JP6661472B2 - Gripping mechanism - Google Patents

Description

  The present invention relates to a gripping mechanism, and more particularly to a gripping mechanism that grips a work at three points.

In a transfer device provided in a multi-stage forging press in which a plurality of forging sections including a die and a punch are arranged in a horizontal direction, a workpiece having a circular outer periphery is gripped using gripping claws, and the next forging is performed. Transfer to the processing section.
There are various shapes of gripping claws used when gripping such a workpiece having a circular outer periphery.

  For example, FIG. 6A shows a shape in which the gripping surfaces of a pair of gripping claws are arc-shaped. In this case, a reliable gripping function is exhibited when the outer shape of the workpiece and the arc shape formed on the gripping surface match. However, when the outer diameter of the workpiece changes, the gripping claws must be replaced. In this case, the replacement of the gripping claws and subsequent adjustments cause a stoppage of the equipment, which causes a reduction in the equipment operation rate. .

  On the other hand, FIG. 6B shows a configuration in which two gripping claws are provided at the ends of arms arranged vertically, respectively, so that the workpiece is gripped at four points. In the four-point supporting type, since the lower gripping claw is fixed in position and only the upper gripping claw moves, the work center position changes when the outer diameter of the work changes. Therefore, it is necessary to replace or adjust the position of each gripping claw, and the same problem as in the case of FIG.

  On the other hand, FIG. 6C shows one of the pair of gripping claws disposed on both sides in the left-right direction of the work, where one gripping surface is formed as a flat surface, and the other gripping surface is formed as a V-shaped groove. It is gripped at three points. Even with such a three-point support, there occurs a problem that the center position of the work shifts when the diameter of the work to be gripped changes (hereinafter, it may be referred to as misalignment). This will be described with reference to FIG.

For example, the work center when the gripping surface a gripping surface and the gripping claws 110 formed on the flat surface gripping the large work W ₁ of the diameter shown in FIG. 7 by the gripping claws 112 formed in the V-groove (A) O _Let it be ₁ .
Thereafter, the gripping claws 110 and 112 respectively move the same amount closing direction to grip a small workpiece W ₂ of diameter shown in FIG. 7 (B), the when the work center of the case and O _2, as shown in FIG. positional deviation (misalignment) [delta] is generated between the workpiece center O ₁ and O ₂ in.
The misalignment δ at the time of gripping the work leads to the deterioration of the transfer position accuracy at the time of transfer of the work, and deteriorates the processing accuracy of the target product.

In addition, there are disclosed, for example, Patent Documents 1 and 2 below that disclose shapes of gripping claws for gripping a circular work.
Patent Literature 1 below discloses an invention relating to a “robot hand”, in which a tip portion of a gripper for gripping a work is made extendable and contractible in a longitudinal direction. It discloses that the tip of the gripping claw is expanded and contracted.
However, the device described in Patent Document 1 performs four-point support, and does not disclose the problem in the three-point support described above. Also, the opening and closing mechanism of the gripping claws is different from the present invention.

On the other hand, Patent Literature 2 below discloses an invention relating to a "work transfer device", in which a work is supported at three points by a flat surface and a V-shaped groove.
However, Patent Document 2 does not disclose the above problem in three-point support, that is, the problem of misalignment that occurs when the outer diameter of the work changes. Also, there is no specific disclosure regarding the opening / closing mechanism of the gripping claws.

