claw portion is moved forward and backward with respect to the first shaft.
  • a loader device includes the chuck device of the above-described aspect.
  • each of the plurality of arm members rotates in the direction around the first shaft as the arm base rotates with respect to the base, and the cam follower is guided by the cam groove.
  • the claw portion By swinging the first arm in a direction around the second shaft, the claw portion can be moved forward and backward with respect to the first shaft.
  • a large movement stroke of the claw portion can be ensured without increasing the overall size.
  • the claw portion is configured to move linearly or curvedly in a direction toward the first axis or in a direction deviated from the first axis when the arm base rotates.
  • An angle between the direction and the direction may be set.
  • the direction in which the claw moves forward and backward can be easily determined by clarifying the parameters regarding the advance and retreat of the claw.
  • the second distance may be set longer than the first distance. According to this configuration, since the second distance is set longer than the first distance, the claw portion can be moved largely in the radial direction relative to the radial movement distance of the cam follower.
  • the angle formed by the first distance direction and the second distance direction when viewed from the second axis direction may be set to be smaller than 180 degrees. According to this configuration, since the first arm and the second arm are formed by being bent, the claw portion can be opened and closed appropriately without increasing the overall length of the arm member. Further, in the chuck device according to the above aspect, the plurality of arm members may be arranged at equal intervals around the first axis. According to this configuration, the claw portions are arranged at equal intervals in the direction around the central axis, so that the object can be appropriately gripped.
  • the cam follower may be provided rotatably around an axis parallel to the first axis. According to this configuration, the cam follower can be smoothly moved along the cam groove by rotating around the axis parallel to the first axis.
  • the claw portion may be provided in a cylindrical shape extending in a direction parallel to the first axis. According to this configuration, even if the claw portion rotates around an axis parallel to the central axis, the claw portion can be brought into contact with the object with the same line contact.
  • the loader device since it is equipped with the chuck device according to the above aspect, the object can be transported in a stable posture.
  • FIG. 1 is a perspective view showing an example of a chuck device according to an embodiment. It is a sectional view showing an example of the chuck device concerning an embodiment.
  • 3 is a sectional view taken along line AA in FIG. 2.
  • FIG. It is a figure showing the state where a cam member was seen from the back side. It is a figure which shows the state where a claw part is open.
  • FIG. 3 is a diagram showing a state in which the claw portion is closed and grips an object.
  • FIG. 3 is a diagram showing the relationship between a first axis and a second axis. It is a figure which shows the relationship of the 1st arm and 2nd arm in an arm member.
  • FIG. 3 is an enlarged view of the loader head of the loader device.
  • the direction perpendicular to the XZ plane is expressed as the Y direction.
  • the X direction, Y direction, and Z direction will be described assuming that the direction indicated by the arrow in the figure is the + direction, and the direction opposite to the direction indicated by the arrow is the - direction.
  • FIG. 1 is a perspective view showing an example of a chuck device 100 according to an embodiment.
  • FIG. 2 is a cross-sectional view showing an example of the chuck device 100 according to the embodiment.
  • the chuck device 100 includes a case (base) 10, a drive shaft 20, an arm base 30, a cam member 40, and an arm member 50.
  • the chuck device 100 grips and releases the object W.
  • the object W is, for example, a columnar object (the outer periphery of the cross section is circular) (see FIG. 6).
  • the object W is not limited to being cylindrical, and may have other shapes.
  • the side on which the object W is placed with respect to the chuck device 100 will be referred to as the front side (front direction), and the side opposite to the front side will be referred to as the back side (back direction).
  • the case 10 has a cylindrical shape and holds the drive shaft 20, the arm base 30, the cam member 40, and the arm member 50.
  • the case 10 is attached and fixed to, for example, a loader head 241 (see FIG. 11) of a loader device 240, which will be described later.
  • Case 10 rotatably supports drive shaft 20.
