JP3882314B2 - hand - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a hand attached to a handling device such as a robot, and is particularly useful when applied to a case where an engine camshaft or a long object is clamped and conveyed to a processing machine or the like.
[0002]
[Prior art]
Taking the engine camshaft as an example, when the camshaft material is transported to the processing line of the next process, etc., the camshaft is clamped with a hand attached to a handling device such as a robot, etc. (Trimming device, NC machine tool). At this time, in order to precisely set the camshaft on a processing machine or the like, it is necessary to precisely position the hand and the camshaft.
[0003]
For this reason, a positioning station is provided in the processing line or the like, and the camshaft that has been transported to the positioning station by a transport line such as a conveyor is positioned at the positioning station by an actuator such as a plurality of positioning pushers. After that, the camshaft is lifted by a lifter so that it can be easily clamped, and the camshaft is clamped so as to be scooped with the tabs of the hand and conveyed to a processing machine or the like.
[0004]
[Problems to be solved by the invention]
As described above, when a workpiece such as a cam shaft clamped on the positioning station is transported and set to a processing machine or the like, it is necessary to accurately position the workpiece. For this reason, conventionally, after the workpiece is positioned accurately at the positioning station as described above, the positioning end of the workpiece and a portion that is easily clamped are clamped with a hand provided in a handling device such as a robot. And it sets to a processing machine etc., maintaining this clamped state.
[0005]
However, in particular, when a workpiece having a complicated shape such as a camshaft is clamped and set on a processing machine or the like, there are the following problems.
[0006]
{Circle around (1)} Since it is difficult to set a reference end method and a positioning pusher of the workpiece at the positioning station, the positioning station tends to have a complicated apparatus configuration. In addition, since the workpiece is not a fixed shape, the positioning position at the positioning station may vary depending on the workpiece.
[0007]
(2) The clamp position of the workpiece after positioning at the positioning station is not constant due to variations in the shape of the workpiece or positioning deviation at the positioning station. For this reason, it is necessary to clamp a flat portion or the like that is not affected by the variation in the clamping position, and there is a restriction on the clamping portion of the workpiece. Then, there is a possibility that the position of the workpiece may be shifted during the conveyance.
[0008]
(5) When setting to a processing machine, etc. after transporting, if the work is misaligned, the work setting position may not be determined properly when the work is set on the processing machine. Defects may occur.
[0009]
Therefore, in view of the above-described prior art, the present invention can surely clamp and transport a workpiece positioned relatively roughly in a positioning station to a processing machine or the like, and even if the workpiece is displaced to some extent, the processing machine or the like. It is an object of the present invention to provide a hand that can be precisely set.
[0010]
[Means for Solving the Problems]
  A hand according to a first aspect of the present invention for solving the above-mentioned problems is a cylinder, a first claw coupled to the cylinder body, a piston rod side of the cylinder coupled via a link spring, and the first claw. A second claw located closer to the cylinder body thanSecure to the bottom plate of the support frameA linear guide that is disposed along the expansion / contraction direction of the piston rod and guides the first claw and the second claw in the expansion / contraction direction, and has both end portions on the second claw side and the linear claw; A pair of brake links that are pivotably coupled to the piston rod side and that can also pivot at the center are provided at least on both sides of the piston rod, and the work is clamped by the first and second claws. When the center part spreads outwardFixed to the bottom plate of the support frameConfigured to contact the brake receiver, andFixed to the bottom plate of the support frameA clamping device having positioning stoppers that contact the main body side abutting portion and the piston rod side abutting portion of the cylinder to determine a reference position before clamping the first claw and the second claw; One unit or a plurality of units are arranged so that the clamping direction is the same direction.
[0011]
According to the hand of the first invention, at the time of clamping, when the piston rod of the cylinder is extended, the second claw is guided by the linear guide and moves in the extending direction of the piston rod, and at the same time, the first claw is the main body of the cylinder. The first claw and the second claw are close to each other and are clamped at a predetermined position of the workpiece (camshaft or the like) because the first claw and the second claw are guided by the linear guide together with the side and moved in the direction opposite to the extending direction. Thereafter, when the piston rod further extends, the central portion of the brake link bends and begins to open outward, and finally comes into contact with the brake receiver to apply the brake.
[0012]
Therefore, until the brake is applied, the first and second claws are free and can move along the linear guide. For this reason, even if the clamp position of the workpiece is displaced to some extent in the positioning station, the first and second claws move following the workpiece, so that the clamp position can be easily clamped. In addition, since a brake is applied during conveyance, the workpiece can be prevented from shaking.
[0013]
On the other hand, at the time of unclamping, the piston rod is retracted to perform an operation reverse to that at the time of clamping. Therefore, the work becomes free and moves along the linear guide together with the first and second claws until the first claw and the second claw are separated and the work is released after the brake is released. it can. For this reason, even if the workpiece is misaligned to some extent when it is set on a processing machine, the workpiece follows the positioning guide of the set part of the processing machine before unclamping. Can be set.
