JP2017001113A - Gripping device - Google Patents
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- JP2017001113A JP2017001113A JP2015115027A JP2015115027A JP2017001113A JP 2017001113 A JP2017001113 A JP 2017001113A JP 2015115027 A JP2015115027 A JP 2015115027A JP 2015115027 A JP2015115027 A JP 2015115027A JP 2017001113 A JP2017001113 A JP 2017001113A
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Abstract
Description
本発明は、電子部品に装着される操作つまみ等のワークを把持するための把持装置に関するものである。 The present invention relates to a gripping device for gripping a workpiece such as an operation knob mounted on an electronic component.
ワークを把持する把持装置では、把持対象となるワークの形状や大きさ等によって種々のものが採用されており、例えば、むきエビのように不定形で変形し易いワークを把持する把持装置として、特許文献１に記載された構造のものが提案されている。 Various gripping devices for gripping workpieces are adopted depending on the shape and size of the workpiece to be gripped.For example, as a gripping device for gripping an unshaped and easily deformed workpiece such as peeled shrimp, The thing of the structure described in patent document 1 is proposed.
特許文献１に開示された従来の把持装置は、支持本体と、支持本体の上部に取り付けられたエアシリンダと、エアシリンダのロッドに取り付けられた円柱状のブッシュと、基端側が支持本体に固定された複数本の針状フィンガとを備えており、これら針状フィンガはワークを取り囲むように円周上で等間隔に配置されている。針状フィンガはスプリング鋼等の可撓性に富む素材で形成されており、その先端側は中心に向かって略「くの字」形状に塑性加工されている。ブッシュは各針状フィンガの中央部に配置されており、エアシリンダの伸長作動によって支持本体から押し出されるようになっている。 The conventional gripping device disclosed in Patent Document 1 includes a support body, an air cylinder attached to the upper portion of the support body, a cylindrical bush attached to the rod of the air cylinder, and a base end side fixed to the support body. The needle-like fingers are arranged at equal intervals on the circumference so as to surround the workpiece. The needle-like fingers are formed of a flexible material such as spring steel, and the tip side thereof is plastic-worked into a substantially “shape” toward the center. The bush is disposed at the center of each needle-like finger and is pushed out of the support body by the extension operation of the air cylinder.
このように構成された把持装置において、載置台上に供給されたワーク（例えば、むきエビ）を把持して所定のステージまで搬送する場合、まず、エアシリンダを伸長作動させてブッシュを支持本体から押し出すことにより、縮径状態となっていた各針状フィンガを拡径状態に弾性変形させる。この状態で把持装置を下降させて各針状フィンガの先端をワークの周囲に位置させた後、エアシリンダを縮小作動させてブッシュを支持本体内に引き込むと、各針状フィンガが自身の弾性力で元の形状に復帰して縮径するため、ワークが各針状フィンガによって把持される。しかる後、把持装置を上昇させることにより、各針状フィンガ間に把持されたワークが載置台から取り出されるため、この状態のままワークを所定のステージまで搬送することができる。 In the gripping device configured as described above, when a workpiece (for example, peeled shrimp) supplied on the mounting table is gripped and conveyed to a predetermined stage, first, the air cylinder is extended to operate the bush from the support body. By extruding, each needle-like finger that has been in a reduced diameter state is elastically deformed into an expanded diameter state. In this state, after lowering the gripping device and positioning the tip of each needle finger around the workpiece, the air cylinder is contracted and the bush is pulled into the support body. In order to return to the original shape and reduce the diameter, the workpiece is gripped by each needle-like finger. Thereafter, by lifting the gripping device, the work gripped between the needle fingers is taken out from the mounting table, so that the work can be transported to a predetermined stage in this state.