Japanese Patent No. 5544946 JP 2013-43228 A

The above-described misalignment occurs at the three-point support for the following reasons.
Diameter large work center position O ₁ is the same from the state of FIG. 7 gripping the (A) of, when each is moved to the same amount closing direction on both sides of the gripping claws for gripping small the workpiece W ₂ diameters, 7 only the gripping claws 110 to first with a flat surface, as shown in (C) is in contact with the workpiece W ₂ equivalents, between the gripping claws 112 and the workpiece W ₂ having the time V-shaped groove still remains a gap I have. When the gripping claws 110, 112 of the further sides from this state is moved in the closing direction the workpiece W ₂ is made to move in the right side in the drawing by the gripping claws 110 having a flat surface, eventually workpiece W _2, as shown in FIG. 7 ( Figure 7 (a) and as indicated by B) a work center is gripped by both gripping claws 110 and 112 at different locations _{O 2.}
As can be seen from this, when the diameter of the work changes, the misalignment occurs because the contact position between the work and the gripping surface is asymmetrical in the left and right direction, and the amount of movement required until the work abuts on the left and right. This is because, unlike gripping claws, the amount of movement of the gripping claws 112 provided with V-shaped grooves is insufficient for gripping without changing the center position of the work.
In view of the above circumstances, the present invention provides a work piece that can favorably prevent misalignment of the work piece even when the outer diameter of the work piece changes when the work piece is supported at three points by a flat surface and a V-shaped groove. The purpose is to provide a gripping mechanism.

According to a first aspect of the present invention, there is provided a pair of gripping claws disposed opposite to each other in the left-right direction of the work, one gripping surface being formed as a flat surface, and the other gripping surface being formed as a V-shaped groove. Drive means for moving the output shaft forward and backward, and a link mechanism for converting the forward and backward movement of the output shaft into an opening and closing movement in the left and right direction, and transmitting this to the pair of holding claws, and the pair of holding claws in the left and right direction. A gripping mechanism configured to move the gripping claw provided with the V-shaped groove more than the gripping claw provided with the flat surface when opening and closing .
Before SL linkage, rotation is coupled to (a) the output shaft, a drive link to advance and retreat along with the output shaft, and a pair of tilt links extending divided into (b) the horizontal direction, the one end side ends of these tilt links A connecting pin rotatably connecting the pair of tilt links and the drive link, and a guide provided at the other end of each of the pair of tilt links and extending in the left-right direction formed on the base Opening and closing movement generating means having a slide pin moving along a groove; and (c) connecting the sliding pin and the gripping claw of the opening and closing movement generating means with the gripping claw according to the position of the slide pin. And a pair of output links for moving the pair of gripping claws in the closing direction. The inclined slope direction on the side of the gripping claws, characterized in that none to move the connecting pin of the opening and closing motion producing means.

According to a second aspect of the present invention, in the first aspect , a guide groove for guiding the movement of the connection pin of the opening / closing motion generating means is formed on the side of the base, and the guide groove is provided to be inclined in the inclined direction. It is characterized by having.

According to a third aspect of the present invention, in any one of the first and second aspects, a plurality of the opening / closing motion generating means are provided in a vertical direction along the drive link.

As described above, when the work is supported at three points by the flat surface and the V-shaped groove, the misalignment between the work having a large outer diameter and the work having a small outer diameter is caused by a change in the diameter of the work. This is because the amount of movement of the gripping claws required before contacting the workpiece differs between the left and right gripping claws, and the amount of movement of the gripping claws having the V-shaped groove becomes insufficient.
For this reason, in order to grip the work in a state where the center position of the work does not change even when the diameter of the work changes, when moving the pair of gripping claws, the moving amount of the gripping claw provided with the V-shaped groove is required. It is necessary to make the moving amount larger than the moving amount of the gripping claw having the flat surface.
The present invention is based on such knowledge, and when a pair of gripping claws are moved in the opening / closing direction using a link mechanism that converts the forward / backward movement of the output shaft of the driving means into the left / right opening / closing movement, a V-shaped groove is used. Is moved more than the gripping claw having a flat surface.
When the pair of gripping claws are moved in this manner, by always increasing the moving amount of the gripping claw having the V-shaped groove, the work misalignment due to the insufficient moving amount of the gripping claw having the V-shaped groove is provided. Can be effectively prevented.

Specifically, how much the gripping claw provided with the V-shaped groove should be moved more than the gripping claw provided with the flat surface depends on the angle of the slope of the V-shaped groove which comes into contact with the workpiece. For example, when the angle θ of the slope of the V-shaped groove formed on the gripping claw 112 shown in FIG. 7A with respect to the imaginary line in the horizontal direction is 60 °, the gripping claw 112 provided with the V-shaped groove is provided with a flat surface. By moving the gripping claw 110 1.15 times, misalignment of the work can be effectively prevented.
By doing so, in the present invention, it is possible to eliminate the need for replacement and adjustment work of the gripping claws when the outer diameter of the work changes, and to improve the equipment operation rate of the target equipment.