[0014]
  The hand of the second invention is a cylinder, a first claw coupled to the main body side of the cylinder, a piston rod side of the cylinder coupled via a link spring, and the cylinder more than the first claw. A second claw located closer to the main body side of theSecure to the bottom plate of the support frameA linear guide that is disposed along the expansion / contraction direction of the piston rod and guides the first claw and the second claw in the expansion / contraction direction, and has both end portions on the second claw side and the linear claw; A pair of brake links that are pivotably coupled to the piston rod side and that can also pivot at the center are provided at least on both sides of the piston rod, and the work is clamped by the first and second claws. When the center part spreads outwardFixed to the bottom plate of the support frameConfigured to contact the brake receiver, andFixed to the bottom plate of the support frameA clamping device having positioning stoppers that contact the main body side abutting portion and the piston rod side abutting portion of the cylinder to determine a reference position before clamping the first claw and the second claw; A plurality of devices are arranged such that the clamping direction of at least one clamping device is orthogonal to the clamping direction of other clamping devices.
[0015]
Therefore, according to the hand of the second invention, since the clamping direction of at least one clamping device is orthogonal to the clamping direction of the other clamping device, the clamping position of the workpiece is the axial direction at the positioning station at the time of clamping. Even if the position is displaced to some extent in the orthogonal direction (lateral direction), the first and second claws of the clamping device move in the horizontal direction following this work, so that the clamping position can be easily clamped. it can. Also, when unclamping, even if the workpiece is displaced to some extent in the lateral direction when set on a processing machine or the like, the workpiece follows the positioning guide of the set part of the processing machine or the like before unclamping. The workpiece is precisely set on a processing machine.
[0016]
  The hand of the third invention is a cylinder, a first claw coupled to the main body side of the cylinder, a piston rod side of the cylinder coupled via a link spring, and the cylinder more than the first claw. A second claw located closer to the main body side of theSecure to the bottom plate of the support frameA linear guide that is disposed along the expansion / contraction direction of the piston rod and guides the first claw and the second claw in the expansion / contraction direction, and has both end portions on the second claw side and the linear claw; A pair of brake links that are pivotably coupled to the piston rod side and that can also pivot at the center are provided at least on both sides of the piston rod, and the work is clamped by the first and second claws. When the center part spreads outwardFixed to the bottom plate of the support frameConfigured to contact the brake receiver, andFixed to the bottom plate of the support frameA first clamping device having positioning stoppers that respectively contact the main body side abutting portion and the piston rod side abutting portion of the cylinder to determine a reference position before clamping the first claw and the second claw. When,
  A cylinder, a first claw coupled to the main body side of the cylinder, a second claw coupled to the piston rod side of the cylinder and positioned closer to the main body side of the cylinder than the first claw,Secure to the bottom plate of the support frameA linear guide that is arranged along the expansion / contraction direction of the piston rod and guides the first claw and the second claw in the expansion / contraction direction, respectively.Fixed to the bottom plate of the support frameA second clamping device having positioning stoppers that respectively contact the main body side abutting portion and the piston rod side abutting portion of the cylinder to determine a reference position before clamping the first claw and the second claw. Are arranged such that the clamping direction is the same.
[0017]
Therefore, according to the hand of the third invention, there is no brake mechanism on the second clamping device side, and the work is always free. Therefore, the work is a long object or a large work and has a relatively large shape error. Even so, it can respond.
[0018]
  Further, the hand of the fourth invention includes a cylinder, a first claw coupled to the main body side of the cylinder, a piston rod side of the cylinder coupled via a link spring, and the cylinder more than the first claw. A second claw located closer to the main body side of theSecure to the bottom plate of the support frameA linear guide that is disposed along the expansion / contraction direction of the piston rod and guides the first claw and the second claw in the expansion / contraction direction, and has both end portions on the second claw side and the linear claw; A pair of brake links that are pivotably coupled to the piston rod side and that can also pivot at the center are provided at least on both sides of the piston rod, and the work is clamped by the first and second claws. When the center part spreads outwardFixed to the bottom plate of the support frameConfigured to contact the brake receiver, andFixed to the bottom plate of the support frameA first clamping device having positioning stoppers that respectively contact the main body side abutting portion and the piston rod side abutting portion of the cylinder to determine a reference position before clamping the first claw and the second claw. When,
  A cylinder, a first claw coupled to the main body side of the cylinder, a second claw coupled to the piston rod side of the cylinder and positioned closer to the main body side of the cylinder than the first claw,Secure to the bottom plate of the support frameA linear guide that is arranged along the expansion / contraction direction of the piston rod and guides the first claw and the second claw in the expansion / contraction direction, respectively.Fixed to the bottom plate of the support frameA second clamping device having positioning stoppers that respectively contact the main body side abutting portion and the piston rod side abutting portion of the cylinder to determine a reference position before clamping the first claw and the second claw. Are arranged so that the clamping directions are orthogonal to each other.
  Further, the hand of the fifth invention is any one of the first to fourth inventions,
  A hand that is attached to the wrist of the robot arm.