前述した従来の把持装置では、予め「くの字」形状に塑性加工した複数本の針状フィンガをブッシュの押し出し動作によって拡径させた後、ブッシュの引き込み動作によって各針状フィンガを縮径させてワークの周面に当接させるという構造であるため、各針状フィンガが元の「くの字」形状に戻ろうとする弾性力によってワークが把持されることになる。このため、個々の針状フィンガの弾性力をそれ程高く設定することは困難となり、ワークを包囲するように多数の針状フィンガを配置しないと、ワークを確実に把持することができなくなるという問題があった。 In the above-described conventional gripping device, the diameter of each needle-like finger is reduced by the push-in operation of the bush after the diameter of the plurality of needle-like fingers plastically processed into a “<” shape is increased. Thus, the workpiece is gripped by the elastic force of each needle-like finger returning to the original “<” shape. For this reason, it is difficult to set the elastic force of each needle-like finger so high, and there is a problem that the work cannot be securely gripped unless a large number of needle-like fingers are arranged so as to surround the work. there were.
本発明は、このような従来技術の実情に鑑みてなされたもので、その目的は、簡単な構成でワークを確実に把持することができる把持装置を提供することにある。 The present invention has been made in view of such a state of the art, and an object of the present invention is to provide a gripping device that can securely grip a workpiece with a simple configuration.
上記の目的を達成するために、本発明の把持装置は、支持本体と、この支持本体の軸線方向における延長線上に配置されるワークを包囲するように配置された複数の把持部材と、これら把持部材を動作させる駆動手段とを備えた把持装置において、前記把持部材が互いの先端側を連結した内側可撓性片と外側可撓性片とからなり、これら内側可撓性片と外側可撓性片の後端側のうち、いずれか一方を前記支持本体に固定された固定端部となすと共に、いずれか他方を前記支持本体に対して移動可能な可動端部となし、前記駆動手段によって前記可動端部を前記支持本体の前記軸線方向に往復移動することにより、前記把持部材がワークに対して近接および離反する方向へ弾性変形するように構成した。 In order to achieve the above object, a gripping device of the present invention includes a support main body, a plurality of gripping members disposed so as to surround a workpiece disposed on an extension line in the axial direction of the support main body, and the gripping In a gripping device having a driving means for operating a member, the gripping member is composed of an inner flexible piece and an outer flexible piece that are connected to each other at the distal end side, and the inner flexible piece and the outer flexible piece. One of the rear ends of the sex pieces is a fixed end fixed to the support body, and the other is a movable end that is movable with respect to the support body. By reciprocating the movable end portion in the axial direction of the support main body, the gripping member is configured to be elastically deformed in a direction approaching and moving away from the workpiece.
このように構成された把持装置では、先端側を連結した内側可撓性片と外側可撓性片の後端側が固定端部と可動端部の２つに分かれており、リニアモータ等からなる駆動手段によって可動端部を支持本体の軸線方向に往復移動すると、内側可撓性片と外側可撓性片の先端側がワークに対して近接および離反する方向へ弾性変形するため、個々の把持部材を大きな弾性力でワークの外周面に圧接させることができ、簡単な構成でありながらワークを確実に把持することができる。 In the gripping device configured as described above, the rear end side of the inner flexible piece and the outer flexible piece connected at the front end side is divided into two, a fixed end portion and a movable end portion, and is composed of a linear motor or the like. When the movable end is reciprocally moved in the axial direction of the support body by the driving means, the distal ends of the inner flexible piece and the outer flexible piece are elastically deformed in the direction approaching and separating from the workpiece. Can be pressed against the outer peripheral surface of the workpiece with a large elastic force, and the workpiece can be securely gripped with a simple configuration.
上記の構成において、内側可撓性片と外側可撓性片に先端から後端部にかけて直線状に延びるスリットがそれぞれ形成されており、このスリットによって内側可撓性片と外側可撓性片が片持ち状に延びる複数の弾性爪に分割されていると、各弾性爪の先端部をワークの外周面の形状に倣って変形（追従）させることが可能となるため、異形状のワークでも確実に把持することができる。 In the above configuration, the inner flexible piece and the outer flexible piece are respectively formed with slits extending linearly from the front end to the rear end, and the inner flexible piece and the outer flexible piece are formed by the slit. If divided into a plurality of elastic claws extending in a cantilevered manner, the tip of each elastic claw can be deformed (followed) following the shape of the outer peripheral surface of the workpiece, so even with irregularly shaped workpieces Can be gripped.