Further, the present invention provides a link mechanism for converting the forward / backward movement of the output shaft into an opening / closing movement in the left-right direction, a pair of tilting links extending separately in the left-right direction, and rotatably connecting one end sides of these tilting links to each other, A connection pin that rotatably connects the pair of tilt links and the drive link, and a slide pin that is provided at the other end of each of the pair of tilt links and moves along a guide groove that extends in the left-right direction formed on the base. When the pair of gripping claws are moved in the closing direction, the connecting pin of the opening / closing motion generating means has a flatter surface than the vertical direction perpendicular to the left-right direction. It is designed to be moved in an inclined direction inclined to the side.
According to the present invention , when the pair of gripping claws are moved in the closing direction, the entire opening / closing motion generating means together with the connection pin of the opening / closing motion generating means moves to the side of the gripping claw having a flat surface. The gripping claws with the V-shaped groove can be moved more than the gripping claws with the flat surface.
It should be noted that how much the connecting pin should be tilted and moved to prevent misalignment depends on the length of the tilting link constituting the opening / closing motion generating means and the angle of the slope of the V-shaped groove in the gripping claw. The optimum inclination angle can be appropriately adopted according to the condition.

With the present invention to form a guide groove for guiding the movement of the connecting pin on the side of the base, the guide grooves may be provided inclined to the inclined direction (Claim 2).
With this configuration, the trajectory of the connecting pin that moves in the inclined direction can be easily defined.
When it is necessary to change the moving amount of the gripping claw having the V-shaped groove, the trajectory of the connecting pin can be easily adjusted by changing the inclination angle of the guide groove.

Also in the present invention, it is possible to provide a plurality in the vertical direction the opening and closing motion producing means along the drive link (claim 3).
According to the third aspect , since the output link that moves the gripping claw in the left-right direction in accordance with the position of the slide pin can be connected and supported by the plurality of slide pins, the output link can be prevented from tilting. Thus, the positional accuracy of the gripping claws can be improved.

  According to the present invention as described above, when the work is supported at three points by the flat surface and the V-shaped groove, a gripping mechanism capable of favorably preventing misalignment of the work even when the outer diameter of the work changes. Can be provided.

It is a figure showing composition of a grasping device provided with a grasping mechanism of one embodiment of the present invention. FIG. 2 is a sectional view taken along line II-II of FIG. 1. FIG. 3 is a sectional view taken along line III-III of FIG. 1. FIG. 5 is a diagram for explaining a method for determining the inclination of a guide groove. It is a figure for explaining a grasp operation of a grasp device. It is a figure showing the shape of the conventional grasping nail. It is a figure for explaining a problem by three points support.

Next, an embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a diagram illustrating a configuration of a gripping device including a gripping mechanism according to the present embodiment. 2 is a sectional view taken along line II-II of FIG. 1, and FIG. 3 is a sectional view taken along line III-III of FIG.
In FIG. 1, reference numeral 10 denotes a gripping device, which is attached to a transfer device of a multi-stage forging press in which a plurality of forging sections including a die and a punch are arranged in a horizontal direction, and the workpiece is transferred to the next step. Is to be gripped.
Reference numeral 12 denotes a housing that constitutes a base of the gripping device 10 and includes a case body 14 and a lid 15. FIG. 1 shows a state where the lid 15 is removed.

In FIG. 1, 16 is an air cylinder as driving means, 18 is a link mechanism housed inside the housing 12, and 20 and 22 are a pair of gripping claws.
In this example, the vertical movement by the air cylinder 16 is converted into the left and right movement by the link mechanism 18 and transmitted to the gripping claws 20 and 22 connected to the output end of the link mechanism 18.

  The air cylinder 16 has a main body 24 attached and fixed to an upper end surface of the housing 12, and an output shaft 25 extends downward from the main body 24 into the housing 12 in the drawing. The output shaft 25 moves up and down in the figure by air introduced into the main body 24.