  • the drive shaft 20 is rotatable relative to the case 10 by a bearing 27 (see FIG. 2) provided between the drive shaft 20 and the case 10.
  • the drive shaft 20 is arranged so as to pass through the case 10, and is connected to a drive section 26 (see FIG. 2).
  • the drive shaft 20 is rotated around the first axis AX1 by the drive section 26.
  • FIG. 3 is a cross-sectional view taken along line AA in FIG. 2.
  • the drive section 26 includes a pinion gear 26a, a rack gear 26b, and a rack drive section 26c.
  • the pinion gear 26a is fixed to the drive shaft 20 and rotates integrally with the drive shaft 20 around the first axis AX1.
  • the rack gear 26b is arranged to extend parallel to the tangential direction of the pinion gear 26a, and meshes with the pinion gear 26a.
  • the rack drive unit 26c moves the rack gear 26b forward and backward in a linear direction.
  • a hydraulic cylinder device, an air cylinder device, or the like is used as the rack drive unit 26c.
  • the rack drive section 26c includes a cylinder section 26d, a piston 26e, spaces 28A and 28B, and a supply section 29.
  • the cylinder portion 26d is fixed to the case 10, and a portion of the rack gear 26b is disposed inside the cylinder portion 26d.
  • the piston 26e is slidably disposed within the cylinder portion 26d, and partitions the space within the cylinder portion 26d into a space 28A and a space 28B.
  • the piston 26e is connected to a rack gear 26b and moves forward and backward together with the rack gear 26b.
  • the supply section 29 includes passages that communicate with each of the spaces 28A and 28B, and supplies or discharges fluid (for example, oil, air, etc.) for moving the piston 26e back and forth.
  • the piston 26e By supplying fluid to the space 28A by the supply section 29 and discharging the fluid from the space 28B, the piston 26e moves to the left in the cylinder section 26d. As a result, the rack gear 26b moves to the left in the drawing, causing the pinion gear 26a that meshes with the rack gear 26b to rotate counterclockwise in the drawing. This rotation of the pinion gear 26a causes the drive shaft 20 to rotate counterclockwise in the plane of the drawing. Further, by supplying fluid to the space 28B by the supply section 29 and discharging the fluid from the space 28A, the piston 26e moves within the cylinder section 26d to the right in the plane of the paper. As a result, the rack gear 26b moves to the right in the drawing and rotates the pinion gear 26a clockwise in the drawing. This rotation of the pinion gear 26a causes the drive shaft 20 to rotate clockwise in the drawing.
  • a configuration using a pinion gear 26a, a rack gear 26b, and a rack drive unit 26c as the drive unit 26 is described as an example, but the configuration is not limited to this.
  • a configuration may be used in which an electric rotary motor is used as the drive unit 26 to rotate the drive shaft 20 clockwise or counterclockwise.
  • the arm base 30 is attached to the end of the drive shaft 20 via a connecting member 25, as shown in FIGS. 1 and 2. Note that the arm base 30 is shown by a chain line in FIG.
  • the arm base 30 rotates around the first axis AX1 integrally with the drive shaft 20. That is, the arm base 30 rotates with respect to the case 10.
  • the arm base 30 is made of a disc-shaped member, and has a cutout shape except for a portion to which the arm member 50 is attached. This configuration reduces the mass of the arm base 30 and improves responsiveness when rotating the arm base 30.
  • the arm base 30 is not limited to the illustrated form, and may be, for example, in the shape of a disc without a cutout, or in a form in which rod-like members are combined.
  • FIG. 4 is a diagram showing the cam member 40 viewed from the back side.
  • Cam member 40 is attached to case 10.
  • the cam member 40 is integral with the case 10 and does not rotate like the drive shaft 20 and arm base 30. Namely. It can be said that the drive shaft 20 and the arm base 30 rotate around the first axis AX1 with respect to the cam member 40.
  • the cam member 40 has, for example, a triangular plate shape when viewed from the direction of the first axis AX1, but is not limited to this form, and any shape capable of forming a cam groove 41 described later may be used.