[0019]
Therefore, according to the hand of the fourth invention, since the work is always free on the second clamping device side because the work is free, the work is a long object or a large work with a relatively large shape error. Even so, it can respond. In addition, since the clamping direction of the second clamping device is orthogonal to the clamping direction of the first clamping device, the workpiece is orthogonal to the axial direction during clamping or unclamping (when set on a processing machine, etc.) Even if the position is shifted to some extent in the horizontal direction), it can be handled.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0021]
[Embodiment 1]
1 and 2 are plan views showing the configuration of the hand according to Embodiment 1 of the present invention. FIG. 1 shows a state before clamping, and FIG. 2 shows a state during clamping. 3 is a view taken along the line AA in FIG. 2, FIG. 4 is a view taken along the line BB in FIG. 2, and FIG. 5 is a view taken along the line C-C in FIG. 6 and 7 are a side view and a plan view showing a state in which the hand is attached to the wrist of the robot, and FIG. 8A is a side view showing an example of a workpiece (an example of a camshaft material) clamped by the hand. 8 (b) is a view taken along the line TT in FIG. 8 (a), and FIG. 8 (c) is a view taken along the line U-U in FIG. 8 (a).
[0022]
<Configuration>
As shown in FIG. 1, the hand 1 is provided with a clamp device 2 </ b> A and a clamp device 2 </ b> B in a rectangular parallelepiped support frame 3. The clamp device 2A and the clamp device 2B have the same shape and are provided to face each other. Therefore, hereinafter, the configuration of the clamp device 2A will be described in detail with reference to FIGS. 1 to 6, and detailed description of the configuration of the clamp device 2B will be omitted.
[0023]
A cylinder 4 is provided at the center of one side (right side in FIG. 1) in the support frame 3. The main body 4 a side of the cylinder 4 is fixed to a support plate 5 that is L-shaped in a side view (see FIG. 4), and a first claw 6 is suspended from the tip of the support plate 5. That is, the first claw 6 is coupled to the main body 4 a side of the cylinder 4 through the support plate 5. On the other hand, a second claw 8 is coupled to the piston rod 4 b side of the cylinder 4 via a link spring 7. This claw 7 is also provided so as to hang downward. The second claw 8 is located closer to the main body 4a of the cylinder 4 than the first claw 6 is. Further, the spring force F of the link spring 7_kIs the cylinder force F of the cylinder 4_sWeaker than (F_k<F_s).
[0024]
A pair of linear guides 9 and 10 are arranged on both sides of the cylinder 4 so as to extend along the expansion / contraction direction (left and right direction in FIG. 1) of the piston rod 4b. The linear guide 9 (10) includes a linear guide rail 9a (10a) fixed to the bottom plate 3a of the support frame 3, and linear guide blocks 9b, 9c, slidably engaged with the linear guide rail 9a (10a). 9d (10b, 10b, 10d).
[0025]
The first claw 6 and the second claw 8 are guided by the linear guides 9 and 10 in the expansion / contraction direction. That is, the main body 4a of the cylinder 4 is coupled to the linear guide blocks 9b and 10b via the coupling members 11 and 12, and the support plate 5 is further coupled to the linear guide blocks 9d and 10d via the coupling members 13 and 14. Is bound to. Accordingly, the first claw 6 is movable along the linear guide rails 9 a and 10 a together with the main body 4 a and the support plate 5 of the cylinder 4. On the other hand, the second claw 8 is coupled to the linear guide blocks 9c and 10c via the coupling members 15 and 16. Therefore, the second claw 8 is also movable along the linear guide rails 9a and 10a.
[0026]
A pair of brake links 17 and 18 are interposed between the second claw 8 and the piston rod 4b. The brake link 17 includes links 17d and 17e, and the brake link 18 includes links 18d and 18e. These brake links 17 and 18 are provided on both sides of the piston rod 4b, and both end portions 17a, 17b, 18a, and 18b are rotatable to the second claw 8 side and the piston rod 4b side, respectively. The central portions 17c and 18c are also configured to be freely rotatable (bent). The central portions 17c and 18c are slightly bent outward even in a state before clamping.
[0027]
For this reason, when the 2nd nail | claw 8 and the piston rod 4b approach, the center parts 17c and 18c of the brake links 17 and 18 will further bend outward and will spread. On the other hand, a pair of brake receivers 19 and 20 are erected on the bottom plate 3 a of the support frame 3. These brake receivers 19 and 20 are respectively arranged outside the brake links 17 and 18 at positions corresponding to the central portions 17c and 18c. Accordingly, the central portions 17c and 18c of the brake links 17 and 18 come into contact with the brake receivers 19 and 20 respectively when the brake links 17 and 18 are spread outward to some extent, whereby the brake is applied.
[0028]
Positioning stoppers 21 and 22 are fixed to the bottom plate 3 a of the support frame 3. The positioning stopper 21 (22) includes a fixing member 21a (22a) fixed to the bottom plate 3a, a contact member 21b (22b) slidably attached to the fixing member 21a (22a), and the contact It is comprised by the spring 21c (22c) interposed between the front-end | tip part 21d (22d) of the member 21b (22b), and the fixing member 21a (22a).