One end of a first drive link 26 constituting a part of the link mechanism 18 is rotatably connected to a tip of the output shaft 25 via a connection pin 27. A second drive link 28 is rotatably connected to the other end of the first drive link 26 via a connection pin 29.
As shown in FIG. 2, in the present embodiment, the first drive link 26 and the second drive link 28 are provided at two positions symmetrically with respect to the center line of the output shaft 25. .
When the output shaft 25 of the air cylinder 16 moves up and down, the first drive link 26 and the second drive link 28 also move up and down.
In this example, the first drive link 26 and the second drive link 28 constitute a drive link that moves forward and backward together with the output shaft 25.
In this example, when the second drive link 28 moves up and down in FIG. 1, the output shaft 25 and the second drive link 28 are moved so that the second drive link 28 can also move in the left and right direction in FIG. 1. The first drive link 26 is provided between the output shaft 25 and the second drive link 28 for the purpose of absorbing a lateral shift occurring between the first drive link 26 and the second drive link 28.

To one end of the second drive link 28, a first opening / closing motion generating means 30 for converting the forward / backward motion of the second drive link 28 into a left / right opening / closing motion is rotatably connected by a connecting pin 29.
The first opening / closing motion generating means 30 includes a pair of tilting links 32 and 34 extending separately in the left-right direction, a connecting pin 29 for rotatably connecting one end side of each of them, and each of the tilting links 32 and 34. And slide pins 36 and 38 provided at the ends.
As shown in FIG. 3, in the present embodiment, these tilt links 32 and 34 are provided at two positions symmetrical with respect to the center line of the output shaft 25.
Each of the slide pins 36 and 38 is formed with a flange 39 having a rectangular shape in a plan view at both ends thereof. The flange 39 slides in a guide groove 40 formed in the case body 14 and the lid 15 and extending in the left-right direction. It is movably engaged.
A flange 42 having a rectangular shape in a plan view is also formed at one end (on the side of the lid 15) of the connection pin 29, and the flange 42 can slide in a guide groove 43 formed in the lid 15. Is engaged.
In the first opening / closing motion generating means 30, when the connecting pin 29 is pulled up, the slide pins 36 and 38 move in the right and left closing directions. On the other hand, when the connecting pin 29 is pressed down in the opposite direction, the slide pins 36 and 38 move in the left and right opening directions, respectively.

The other end of the second drive link 28 is rotatably connected by a connecting pin 48 to a second opening / closing movement generating means 46 for converting the forward / backward movement of the second drive link 28 into a left / right opening / closing movement.
The second opening / closing motion generating means 46 includes a pair of tilt links 50 and 52 extending in the left and right direction, a connecting pin 48 for rotatably connecting one end of the tilt links 50 and 52, and the other of the tilt links 50 and 52. And slide pins 54 and 56 provided at the ends.
Each of the slide pins 54 and 56 has a flange 57 having a rectangular shape in a plan view formed at both ends thereof. The flange 57 slides into a guide groove 58 formed in the case body 14 and the lid 15 and extending in the left-right direction. It is movably engaged.
A flange 49 having a rectangular shape in a plan view is also formed at one end (on the side of the lid 15) of the connecting pin 48, and the flange 49 slides into a guide groove 60 formed on the lid 15. Engage as possible.
Similarly to the first opening / closing motion generating means 30, when the connecting pin 48 is pulled upward, the slide pins 54 and 56 also move in the left and right closing directions. On the other hand, when the connecting pin 48 is pressed down in the opposite direction, the slide pins 54 and 56 move in the left and right opening directions, respectively.

The first opening / closing motion generating means 30 and the second opening / closing motion generating means 46 provided in the vertical direction along the second drive link 28 are configured such that the left tilting links 32 and 50 in FIG. The slide pins 36 and 54 on the left side in each figure are set at the same position in the left-right direction.
Similarly, the right tilt links 34 and 52 in FIG. 1 have the same link length, and the right slide pins 38 and 56 in the respective drawings are set to be at the same position in the left-right direction.