この場合において、複数の弾性爪の後端側が固定端部で一体化されていると共に、複数の弾性爪の後端側が可動端部で一体化されていると、把持部材の固定端部と可動端部を支持部材に組み込む作業が容易になって好ましい。 In this case, when the rear end sides of the plurality of elastic claws are integrated at the fixed end portion and the rear end sides of the plurality of elastic claws are integrated at the movable end portion, the fixed end portion of the gripping member is movable. The operation of incorporating the end portion into the support member is facilitated, which is preferable.
また、上記の構成において、弾性爪の先端にワークと点接触可能な球面部が設けられていると、弾性爪の先端部とワークの外周面との接触状態が安定化して好ましい。 Further, in the above configuration, it is preferable that a spherical portion capable of making point contact with the workpiece is provided at the tip of the elastic claw because the contact state between the tip of the elastic claw and the outer peripheral surface of the workpiece is stabilized.
また、上記の構成において、支持本体にワークと接触可能な当接部材が設けられており、この当接部材が複数の把持部材で囲まれた空間内に突出していると、ワークの上面を当接部材で押え付けて軸線方向の移動を規制した状態で、複数の把持部材の先端部でワークの外周面を安定的に把持することができて好ましい。 In the above configuration, the support body is provided with an abutting member that can contact the workpiece. If the abutting member protrudes into a space surrounded by a plurality of gripping members, the upper surface of the workpiece is abutted. It is preferable that the outer peripheral surface of the workpiece can be stably gripped by the tip portions of the plurality of gripping members in a state in which the movement in the axial direction is restricted by pressing with the contact member.
この場合において、当接部材の先端部にワークを吸着可能な吸着用開口部が設けられていると、把持後のワークを安定した姿勢で所定のステージまで搬送することができると共に、搬送後のワークを当接部材で押し込みながら把持解除することにより、ワークを対象製品の所定位置に容易に組み込むことができて好ましい。 In this case, if a suction opening capable of attracting the workpiece is provided at the tip of the contact member, the gripped workpiece can be transported to a predetermined stage in a stable posture, and By releasing the grip while pushing the workpiece with the contact member, it is preferable that the workpiece can be easily assembled at a predetermined position of the target product.
本発明の把持装置によれば、簡単な構成でワークを確実に把持することができる。 According to the gripping device of the present invention, it is possible to securely grip a workpiece with a simple configuration.
発明の実施の形態について図面を参照して説明すると、図１〜図５に示すように、本実施形態例に係る把持装置は、中空構造のベース部材１と、ベース部材１の上端部に搭載された駆動モータ２と、ベース部材１の内部に上下方向（図１のＺ１−Ｚ２方向）へ移動可能に配置された連結体３と、連結体３に一体化された可動体４と、ベース部材１の下端部に固定された支持ブロック５と、ベース部材１から下方へ突出する２つの把持部材６とを備えて構成されている。 An embodiment of the invention will be described with reference to the drawings. As shown in FIGS. 1 to 5, a gripping device according to this embodiment is mounted on a hollow base member 1 and an upper end portion of the base member 1. Drive motor 2, a connecting body 3 movably arranged in the vertical direction (Z1-Z2 direction in FIG. 1) inside the base member 1, a movable body 4 integrated with the connecting body 3, and a base A support block 5 fixed to the lower end of the member 1 and two gripping members 6 projecting downward from the base member 1 are configured.
ベース部材１と支持ブロック５はネジ止め等の手段で一体化されて支持本体を構成しており、ベース部材１には上下方向へ延びるガイド溝１ａが形成されている。 The base member 1 and the support block 5 are integrated by means such as screwing to constitute a support body, and the base member 1 is formed with a guide groove 1a extending in the vertical direction.