[0029]
One positioning stopper 21 has the tip 21d of the abutting member 21b facing the right side in FIG. 1, and the abutting portion 23 projecting from the main body 4a of the cylinder 4 abuts against the tip 21d. Thus, the reference position before clamping of the main body 4a of the cylinder 4 (that is, the first claw 6) is determined. In the other positioning stopper 22, the tip 22d of the abutting member 22b faces the left side in FIG. 1, and the abutting portion 24 projecting on the second claw 8 side comes into contact with the tip 22d. The reference position of the second claw 8 before clamping is determined.
[0030]
The hand 1 having the above configuration is attached to a wrist 32 at the tip of an arm of a robot 31 as shown in FIGS. 6 and 7, for example, and used for clamping a material 30 of a camshaft. As shown in FIG. 8, the camshaft 30 has a complicated shape, and a D part and an E part in the figure are clamp positions.
[0031]
Therefore, as shown in FIGS. 2 and 3, the camshaft 30 is clamped by the first and second claws 6 and 8 of the clamp device 2A and the first and second claws 6 and 8 of the clamp device 2B. In order to be able to clamp the position D and the clamp position E, the clamping device 2A and the clamping device 2B have a predetermined clamping direction in the same direction (axial direction) and corresponding to the distance between the clamping positions D and E. Oppositely arranged so as to have an interval.
[0032]
<Action and effect>
According to the hand 1 according to the first embodiment, at the time of clamping, the clamp positions D and E of the camshaft 30 are clamped as follows.
[0033]
First, the hand 1 attached to a handling device such as the robot 31 is moved to the camshaft 30 positioned at a positioning station (not shown). At this time, the first claw 6 and the second claw 8 of the clamping devices 2A and 2B are positioned at the reference position by the positioning stoppers 21 and 22.
[0034]
When the clamp position D of the camshaft 30 is clamped by the clamp device 2A, the piston rod 4b of the cylinder 4 provided in the clamp device 2A is extended as shown in FIGS. As a result, the second claw 8 is guided by the linear guides 9 and 10 to move in the extending direction of the piston rod 4b (left direction in FIG. 2), and at the same time, the first claw 6 together with the main body 4a of the cylinder 4 is linear guide. 9 and 10 move in the direction opposite to the extension direction (right direction in FIG. 2). For this reason, the 1st nail | claw 6 and the 2nd nail | claw 8 approach mutually, and clamp the clamp position D. FIG. The clamping force at this time is received by the link spring 7.
[0035]
Thereafter, when the piston rod 4b is further extended, the central portion 17c of the brake link 17 is greatly bent and begins to open outward, and finally comes into contact with the brake receivers 19 and 20 to apply the brake.
[0036]
Even in the clamp device 2B, the same operation as the clamp device 2A is performed to clamp the clamp position E of the camshaft 30, and then the brake is applied.
[0037]
Therefore, until the brake is applied, the first and second claws 6 and 8 are free and can move along the linear guides 9 and 10. For this reason, even if the clamp positions D and E of the camshaft 30 are displaced to some extent at the positioning station, the first and second claws 6 and 8 move along the camshaft 30. , E can be easily clamped. In addition, since the brake is applied during conveyance, the camshaft 30 can be prevented from shaking.
[0038]
On the other hand, at the time of unclamping, the piston rod 4b is retracted to perform the reverse operation to that at the time of clamping. Accordingly, the camshaft 30 is free until the first claw 6 and the second claw 8 are separated and the camshaft 30 is released after the brake is released, together with the first and second claws 6 and 8. It can move along the linear guides 9 and 10. For this reason, even when the camshaft 30 is displaced to some extent when it is set on a processing machine or the like, the camshaft 30 follows the positioning guide of the set portion of the processing machine or the like before unclamping. Then, after the camshaft 30 is positioned following the positioning guide, the camshaft 30 is unclamped.
[0039]
From the above, the following effects can be obtained.
[0040]
(1) A positioning pusher for positioning the camshaft 30 from multiple directions is not required at the positioning station, and minimum positioning may be performed by simple positioning means such as a rough guide. Further, since the upper grip can be performed by the first and second claws 6, 8, a lifter for lifting the camshaft 30 is not required. For this reason, the positioning station has a simple structure, is inexpensive and has good maintainability.
[0041]
(2) Teaching of the robot 31 can be performed without worrying too much about the displacement of the camshaft 30. That is, rough teaching may be used. For this reason, teaching work becomes easy.
[0042]
(3) Even a workpiece having a complicated shape such as the camshaft 30 can be clamped without worrying about deformation of the workpiece or variations among workpieces. In other words, a certain degree of deformation of the workpiece and variation for each workpiece can be allowed.
[0043]
(4) Since the brake is applied by the brake mechanism while the camshaft 30 is being transported, the camshaft 30 can be prevented from shaking, and the camshaft 30 can be prevented from being displaced or dropped due to a misgrip.
[0044]
(5) Even if the camshaft 30 is displaced to some extent when it is set on a processing machine or the like, that is, even if the positioning to the processing machine or the like by the handling device such as the robot 31 is somewhat rough, before unclamping Since the camshaft 30 follows the positioning guide of the set portion of the processing machine or the like, the camshaft 30 can be accurately set on the processing machine or the like.