Reference numerals 62 and 64 denote a pair of output links extending vertically.
The output link 62 on the left side in FIG. 1 is connected to the slide pin 36 of the first opening / closing movement generating means 30 and the slide pin 54 of the second opening / closing movement generating means 46, respectively, and the output link 64 on the right side in FIG. The pair of output links 62 and 64 are parallel to each other when they are opened and closed in the left and right directions, respectively, when they are connected to the slide pin 38 of the first opening and closing movement generating means 30 and the slide pin 56 of the second opening and closing movement generating means 46, respectively. While the position is maintained, the position is moved in the left-right direction according to the positions of the slide pins.
In this example, like the output link 64 shown in FIG. 3, the pair of output links 62 and 64 are provided in two symmetrical positions with respect to the center line of the output shaft 25. .

The gripping claws 20, 22 are connected to the lower ends of the pair of output links 62, 64, respectively.
As shown in FIG. 1, the pair of gripping claws 20 and 22 are arranged to face each other in the left-right direction with the gripping surface for gripping the work facing inward. In this example, the gripping surface 21 of the gripping claw 20 on the left side in the figure is formed as a flat surface, and the gripping surface 23 of the gripping claw 22 on the right side in the figure is formed as a V-shaped groove.
The slope formed on the gripping surface 23 is vertically inclined by an angle θ with respect to the imaginary line in the horizontal direction, and in this example, θ = 60 °.
In this example, a work having a circular outer periphery is supported at three points by the pair of gripping claws 20 and 22.

As shown in FIGS. 1B and 2, the cover 15 has a guide groove 43 for guiding the movement of the connecting pin 29 of the first opening / closing movement generating means 30 and a connecting pin of the second opening / closing movement generating means 46. A guide groove 60 for guiding the movement of the guide 48 is formed.
As shown in FIG. 1B, the guide groove 43 is provided at an angle α to a side of the gripping claw 20 having a flat surface (left side in the figure) with respect to an imaginary line in a vertical direction perpendicular to the horizontal direction. ing. The flange 42 of the connecting pin 29 is slidably engaged with the guide groove 43.

On the other hand, similarly to the guide groove 43, the guide groove 60 provided below the guide groove 43 is also provided at an angle α with respect to the imaginary line in the vertical direction. Is engaged so as to be slidable.
In this example, when the pair of gripping claws 20 and 22 are moved in the closing direction, the connecting pins 29 and 48 of the opening / closing motion generating means 30 and 46 are inclined more toward the gripping claw 20 having a flat surface than in the vertical direction. By moving, the gripping claw 22 having the V-shaped groove is moved more than the gripping claw 20 having the flat surface, thereby effectively preventing the work from being misaligned when the outer diameter of the work W changes.
The guide grooves 43 and 60 are provided for moving the connecting pins 29 and 48 in the above-described inclined direction.

Next, a method of obtaining the inclination of the guide groove 60 suitable for preventing the work from being misaligned will be described with reference to FIG. In FIG. 4, each member is schematically shown.
FIG. 4 (A) shows a state of gripping the workpiece W ₁ of the maximum diameter of the gripping device 10 of the present embodiment is scheduled to gripping (r _1), the position of the work center at this time is O ₁ .
In this state, a virtual circle having a radius equal to the link length from the center of the slide pin 54 at the other end of the tilt link 50 to the center of the connecting pin 48 at the one end is drawn, and the center of the slide pin 56 at the other end of the tilt link 52 is further drawn. draw a virtual circle having a radius of link length to the center of the connection pin 48 at one end from, seek the intersection as the position P ₁ of the connecting pin 48.

Next, as shown in FIG. 4 (B), the workpiece center position O ₁ moves the pair of gripping claws 20, 22 in the closing direction as it is, the smallest diameter of the gripping device 10 of the present embodiment is scheduled to gripping ( r ₂ ) A state in which the workpiece W ₂ is gripped is drawn.
In this state, a virtual circle having a radius equal to the link length from the center of the slide pin 54 at the other end of the tilt link 50 to the center of the connecting pin 48 at the one end is drawn, and the center of the slide pin 56 at the other end of the tilt link 52 is further drawn. draw a virtual circle having a radius of link length to the center of the connection pin 48 at one end from, seek the intersection as the position P ₂ of the connecting pin 48.
As shown by the partial enlarged view of FIG. 4 (B), connecting the P ₁ and P ₂ obtained lines, on the side of the vertical gripping claws 20 having a flat surface than imaginary line perpendicular to the horizontal direction It is inclined by the angle α.