  • the cam member 40 is arranged on the back side of the arm base 30 in the direction of the first axis AX1.
  • the cam member 40 includes a plurality of cam grooves 41.
  • a plurality of cam grooves 41 are provided corresponding to the number of arm members 50.
  • cam grooves 41 are provided at three locations corresponding to the three arm members 50.
  • the three cam grooves 41 are arranged at equal intervals of 120° around the first axis AX1.
  • Each of the plurality of cam grooves 41 extends around the first axis AX1 of the drive shaft 20, and is provided in a curved shape so that the distance from the first axis AX1 gradually changes.
  • the cam member 40 is provided in a curved shape so that the distance from the first axis AX1 gradually changes in the counterclockwise direction around the first axis AX1.
  • the distance from the first axis AX1 is one parameter for rotating the arm member 50 (for moving the claw portion 53, which will be described later), and the details will be described later.
  • the cam groove 41 is not limited to a curved shape, and may be provided in a straight line so that the distance from the first axis AX1 gradually changes, for example.
  • the arm member 50 includes a first arm 51, a second arm 52, a claw portion 53, a cam follower 54, and a rotating shaft 55.
  • the arm member 50 is attached to the arm base 30 via a rotating shaft 55, and is rotatable about the second axis AX2 of the rotating shaft 55 with respect to the arm base 30.
  • three arm members 50 are attached to the arm base 30.
  • the number of arm members 50 is arbitrary and may be two, four or more.
  • the three arm members 50 are arranged at equal intervals of 120° around the first axis AX1.
  • the first arm 51 is provided to extend in a radial direction from the rotating shaft 55 to the second axis AX2, and is disposed on the front side of the arm base 30 in the direction of the first axis AX.
  • the second arm 52 is provided so as to extend from the rotating shaft 55 in a radial direction with respect to the second axis AX2, and is arranged on the back side of the arm base 30 in the direction of the first axis AX.
  • the claw portion 53 is provided at the tip portion 51a of the first arm 51.
  • the claw portion 53 is provided so as to extend from the tip portion 51a toward the front side in a direction parallel to the first axis AX1 (second axis AX2).
  • the claw portion 53 is provided in a cylindrical shape extending in a direction parallel to the first axis AX1.
  • the distance from the second axis AX2 to the claw portion 53 is one parameter for moving the claw portion 53, and the details will be described later.
  • the claw portion 53 is not limited to having a circular cross section, and the portion in contact with the object W may be a columnar shape having an arc shape, or a columnar shape having an elliptical or oblong cross section. There may be.
  • the cam follower 54 is provided at the tip portion 52a of the second arm 52.
  • the cam follower 54 is provided so as to extend from the tip portion 52a toward the back side in a direction parallel to the first axis AX1 (second axis AX2).
  • the cam follower 54 is provided in a cylindrical shape extending in a direction parallel to the first axis AX1, and is rotatable around an axis parallel to the first axis AX1.
  • Each of the cam followers 54 is arranged so as to fit into one of the plurality of cam grooves 41. Since the cam follower 54 is rotatable around an axis parallel to the first axis AX1, the cam follower 54 can be smoothly moved along the cam groove 41.
  • the distance from the second axis AX2 to the cam follower 54 is one parameter for moving the claw portion 53, and the details will be described later.
  • the cam follower 54 is not limited to being rotatable, but may have a cylindrical shape that does not rotate.
  • the arm base 30 rotates with respect to the cam member 40 (case 10), so that the cam follower 54 is guided to the cam groove 41 while rotating in the direction around the first axis AX1.
  • the first arm 51 is swung in a direction around the second axis AX2, and the claw portion 53 is moved forward and backward with respect to the first axis AX1.
  • the timing of swinging the first arm 51 in the direction around the second axis AX2 is set at the same time or almost at the same time. Therefore, by rotating the arm base 30, the plurality of claws 53 move forward and backward at the same time or almost simultaneously, and the object W can be gripped and released.