駆動モータ２は直動型ステッピングモータやリニアモータのように上下動可能なるロッド２ａを有する駆動手段であり、この駆動モータ２の代わりにエアシリンダを用いることも可能である。 The drive motor 2 is a drive means having a rod 2a that can be moved up and down like a direct-acting stepping motor or a linear motor, and an air cylinder may be used in place of the drive motor 2.
連結体３は駆動モータ２のロッド２ａに取り付けられており、連結体３と可動体４はネジ止め等の手段で一体化されて可動ブロックを構成している。可動体４はベース部材１のガイド溝１ａよりも若干幅狭な部材であり、駆動モータ２の作動によってガイド溝１ａ内を上下動するようになっている。 The connecting body 3 is attached to the rod 2a of the drive motor 2, and the connecting body 3 and the movable body 4 are integrated by means such as screwing to constitute a movable block. The movable body 4 is a member that is slightly narrower than the guide groove 1 a of the base member 1, and moves up and down in the guide groove 1 a by the operation of the drive motor 2.
２つの把持部材６はベース部材１の中心を通る垂直軸（ロッド２ａの軸線）を挟んだ左右方向（図１のＸ１−Ｘ２方向）の対向位置に配置されており、これら把持部材６はいずれも全体的にＶ字形状をしている。把持部材６は二股状に連結された内側可撓性片７と外側可撓性片８とで構成されており、これら内側可撓性片７と外側可撓性片８の先端側（下端側）は一体化されている。内側可撓性片７の後端側（上端側）は固定端部７ａとなっており、この固定端部７ａは支持ブロック５にネジ止め等の手段を用いて固定されている。外側可撓性片８の後端側（上端側）は可動端部８ａとなっており、この可動端部８ａは可動体４の外周面にネジ止め等の手段を用いて固定されている。 The two gripping members 6 are arranged at opposing positions in the left-right direction (X1-X2 direction in FIG. 1) across a vertical axis (the axis of the rod 2a) passing through the center of the base member 1. Is also V-shaped as a whole. The gripping member 6 is composed of an inner flexible piece 7 and an outer flexible piece 8 connected in a bifurcated shape, and the leading end side (lower end side) of the inner flexible piece 7 and the outer flexible piece 8. ) Are integrated. The rear end side (upper end side) of the inner flexible piece 7 is a fixed end portion 7a, and the fixed end portion 7a is fixed to the support block 5 by means such as screwing. The rear end side (upper end side) of the outer flexible piece 8 is a movable end portion 8a, and this movable end portion 8a is fixed to the outer peripheral surface of the movable body 4 by means such as screwing.
内側可撓性片７と外側可撓性片８には先端から後端部にかけて直線状に延びるスリットＳが形成されており、このスリットＳはベース部材１の前後方向（図１のＹ１−Ｙ２方向）に沿って所定間隔を存して複数形成されている。これらスリットＳによって、内側可撓性片７が固定端部７ａを基端側として片持ち状に延びる複数の弾性爪に分割されると共に、外側可撓性片８が可動端部８ａを基端側として片持ち状に延びる複数の弾性爪に分割されている。また、内側可撓性片７と外側可撓性片８の連結部分である先端側、すなわち各弾性爪の先端には球面部６ａが形成されており、これら球面部６ａはワークと点接触可能な曲面形状となっている。なお、これら内側可撓性片７と外側可撓性片８は合成樹脂材料を用いて一体成形されているが、ステンレス鋼やリン青銅等のばね性に富む金属材料を用いて形成することも可能である。 The inner flexible piece 7 and the outer flexible piece 8 are formed with a slit S extending linearly from the front end to the rear end, and this slit S is formed in the front-rear direction of the base member 1 (Y1-Y2 in FIG. 1). Are formed at predetermined intervals along (direction). By these slits S, the inner flexible piece 7 is divided into a plurality of elastic claws extending in a cantilever manner with the fixed end portion 7a as the base end side, and the outer flexible piece 8 has the movable end portion 8a as the base end. The side is divided into a plurality of elastic claws extending in a cantilevered manner. Further, a spherical surface portion 6a is formed on the distal end side which is a connecting portion between the inner flexible piece 7 and the outer flexible piece 8, that is, on the distal end of each elastic claw, and these spherical surface portions 6a can make point contact with the workpiece. It has a curved surface shape. The inner flexible piece 7 and the outer flexible piece 8 are integrally formed using a synthetic resin material. However, the inner flexible piece 7 and the outer flexible piece 8 may be formed using a metal material having a high spring property such as stainless steel or phosphor bronze. Is possible.