Since such a position P ₁ and P ₂ of the connecting pin 48 that is seeking both workpiece center position of a O _1, by a connecting pin 48 so as to position on a line connecting the P ₁ and P ₂ If, even when the gripping device 10 grips any workpiece size, remains always the central position of the grasped workpiece O _1, or the fact that the position close to the O _1, as in the prior art It is possible to effectively prevent the occurrence of misalignment when the outer diameter of the work is changed.
Guide grooves 60 for guiding the connecting pin 48 therefore, the angle relative to the connecting way pin 48 can move on a line connecting the P ₁ and P _2, the trajectory as well as the vertical direction of the virtual line of the connecting pin 48 It is provided so as to be inclined by α.
The guide groove 60 for guiding the connecting pin 48 has been described above, but the same applies to the guide groove 43 for guiding the connecting pin 29.

Next, an operation of gripping a workpiece in the gripping device 10 including the gripping mechanism of the present embodiment will be described.
The air cylinder 16 is driven in a state where the gripping claws 20 and 22 are located on both left and right sides of the work W (the state shown in FIG. 1), and the first drive link 26 and the second drive link 28 are moved upward together with the output shaft 25. When pulled up, the connecting pin 29 and the connecting pin 48 connected to the second drive link 28 are guided by the guide grooves 43 and 60, respectively, as shown in FIG. 5, and upward (in detail, diagonally toward the upper left) in the figure. Moving.
As a result, the slide pins 36, 38 of the first opening / closing movement generating means 30 and the slide pins 54, 56 of the second opening / closing movement generating means 46 move in the closing direction toward the center, and are connected to these slide pins. The output links 62, 64 and the gripping claws 20, 22 attached to the ends of the output links 62, 64 also move in the closing direction toward the center.

In this example, the guide grooves 43 are provided so that the trajectories of the connecting pin 29 of the first opening / closing movement generating means 30 and the connecting pin 48 of the second opening / closing movement generating means 46 are inclined by the angle α obtained in FIG. , 60, when the gripping claws 20, 22 move in the closing direction, the first opening / closing motion generating means 30 and the second opening / closing motion generating means 46 are flat surfaces with the inclination of the guide grooves 43, 60. Therefore, the gripping claw 22 having the V-shaped groove moves more than the moving distance of the gripping claw 20 having the flat surface.
Accordingly, it is possible to prevent the workpiece from being misaligned due to the insufficient amount of movement of the gripping claw 22 having the V-shaped groove, and to keep the workpiece center position constant even when gripping a workpiece W of any size. The workpiece W can be gripped in a state where the workpiece W is maintained.

The operation when the gripping claws 20 and 22 move in the closing direction has been described above. However, when the gripping claws 20 and 22 move in the opening direction, the first drive link 26 and the second The second drive link 28 is pushed down, and the connecting pin 29 and the connecting pin 48 connected to the second drive link 28 are guided by the guide grooves 43 and 60, respectively. )Moving.
As a result, the slide pins 36, 38 of the first opening / closing movement generating means 30 and the slide pins 54, 56 of the second opening / closing movement generating means 46 move in the opening direction, and the output pins connected to these slide pins. The links 62, 64 and the gripping claws 20, 22 also move in the opening direction.

  Also in such a movement in the opening direction, the trajectories of the connecting pin 29 of the first opening and closing movement generating means 30 and the connecting pin 48 of the second opening and closing movement generating means 46 are defined by the guide grooves 43 and 60, respectively. When the gripping claws 20 and 22 move in the opening direction, the first opening / closing motion generating means 30 and the second opening / closing motion generating means 46 cause the gripping claws 22 having the V-shaped grooves to accompany the inclination of the guide grooves 43 and 60. (The right side in the figure), the gripping claw 22 having the V-shaped groove moves more than the moving amount of the gripping claw 20 having the flat surface.