[0045]
[Embodiment 2]
9 and 10 are plan views showing the configuration of the hand according to Embodiment 2 of the present invention. FIG. 9 shows a state before clamping, and FIG. 10 shows a state during clamping. 11 is a view taken along line FF in FIG. 10, FIG. 12 is a view taken along line GG in FIG. 10, and FIG. 13 is a view taken along line HH in FIG.
[0046]
<Configuration>
As shown in these drawings, the hand 41 according to Embodiment 2 includes a clamp device 2A and a clamp device 2B in a rectangular parallelepiped support frame 3. The clamp positions 2A and 2B have the same configuration as the clamp devices 2A and 2B provided in the hand 1 of the first embodiment.
[0047]
However, in the second embodiment, in order to clamp the head I and the tip J of the T-shaped workpiece 50 as shown in FIG. This is slightly different from the shapes of the first and second claws 6 and 8 in the first embodiment. That is, in the first embodiment, the tip portions of the first and second claws 6 and 8 of the clamping devices 2A and 2B are all the same length, whereas in the second embodiment, the clamping device The first and second claws 6 and 8 on the 2B side are longer than the first and second claws 6 and 8 on the clamping device 2A side.
[0048]
In the second embodiment, the clamping direction of the clamping device 2A and the clamping direction of the clamping device 2B are arranged so as to be orthogonal to each other.
[0049]
<Action and effect>
Therefore, the hand 41 according to the second embodiment can basically obtain the same operations and effects as those of the hand 1 of the first embodiment.
[0050]
Moreover, in the hand 41 according to the second embodiment, since the clamping direction of the clamping device 2B is orthogonal to the clamping direction of the clamping device 2B, the clamping position J of the workpiece 50 is determined at the positioning station (not shown) during clamping. Even if the position is displaced to some extent in the direction orthogonal to the axial direction (lateral direction), the first and second claws 6 and 8 of the clamping device 2B move in the horizontal direction following the workpiece 50, so that the clamping position J can be easily clamped. Further, when unclamping, even if the workpiece 50 is displaced to some extent in the lateral direction when set on a processing machine or the like, the workpiece 50 is moved in the lateral direction following the positioning guide of the set portion of the processing machine or the like before unclamping. Since it moves, the workpiece 50 can be accurately set on a processing machine or the like.
[0051]
That is, according to the hand 41 according to the second embodiment, not only the axial displacement of the workpiece 50 but also the lateral displacement can be dealt with.
[0052]
The operation of the hand 41 at the time of setting to a processing machine or the like will be described in detail as follows. First, the cylinder 4 on the clamping device 2B side is operated to release the brake. However, the clamp position J of the workpiece 50 is kept clamped. On the other hand, on the clamping device 2A side, the cylinder 4 is operated to release the brake, and the clamping position I of the workpiece 50 is unclamped. As a result, the workpiece 50 can be moved in the lateral direction while the clamp position J is clamped, so that the lateral positioning is performed following the positioning guide of the set unit of the processing machine or the like.
[0053]
Subsequently, the clamping position I of the workpiece 50 is clamped by operating the hand 4 on the clamping device 2A side. However, do not brake. On the other hand, on the clamping device 2B side, the hand 4 is operated to release the brake, and the clamping position J of the workpiece 50 is unclamped. As a result, the workpiece 50 can move in the axial direction while the clamp position I is clamped, so that the axial positioning is performed following the positioning guide of the set unit of the processing machine or the like. The order of the lateral positioning and the axial positioning may be reversed.
[0054]
[Embodiment 3]
14 and 15 are plan views showing the configuration of the hand according to Embodiment 3 of the present invention. FIG. 14 shows a state before clamping, and FIG. 15 shows a state during clamping. 16 is a view taken along the line KK in FIG. 15, and FIG. 17 is a view taken along the line LL in FIG.
[0055]
<Configuration>
As shown in these drawings, the hand 61 according to the third embodiment includes a clamp device 2A and a clamp device 2C in a rectangular parallelepiped support frame 3. The clamp device 2A has the same configuration as the clamp device 2A provided in the hand 1 of the first embodiment.
[0056]
On the other hand, the clamp device 2C does not include a brake mechanism. That is, in the clamping device 2B provided in the hand 1 of the first embodiment, the second claw 8 is coupled to the piston rod 4b via the link spring 7, and the brake links 17, 18 and the brake receivers 19, 20 (See FIG. 1), the clamping device 2C does not include such a brake mechanism. The other configuration of the clamp device 2C is the same as that of the clamp device 2A of the first embodiment.
[0057]
In the third embodiment, since the clamp positions M and N of the camshaft 70 are clamped, the clamp device 2A and the clamp device 2C are in the same direction (axial direction), and the clamp positions M and N Oppositely arranged so as to have a predetermined interval corresponding to the interval.
[0058]
<Action and effect>
Therefore, the hand 61 according to the third embodiment can basically obtain the same functions and effects as the hand 1 of the first embodiment.