２つの把持部材６の内側可撓性片７に形成された固定端部７ａどうしはベース部材１の下方で左右方向に離反しているため、図６に示すように、ベース部材１の下端部に２つの把持部材６で囲まれた空間内に突出する当接部材１０を取り付けることができる。この当接部材１０はウレタンゴム等の弾性材料で形成されており、その大きさや形状は把持部材６と干渉しないように配慮されている。以下、かかる当接部材１０を付設した把持装置の作用について、主に図６〜図９を参照しつつ説明する。 Since the fixed end portions 7a formed on the inner flexible pieces 7 of the two gripping members 6 are separated in the left-right direction below the base member 1, as shown in FIG. The abutting member 10 protruding into the space surrounded by the two gripping members 6 can be attached. The abutting member 10 is made of an elastic material such as urethane rubber, and the size and shape of the abutting member 10 are considered so as not to interfere with the gripping member 6. Hereinafter, the operation of the gripping device provided with the contact member 10 will be described with reference mainly to FIGS.
駆動モータ２のロッド２ａが初期位置で停止しているとき、図６に示すように、一対の把持部材６は、いずれも内側可撓性片７と外側可撓性片８が弾性変形していないＶ字形状に維持されており、一方の把持部材６の先端に形成された各球面部６ａは直線上に一列に並び、他方の把持部材６の先端に形成された各球面部６ａも直線上に一列に並んでいる。 When the rod 2a of the drive motor 2 is stopped at the initial position, as shown in FIG. 6, in the pair of gripping members 6, the inner flexible piece 7 and the outer flexible piece 8 are both elastically deformed. The spherical portions 6a formed at the tip of one gripping member 6 are aligned in a straight line, and the spherical portions 6a formed at the tip of the other gripping member 6 are also straight. It is lined up on the top.
この状態で駆動モータ２に電流を供給してロッド２ａを上方へ移動させると、連結体３と可動体４がベース部材１のガイド溝１ａ内を上方へ移動し、それに伴って把持部材６の外側可撓性片８が持ち上げられるため、図７（ａ）に示すように、内側可撓性片７と外側可撓性片８は外側へ開くように弾性変形する。 When current is supplied to the drive motor 2 in this state to move the rod 2a upward, the connecting body 3 and the movable body 4 move upward in the guide groove 1a of the base member 1, and accordingly, the gripping member 6 Since the outer flexible piece 8 is lifted, as shown in FIG. 7A, the inner flexible piece 7 and the outer flexible piece 8 are elastically deformed so as to open outward.
また、図６に示す状態で駆動モータ２に上記と逆向きの電流を供給してロッド２ａを下方へ移動させると、連結体３と可動体４がベース部材１のガイド溝１ａ内を下方へ移動し、それに伴って把持部材６の外側可撓性片８が押し下げられるため、図７（ｂ）に示すように、内側可撓性片７と外側可撓性片８は内側へ閉じるように弾性変形する。 Further, when the rod 2a is moved downward by supplying a current in the opposite direction to the drive motor 2 in the state shown in FIG. 6, the coupling body 3 and the movable body 4 move downward in the guide groove 1a of the base member 1. Since the outer flexible piece 8 of the gripping member 6 is pushed down with the movement, the inner flexible piece 7 and the outer flexible piece 8 are closed inward as shown in FIG. Elastically deforms.