As described above, in the present embodiment, when the pair of gripping claws are moved in the closing direction or when the pair of gripping claws are moved in the opening direction, the gripping claw 22 having the V-shaped groove is provided with a flat surface. The gripping claw 20 is moved more than the gripping claw 20, thereby effectively reducing the work misalignment due to the insufficient movement of the gripping claw 22 having the V-shaped groove, which is a problem in the conventional three-point support. Can be prevented.
For this reason, in the present embodiment, it is not necessary to replace and adjust the gripping claws 20 and 22 when the outer diameter of the work changes, and it is possible to improve the equipment operation rate of the target equipment.

  In the present embodiment, two sets of opening / closing motion generating means 30 and 46 are provided in the vertical direction along the second drive link 28, and the output links 62 and 64 are connected and supported by two slide pins in the vertical direction, respectively. Therefore, the output links 62 and 64 can be prevented from tilting, and the positional accuracy of the gripping claws 20 and 22 can be increased.

The embodiment of the present invention has been described in detail above, but this is merely an example. In the above-described embodiment, the upward movement of the output shaft 25 in the drawing is converted into the movement of the gripping claw in the closing direction. However, in some cases, the downward movement of the output shaft 25 in the drawing is reversed. It is also possible to adopt a link mechanism that converts the movement into the closing direction.
In the above embodiment, the trajectory of the connecting pin in the oblique direction is defined by the guide groove. However, the output shaft itself can be inclined in the oblique direction to move the connecting pin forward and backward in that direction.
Further, the gripping mechanism of the present invention can be applied to various gripping devices other than the gripping device for the transfer device, and the present invention can be implemented in variously modified aspects without departing from the gist thereof. is there.

Reference Signs List 16 air cylinder 12 housing 18 link mechanism 20, 22 gripping claw 25 output shaft 26 first drive link 28 second drive link 29, 48 connecting pin 30 first opening / closing motion generating means 32, 34, 50, 52 tilting link 36, 38, 54, 56 Slide pin 43, 60 Guide groove 46 Second opening / closing motion generating means 62, 64 Output link

Claims (3)

A pair of gripping claws that are arranged on both sides in the left-right direction of the work, one gripping surface is formed as a flat surface, and the other gripping surface is formed as a V-shaped groove;
Driving means for moving the output shaft forward and backward;
A link mechanism that converts the forward / backward movement of the output shaft into a left / right opening / closing movement and transmits this to the pair of gripping claws;
The time of opening and closing movement of the pair of gripping claws in the lateral direction, the gripping claws having a V-shaped groove, a no bunch lifting mechanism so as to more movement than gripping claws provided with the flat surface,
Before Symbol link mechanism,
(A) a drive link connected to the output shaft and moving forward and backward with the output shaft;
(B) a pair of tilting links extending in the left and right direction, a connecting pin rotatably connecting one end of the tilting links to each other, and rotatably connecting the pair of tilting links and the driving link; An opening / closing motion generating means, provided at the other end of each of the pair of tilting links, and having a slide pin that moves along a guide groove extending in the left-right direction formed on the base.
(C) a pair of output links that are connected to the slide pin and the gripping claw of the opening / closing motion generating means and move the gripping claw in the left-right direction according to the position of the slide pin;
When the pair of gripping claws are moved in the closing direction, the connecting pin of the opening / closing motion generating means is inclined in a direction inclined toward the gripping claw having the flat surface more than a vertical direction orthogonal to the left-right direction. A gripping mechanism characterized in that the gripping mechanism is moved. 2. The grip according to claim 1 , wherein a guide groove for guiding the movement of the connection pin of the opening / closing motion generating means is formed on the base, and the guide groove is provided to be inclined in the inclination direction. mechanism. The gripping mechanism according to any one of claims 1 and 2 , wherein a plurality of the opening / closing motion generating means are provided in a vertical direction along the drive link.

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