[0059]
Moreover, in the hand 61 according to the third embodiment, the camshaft 70 is always free on the clamping device 2C side, and the camshaft 70 is large (long) and has a relatively large shape error. Even so, it can respond. It can also be applied to a workpiece having no positioning end on one side.
[0060]
In the first and third embodiments, the clamping devices are opposed to each other. However, of course, the present invention is not limited to this. If the interval between workpiece clamping positions is wide, the clamping devices are not opposed to each other. You may make it face.
[0061]
[Embodiment 4]
18 and 19 are plan views showing the configuration of the hand according to Embodiment 4 of the present invention. FIG. 18 shows a state before clamping, and FIG. 19 shows a state during clamping. 20 is a view taken along the line OO in FIG. 19, FIG. 21 is a view taken along the line PP in FIG. 19, and FIG. 22 is a view taken along the line Q-Q in FIG.
[0062]
<Configuration>
As shown in these drawings, the hand 81 according to the fourth embodiment includes a clamp device 2A and a clamp device 2C in a rectangular parallelepiped support frame 3. The clamp positions 2A and 2C have the same configuration as the clamp devices 2A and 2C provided in the hand 61 of the third embodiment.
[0063]
However, in the fourth embodiment, as shown in FIG. 20, in order to clamp the head portion R of the H-shaped workpiece 90 and the one end side S of the shaft portion, The shape is slightly different from the shapes of the first and second claws 6 and 8 in the third embodiment. That is, in the third embodiment, the tip portions of the first and second claws 6 and 8 of the clamp devices 2A and 2B are the same length, whereas in the fourth embodiment, the clamp device The first and second claws 6 and 8 on the 2C side are longer than the first and second claws 6 and 8 on the clamping device 2A side.
[0064]
In the fourth embodiment, the clamping direction of the clamping device 2A and the clamping direction of the clamping device 2C are arranged so as to be orthogonal to each other.
[0065]
<Action and effect>
Therefore, the hand 81 according to the fourth embodiment can basically obtain the same operations and effects as the hand 61 of the third embodiment.
[0066]
Moreover, according to the hand 81 according to the fourth embodiment, since the clamping direction of the clamping device 2C is orthogonal to the clamping direction of the clamping device 2A, the clamping of the workpiece 90 is performed at the positioning station (not shown) during clamping. Even if the position S is displaced to some extent in the direction orthogonal to the axial direction (lateral direction), the first and second claws 6 and 8 of the clamping device 2C move in the horizontal direction following the workpiece 90. The clamp position S can be easily clamped. Also, when unclamping, even if the workpiece 90 is displaced to some extent in the lateral direction when set on a processing machine or the like, the workpiece 90 is moved in the lateral direction following the positioning guide of the set unit of the processing machine or the like before unclamping. Since it moves, the workpiece 90 can be accurately set on a processing machine or the like.
[0067]
That is, according to the hand 81 according to the fourth embodiment, not only the axial displacement of the workpiece 90 but also the lateral displacement can be dealt with.
[0068]
Note that the detailed description of the operation of the hand 81 at the time of setting to a processing machine or the like is the same as the hand 41 of the second embodiment except that the clamp device 2C does not include a brake mechanism. Omitted.
[0069]
【The invention's effect】
As described above in detail with the embodiment of the invention, according to the hand of the first invention, when the piston rod of the cylinder is extended at the time of clamping, the second claw is guided by the linear guide and the piston rod The first claw and the second claw are brought close to each other because the first claw is guided by the linear guide together with the cylinder body and moved in the direction opposite to the extension direction. To clamp a predetermined position on the workpiece (camshaft, etc.). Thereafter, when the piston rod further extends, the central portion of the brake link bends and begins to open outward, and finally comes into contact with the brake receiver to apply the brake.
[0070]
Therefore, until the brake is applied, the first and second claws are free and can move along the linear guide. For this reason, even if the clamp position of the workpiece is displaced to some extent in the positioning station, the first and second claws move following the workpiece, so that the clamp position can be easily clamped. In addition, since a brake is applied during conveyance, the workpiece can be prevented from shaking.
[0071]
On the other hand, at the time of unclamping, the piston rod is retracted to perform an operation reverse to that at the time of clamping. Therefore, the work becomes free and moves along the linear guide together with the first and second claws until the first claw and the second claw are separated and the work is released after the brake is released. it can. For this reason, even when the workpiece is displaced to some extent when it is set on the processing machine or the like, the workpiece follows the positioning guide of the set portion of the processing machine or the like before unclamping.
[0072]
From the above, the following effects can be obtained.
[0073]
(1) A positioning pusher for positioning a workpiece (camshaft or the like) from multiple directions is not required at the positioning station, and minimum positioning may be performed by simple positioning means such as a rough guide. Further, since the upper grip can be performed by the first and second claws, a lifter for lifting the workpiece is not required. For this reason, the positioning station has a simple structure, is inexpensive and has good maintainability.
[0074]
(2) When a hand is attached to the robot, it is possible to teach the robot without worrying much about the displacement of the workpiece. That is, rough teaching may be used. For this reason, teaching work becomes easy.