  • FIG. 5 is a diagram showing the claw portion 53 in an open state.
  • each of the plurality of claws 53 is arranged at an open position P1 away from the object W (or released from gripping the object W).
  • the arm base 30 and the cam follower 54 are at rotational positions around the first axis AX1 corresponding to the open position P1.
  • the claw portion 53 is held in the open position P1 by holding the rotational position of the arm base 30 (drive shaft 20).
  • the rotational position of the arm base 30 is adjusted by the rack drive section 26c shown in FIG.
  • the supply section 29 supplies or discharges fluid to the spaces 28A and 28B to set the position of the piston 26e within the cylinder section 26d. Since the piston 26e is integral with the rack gear 26b, the rotational position of the pinion gear 26a that meshes with the rack gear 26b is determined. Since the pinion gear 26a is fixed to the drive shaft 20, the rotational position of the drive shaft 20 is determined, and as a result, the rotational position of the arm base 30 is determined. With the claws 53 in the open position P1, the object W can be gripped by placing the object W between the plurality of claws 53 and closing the claws 53.
  • FIG. 6 is a diagram showing a state in which the claw portion 53 is closed and grips the object W.
  • each of the plurality of claws 53 advances from the open position P1 to the gripping position P2 where the object W is gripped by rotating the arm base 30 (drive shaft 20).
  • the arm base 30 rotates counterclockwise around the first axis AX1 with respect to the cam member 40
  • the arm member 50 rotates around the first axis AX1. to go around.
  • the cam follower 54 is guided by the cam groove 41 and the distance from the first axis AX1 increases.
  • the arm member 50 rotates clockwise around the first axis AX1, causing the claw portion 53 provided at the distal end portion 51a of the first arm 51 to advance toward the first axis AX1, thereby causing the plurality of The object W is gripped by the claw portion 53.
  • the gripping force by the claw portion 53 can be adjusted by the rotational driving force of the arm base 30 (drive shaft 20).
  • each of the plurality of claws 53 moves linearly (or substantially linearly) back and forth between the release position P1 and the gripping position P2 along the radial direction of the first axis AX1. do.
  • the plurality of claws 53 move forward and backward in conjunction with the rotation of the drive shaft 20.
  • the drive shaft 20 rotates clockwise in the figure from the state shown in FIG. 5
  • the arm base 30 rotates clockwise with respect to the case 10
  • each of the plurality of arm members 50 Rotates clockwise around the axis of AX1.
  • the cam follower 54 is guided by the cam groove 41, the first arm 51 swings counterclockwise around the second axis AX2, and the claw portion 53 moves in a linear direction from the release position P1 to the gripping position P2. to expand into The claw portion 53 advances to the gripping position P2 to grip the object W.
  • the arm base 30 rotates counterclockwise via the connecting member 25. Due to this rotation, each of the plurality of arm members 50 rotates counterclockwise in a direction around the first axis AX1.
  • the cam follower 54 is guided by the cam groove 41, the first arm 51 swings counterclockwise around the second axis AX2, and the claw portion 53 moves in a linear direction from the gripping position P2 to the release position P1. evacuate to. By retracting the claw portion 53 to the open position P1, the grip on the object W is released.
  • the claw portion 53 since the claw portion 53 has a circular cross section, one point on the outer periphery of the claw portion 53 (or a line parallel to the first axis AX1 including this one point) is attached to the object W. come into contact with.
  • the claw portion 53 contacts the object W at a point along the radial direction of the first axis AX1 on the outer periphery of the claw portion 53. For example, when gripping objects W having different outer diameters, the claws 53 themselves rotate and come into contact with the objects W at different positions on the outer periphery of the claws 53.
  • the cross section of the claw portion 53 is circular, even if the outer diameter of the object W is different, the claw portion 53 can be brought into contact with the object W at one point on the outer periphery. That is, even if the object W to be gripped has a different outer diameter, the object W can be reliably gripped at three points by the three claws 53.