[0075]
(3) Even a workpiece having a complicated shape such as a camshaft can be clamped without worrying about the deformation of the workpiece or the variation of each workpiece. In other words, a certain degree of deformation of the workpiece and variation for each workpiece can be allowed.
[0076]
(4) Since the brake is applied by the brake mechanism while the workpiece is being conveyed, the workpiece can be prevented from shaking, and the workpiece can be prevented from being displaced or dropped due to a misgrip.
[0077]
(5) Even if the workpiece is misaligned to some extent when it is set on a processing machine, that is, even if the positioning to the processing machine by a handling device such as a robot is rough to some extent, the workpiece is processed before unclamping. Since it follows the positioning guide of the set part of a machine or the like, the workpiece can be accurately set on a processing machine or the like.
[0078]
In addition, according to the hand of the second invention, basically the same operation and effect as the hand of the first invention can be obtained. Moreover, in the hand of the second invention, since the clamping direction of at least one clamping device is orthogonal to the clamping direction of the other clamping device, the clamping position of the workpiece is orthogonal to the axial direction at the positioning station during clamping. Even if the position is displaced to some extent in the (lateral direction), the first and second claws of the clamping device move in the lateral direction following the workpiece, so that the clamping position can be easily clamped. In addition, when unclamping, even if the workpiece is displaced to some extent in the lateral direction when set on a processing machine or the like, the workpiece is moved in the lateral direction following the positioning guide of the set part of the processing machine or the like before unclamping. Because it moves, the workpiece can be set on a processing machine or the like precisely. That is, according to the hand of the second invention, it is possible to cope with not only the positional deviation of the workpiece in the axial direction but also the lateral positional deviation.
[0079]
In addition, according to the hand of the third invention, basically the same operation and effect as the hand of the first invention can be obtained. Moreover, in the hand of the third invention, since the work is always free on the second clamping device side, the work is a long object or a large work, and the shape error is relatively large. Can also respond.
[0080]
Further, according to the hand of the fourth invention, basically the same operation and effect as the hand of the third invention can be obtained. Moreover, in the hand of the fourth invention, since the clamping direction of the second clamping device is orthogonal to the clamping direction of the first clamping device, the clamping position of the workpiece is orthogonal to the axial direction at the positioning station at the time of clamping. Even if the position is displaced to a certain extent in the direction), the first and second claws of the second clamping device move in the lateral direction following the workpiece, so that the clamping position can be easily clamped. Also, during unclamping, even if the workpiece is displaced to some extent in the horizontal direction when set on a processing machine, the workpiece moves in the horizontal direction following the positioning guide of the set part of the processing machine before unclamping. Therefore, the workpiece can be set on a processing machine or the like precisely.
[Brief description of the drawings]
FIG. 1 is a plan view showing a configuration of a hand according to a first embodiment of the present invention (showing a state before clamping).
FIG. 2 is a plan view showing the configuration of the hand according to the first embodiment of the present invention (showing a state during clamping).
FIG. 3 is a view taken along the line AA in FIG. 2;
4 is a view taken along line BB in FIG. 2;
5 is a view taken along the line CC in FIG. 2. FIG.
FIG. 6 is a side view showing a state in which the hand is attached to the wrist of the robot.
FIG. 7 is a plan view showing a state in which the hand is attached to the wrist of the robot.
8A is a side view showing an example of a workpiece clamped by the hand (an example of a camshaft material), FIG. 8B is a view taken along the line TT in FIG. 8A, and FIG. It is a UU arrow line view of a).
FIG. 9 is a plan view showing a configuration of a hand according to Embodiment 2 of the present invention (showing a state before clamping);
FIG. 10 is a plan view showing the configuration of a hand according to Embodiment 2 of the present invention (showing a state during clamping).
11 is a view taken along the line FF in FIG.
12 is a GG line arrow view of FIG. 10;
13 is a view taken along line HH in FIG.
FIG. 14 is a plan view showing a configuration of a hand according to Embodiment 3 of the present invention (showing a state before clamping);
FIG. 15 is a plan view showing a configuration of a hand according to Embodiment 3 of the present invention (showing a state during clamping);
16 is a view taken along line KK in FIG.
17 is a view taken along line LL in FIG.
FIG. 18 is a plan view showing a configuration of a hand according to Embodiment 4 of the present invention (showing a state before clamping);
FIG. 19 is a plan view showing the configuration of a hand according to Embodiment 4 of the present invention (showing a state during clamping).
20 is a view taken along line OO in FIG.