  • FIG. 7 is a diagram showing the relationship between the first axis AX1 and the second axis AX2.
  • FIG. 8 is a diagram showing the relationship between the first arm 51 and the second arm 52 in the arm member 50.
  • FIG. 9 is a diagram showing the relationship between the first axis AX1, the second axis AX2, and the cam groove 41.
  • FIG. 10 is a table showing an example of aspects of each part. As described above, in order to move the claw portion 53 linearly (or substantially linearly) in the radial direction with respect to the first axis AX1, it is necessary, for example, to satisfy the following conditions.
  • a distance A from the first axis AX1 to the second axis AX2 a distance B (second distance) from the second axis AX2 to the claw portion 53, and a distance from the second axis AX2 to the cam follower 54.
  • distance C (first distance) and the angle D formed by the direction of distance C (first distance) and the direction of distance B (second distance) when viewed from the direction of second axis AX2, the claw portion 53 is moved.
  • each parameter is set so that when the arm base 30 rotates, the claw portion 53 moves linearly or curved in a direction toward the first axis AX1 or in a direction deviated from the first axis AX1. Ru.
  • the values of these parameters are set as shown in the table of FIG.
  • the distance B (second distance) is set to be longer than the distance C (first distance).
  • the angle D is set to be smaller than 180 degrees. As a result, the total length of the arm member 50 can be shortened, and a compact chuck device 100 can be realized.
  • the shape of the cam groove 41 is also determined according to the parameter values for the arm member 50. As shown in FIG. 9, the shape of the cam groove 41 is such that the horizontal direction between the first axis AX1 and the second axis AX2 is a distance X, and the vertical direction is a distance Y. The distance between the far end Q1 and the first axis AX1 is H, the distance R is between the end Q1 and the second axis AX2, and the straight line L1 connecting the second axis AX2 and the end Q1 is the second axis.
  • the claw portion 53 can be moved forward and backward in a desired direction. These are parameters related to the shape of the cam groove 41.
  • the values shown in Example 1 are set, for example. No. 1, the parameter values of the arm member 50 are set to distance A: 65 mm, distance B: 65 mm, distance C: 40 mm, and angle D: 135°.
  • the parameter values of the cam groove 41 are: distance X: 195.3 mm, distance Y: 59.8 mm, distance R: 227.5 mm, angle E: 16°, angle F: 25°, distance H: 92.5 mm. , is set to .
  • the linear motion error is 0.47 mm, which is less than 0.5 mm.
  • Examples 2 and 3 similarly to the above-mentioned Example 1, distance A, distance B, distance C, and angle D are set as parameter values of the arm member 50, and parameters of the cam groove 41 are set. As the values, distance X, distance Y, distance R, angle E, angle F, and distance H are set.
  • the table in FIG. 10 and the above contents are merely examples, and some or all of the values listed in the table may be changed. Furthermore, when the claw portion 53 is removed from the first axis AX1 and moved forward and backward in a straight line, or when the claw portion 53 is moved forward and backward in a curved manner, the values in the table of FIG. 10 are different, and the claw portion is moved along a desired trajectory. Each value is set so that 53 moves forward or backward.
  • each of the plurality of arm members 50 rotates in the direction around the first axis AX1. Since the cam follower 54 is guided by the cam groove 41, the first arm 51 can be swung in a direction around the second axis AX2, and the claw portion 53 can be moved forward and backward with respect to the first axis AX1. As a result, a large movement stroke of the claw portion 53 can be ensured without increasing the size of the chuck device 100 as a whole. Moreover, when the object W is gripped by the claw portion 53, it is possible to suppress the force applied to the object W in the rotational direction, and to stably grip the object W.
  • FIG. 11 is a front view showing an example of the loader device 240 according to the embodiment.
  • the loader device 240 shown in FIG. 11 is used to transport an object (work) W in the machine tool system 300.
  • the machine tool system 300 includes a carry-in section 210, a machine tool 220, a carry-out section 230, a loader device 240, and a control section 250.
  • the carry-in section 210 places the object W to be processed by the machine tool 220.
  • the carry-in section 210 has a mounting table 211 that holds the object W.
  • the unprocessed object W is held on the mounting table 211 .
  • the carry-in section 210 is provided so that the unprocessed object W can be delivered to the loader device 240.
  • the machine tool 220 processes the object W using the tool T.
  • the machine tool 220 has main shafts 213 and 214, turrets 215 and 216, and a reversing device 219.
  • the main shafts 213 and 214 are arranged side by side in the X direction, and are rotatably supported by a bearing or the like (not shown) about an axis parallel to the Z direction.
  • Chucks 213a and 214a are provided at the -Z side ends of the main shafts 213 and 214, respectively.
  • the chucks 213a and 214a hold or release the object W by being opened and closed by a drive unit (not shown).
  • the loader device 240 transfers the object W to each of these chucks 213a and 214a.
  • the turret 215 is arranged on the -X side of the main shaft 213.
  • the turret 216 is arranged on the +X side of the main shaft 214.
  • Each of the turrets 215 and 216 is rotatable around an axis parallel to the Z direction by a drive device (not shown). Further, the turrets 215 and 216 are movable in the X direction and the Z direction by a drive device (not shown).
  • a plurality of holding parts for holding the tool T are provided on the circumferential surfaces of the turrets 215 and 216. The tool T is held in all or part of these holding parts. Therefore, a desired tool T is selected by rotating the turrets 215 and 216.
  • the tool T is replaceable for each holding part.
  • the tool T may be a cutting tool for cutting the object W, or a rotary tool such as a drill or an end mill.
  • the reversing device 219 includes chucks 217 and 218 that can hold the object W.
  • the loader device 240 transfers the object W to each of the chucks 217 and 218.
  • the chucks 217 and 218 are arranged side by side in the X direction on the +Y side (above) of the main shafts 213 and 214.
  • the chucks 217 and 218 hold or release the object W by being opened and closed by a drive unit (not shown).
  • the reversing device 219 reverses the object W gripped by the chuck 217 by passing the object W to the chuck 218.
  • the unloading unit 230 places the object W processed by the machine tool 220.
  • the unloading section 230 has a mounting table 231 that holds the processed object W.
  • the processed object W is held on the mounting table 231 .
  • the mounting table 231 is provided so as to be able to receive the object W from the loader device 240.
  • the loader device 240 transports the object W between the loading section 210, the machine tool 220, and the unloading section 230.
  • the loader device 240 includes a loader head 241 and a loader drive section 242.
  • the loader head 241 includes the chuck device 100 described above.
  • the loader drive section 242 includes an X drive section 244, a Y drive section 245, and a Z drive section 246.
  • the X drive section 244 includes an X slider 244a and a guide rail 244b. The X slider 244a moves in the X direction along the guide rail 244b by a drive unit (not shown).
  • the Y drive unit 245 includes a Y slider 245a that is moved in the Y direction by a drive unit (not shown) along a Y guide (not shown) provided in the X slider 244a.
  • the Z drive section 246 has a lift rod 246a that is moved up and down by a drive section (not shown) along a lift guide provided in the Y slider 245a.
  • the loader head 241 is provided at the lower end of the lifting rod 246a.
  • FIG. 12 is an enlarged view of the loader head 241 of the loader device 240.
  • Loader head 241 holds two chuck devices 100 via swivel joint 241a.
  • the swivel joint 241a can be configured, for example, in a posture in which the object W gripped by the claw portion 53 of the chuck device 100 is oriented in the ⁇ Z direction (for example, in a posture in which the object W is oriented toward the main shafts 213 and 214) and in a posture in which the object W is oriented in the ⁇ Y direction. It is possible to change the posture to a downward facing posture. Note that the configuration in which the loader head 241 has the swivel joint 241a is just an example, and the configuration in which the loader head 241 does not have the swivel joint 241a is also possible.