FIG. 21 is a view taken along the line PP in FIG. 19;
22 is a view taken along the line Q-Q in FIG. 19;
[Explanation of symbols]
1,41,61,81 hands
2A, 2B, 2C Clamping device
3 Support frame
4 cylinders
4a Cylinder body
4b Piston rod
5 Support plate
6 First claw
7 Link spring
8 Second claw
9,10 Linear guide
9a, 10a Linear guide rail
9b, 9c, 9d, 10b, 10c, 10d Linear guide block
11, 12, 13, 14, 15, 16 coupling member
17, 18 Brake link
17a, 17b, 18a, 18b Brake link end
17c, 18c Brake link center
17d, 17e, 18d, 18e links
19, 20 Brake receiver
21, 22 Positioning stopper
21a, 22a fixing member
21b, 22b Contact member
21c, 22c Spring
21d, 22d Contact member tip
23, 24 Contact part

Claims (5)

A cylinder, a first claw coupled to the main body side of the cylinder, and a second claw coupled to the piston rod side of the cylinder via a link spring and positioned closer to the main body of the cylinder than the first claw. A claw and a linear guide that is fixed to the bottom plate of the support frame and is arranged along the expansion / contraction direction of the piston rod and guides the first claw and the second claw in the expansion / contraction direction. A pair of brake links are provided on at least both sides of the piston rod, and the first claw is connected to the second claw side and the piston rod side. when the central portion is spread outwardly when clamping the workpiece between the second pawl, configured to abut against the receiving brake erected on the bottom plate of the support frame, and the support frame Comprising a positioning stopper which respectively fixed to the bottom plate and the body-side contact part of the cylinder and the piston rod side abutting portion abuts determining the reference position of the front clamp the first pawl and the second pawl A hand characterized in that one clamp device or a plurality of clamp devices are arranged so that the clamp directions are the same. A cylinder, a first claw coupled to the cylinder body side, and a second coupling coupled to the piston rod side of the cylinder via a link spring and positioned closer to the cylinder body side than the first claw. And a linear guide that is fixed to the bottom plate of the support frame and is arranged along the expansion / contraction direction of the piston rod and guides the first and second claw in the expansion / contraction direction, respectively. A pair of brake links having both ends pivotably connected to the second claw side and the piston rod side and the central part also being pivotable are provided at least on both sides of the piston rod. said central portion extends outwardly when clamping the workpiece between the claws and the second claws, and configured to abut against the receiving brake erected on the bottom plate of the support frame, and said support A bottom plate fixed positioning stopper for determining the body-side contact part and the piston rod side reference position before clamping of the contact portion and the contact with the first pawl and second pawl each of the cylinders A plurality of clamping devices are arranged such that a clamping direction of at least one clamping device is orthogonal to a clamping direction of another clamping device. A cylinder, a first claw coupled to the cylinder body side, and a second coupling coupled to the piston rod side of the cylinder via a link spring and positioned closer to the cylinder body side than the first claw. And a linear guide that is fixed to the bottom plate of the support frame and is arranged along the expansion / contraction direction of the piston rod and guides the first and second claw in the expansion / contraction direction, respectively. A pair of brake links having both ends pivotably connected to the second claw side and the piston rod side and the central part also being pivotable are provided at least on both sides of the piston rod. said central portion extends outwardly when clamping the workpiece between the claws and the second claws, and configured to abut against the receiving brake erected on the bottom plate of the support frame, and said support A bottom plate fixed positioning stopper for determining the body-side contact part and the piston rod side reference position before clamping of the contact portion and the contact with the first pawl and second pawl each of the cylinders A first clamping device comprising:
A cylinder, a first claw coupled to the cylinder body side, a second claw coupled to the piston rod side of the cylinder and located closer to the cylinder body side than the first claw, and a support A linear guide fixed to the bottom plate of the frame and disposed along the expansion / contraction direction of the piston rod and guiding the first claw and the second claw in the expansion / contraction direction, respectively, and a bottom plate of the support frame And a positioning stopper that determines a reference position before clamping the first and second claws by abutting with the main body side abutting portion and the piston rod side abutting portion of the cylinder. A hand characterized in that two clamping devices are arranged so that the clamping directions are the same. A cylinder, a first claw coupled to the cylinder body side, and a second coupling coupled to the piston rod side of the cylinder via a link spring and positioned closer to the cylinder body side than the first claw. And a linear guide that is fixed to the bottom plate of the support frame and is arranged along the expansion / contraction direction of the piston rod and guides the first and second claw in the expansion / contraction direction, respectively. A pair of brake links having both ends pivotably connected to the second claw side and the piston rod side and the central part also being pivotable are provided at least on both sides of the piston rod. said central portion extends outwardly when clamping the workpiece between the claws and the second claws, and configured to abut against the receiving brake erected on the bottom plate of the support frame, and said support A bottom plate fixed positioning stopper for determining the body-side contact part and the piston rod side reference position before clamping of the contact portion and the contact with the first pawl and second pawl each of the cylinders A first clamping device comprising:
A cylinder, a first claw coupled to the cylinder body side, a second claw coupled to the piston rod side of the cylinder and located closer to the cylinder body side than the first claw, and a support A linear guide fixed to the bottom plate of the frame and disposed along the expansion / contraction direction of the piston rod and guiding the first claw and the second claw in the expansion / contraction direction, respectively, and a bottom plate of the support frame And a positioning stopper that determines a reference position before clamping the first and second claws by abutting with the main body side abutting portion and the piston rod side abutting portion of the cylinder. A hand characterized in that two clamping devices are arranged so that the clamping directions are orthogonal to each other. In the hand according to any one of claims 1 to 4,
A hand that is attached to the wrist of the robot arm.

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