  • the loader device 240 grips the object W with the chuck device 100 of the loader head 241, and drives the X drive section 244, Y drive section 245, and Z drive section 246, respectively, to move the work W in the X direction and the Y direction. , Z direction, or a combination of these directions.
  • the loader device 240 transports the object W between the loading section 210, the main shafts 213 and 214, the reversing device 219, and the unloading section 230.
  • the operation of the loader device 240 is controlled by a control section 250. Further, the control unit 250 controls the opening/closing operation of the chuck device 100.
  • the control unit 250 comprehensively controls the operations of the machine tool 220 and the loader device 240 based on a predetermined machining program.
  • the predetermined machining program may be stored in a storage unit included in the control unit 250, or may be sent from a higher-level device via a communication means. Note that instead of controlling the machine tool 220 and the loader device 240 with one control unit 250, the machine tool 220 and the loader device 240 may be controlled by separate control units.
  • the loader device 240 since the loader device 240 according to the present embodiment includes the above-described chuck device 100, even if the movement stroke of the claw portion 53 is large and the change in the outer diameter of the object W is large, the object W can be reliably moved. Can hold W. Furthermore, when the object W is gripped by the claw portion 53, force in the rotational direction is suppressed from being applied to the object W, and the object W is prevented from being gripped in a misaligned manner. When transferring the object W from the carry-in section 210 to the spindles 213 and 214, the object W can be transferred to the spindles 213 and 214 with high precision.
  • the loader device 240 is provided with the chuck device 100, but the present invention is not limited to this mode.
  • the present invention is not limited to this mode.
  • at least one of the chucks 213a and 214a of the main spindles 213 and 214 and the chucks 217 and 218 of the reversing device 219 may be the chuck device 100 described above.
  • the configuration in which the chuck device 100 has three claws 53 is described as an example, but the configuration is not limited to this.
  • the chuck device 100 may have four or more claws 53.
  • the arm base 30 and the cam member 40 may be formed such that the four or more claw portions 53 are arranged at equal intervals in the direction around the first axis AX1.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
PCT/JP2023/002357 2022-03-10 2023-01-26 チャック装置及びローダ装置 WO2023171169A1 (ja)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5698540U (enrdf_load_stackoverflow) * 1979-12-28 1981-08-04
JPS59156688A (ja) * 1983-02-21 1984-09-05 ダイキン工業株式会社 三点把持形ハンド
JP3005937U (ja) * 1994-03-29 1995-01-17 株式会社プラスエンジニアリング 産業用ロボツトのハンド
JPH0717488U (ja) * 1993-08-31 1995-03-28 ポーラ化成工業株式会社 チャック
JPH11179630A (ja) * 1997-12-18 1999-07-06 Plus Engineering:Kk ワークストック装置におけるワーク位置決め装置
JP2006110640A (ja) * 2004-10-12 2006-04-27 Murata Mach Ltd チャック装置
JP2009202321A (ja) * 2008-02-29 2009-09-10 Koganei Corp チャック装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5698540U (enrdf_load_stackoverflow) * 1979-12-28 1981-08-04
JPS59156688A (ja) * 1983-02-21 1984-09-05 ダイキン工業株式会社 三点把持形ハンド
JPH0717488U (ja) * 1993-08-31 1995-03-28 ポーラ化成工業株式会社 チャック
JP3005937U (ja) * 1994-03-29 1995-01-17 株式会社プラスエンジニアリング 産業用ロボツトのハンド
JPH11179630A (ja) * 1997-12-18 1999-07-06 Plus Engineering:Kk ワークストック装置におけるワーク位置決め装置
JP2006110640A (ja) * 2004-10-12 2006-04-27 Murata Mach Ltd チャック装置
JP2009202321A (ja) * 2008-02-29 2009-09-10 Koganei Corp チャック装置

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