このように作用する把持装置を用いて載置台上に供給されたワークを把持して所定のステージまで搬送する場合、まず、駆動モータ２のロッド２ａを上方へ作動させて外側可撓性片８を持ち上げることにより、図７（ａ）に示すように、一対の把持部材６を外側に開いた湾曲状態に弾性変形させる。 When the workpiece supplied on the mounting table is gripped and transported to a predetermined stage using the gripping device acting in this way, first, the outer flexible piece 8 is operated by operating the rod 2a of the drive motor 2 upward. As shown in FIG. 7A, the pair of gripping members 6 are elastically deformed into a curved state opened outward.
次に、この状態で把持装置を下降させて両把持部材６の先端の球面部６ａをワークの周囲に位置させた後、駆動モータ２のロッド２ａを下方へ作動させて外側可撓性片８を押し下げると、図７（ｂ）に示すように、両把持部材６が内側へ閉じるように弾性変形するため、ワークの外周面が両把持部材６の球面部６ａによって把持される。その際、当接部材１０の下端をワークの上面に押し付けた状態で両把持部材６を内側へ弾性変形させると、両把持部材６の球面部６ａでワークの外周面を安定的に把持することができる。しかる後、把持装置を上昇させることにより、両把持部材６の球面部６ａ間に把持されたワークが載置台から持ち上げられるため、この状態のままワークを所定のステージまで搬送することができる。 Next, in this state, the gripping device is lowered so that the spherical surface portions 6a at the tips of the gripping members 6 are positioned around the workpiece, and then the rod 2a of the drive motor 2 is operated downward to move the outer flexible piece 8 to the lower side. 7 is pressed down, the both gripping members 6 are elastically deformed so as to close inward, so that the outer peripheral surface of the workpiece is gripped by the spherical surface portions 6a of the both gripping members 6. At that time, when both gripping members 6 are elastically deformed inward with the lower end of the contact member 10 pressed against the upper surface of the workpiece, the outer peripheral surface of the workpiece is stably gripped by the spherical surface portions 6a of the both gripping members 6. Can do. Thereafter, by lifting the gripping device, the work gripped between the spherical surface portions 6a of both gripping members 6 is lifted from the mounting table, so that the work can be transported to a predetermined stage in this state.
ここで、把持部材６を構成する内側可撓性片７と外側可撓性片８には先端から後端部にかけて直線状に延びる多数のスリットＳが形成されており、これらスリットＳによって内側可撓性片７と外側可撓性片８が片持ち状に延びる複数の弾性爪に分割されているため、各弾性爪の先端に形成された球面部６ａをワークの外周面の形状に倣って変形（追従）させることができる。 Here, the inner flexible piece 7 and the outer flexible piece 8 constituting the gripping member 6 are formed with a large number of slits S extending linearly from the front end to the rear end, and these slits S allow the inner side Since the flexible piece 7 and the outer flexible piece 8 are divided into a plurality of elastic claws extending in a cantilever manner, the spherical surface portion 6a formed at the tip of each elastic claw follows the shape of the outer peripheral surface of the workpiece. It can be deformed (followed).
例えば、図８に示すように、把持されるワークＷが一面を湾曲させた平面視三角形状の部品（操作つまみ等）である場合、ワークＷの平坦な一面に対して一方の把持部材６の各球面部６ａが直線状配列を維持したまま圧接されると共に、ワークＷの湾曲した対向面に対して他方の把持部材６の各球面部６ａが独立変位して圧接されるため、このような異形状のワークＷを確実に把持することができる。また、図９に示すように、把持されるワークＷが全周を湾曲させた平面視円形状の部品である場合、ワークＷの相対向する湾曲面に対して両把持部材６の各球面部６ａが独立変位して圧接されるため、このような異形状のワークＷでも確実に把持することができる。 For example, as shown in FIG. 8, when the work W to be gripped is a triangular component (an operation knob or the like) in plan view with one surface curved, one gripping member 6 is placed on one flat surface of the work W. Each spherical surface portion 6a is pressed while maintaining a linear arrangement, and each spherical surface portion 6a of the other gripping member 6 is pressed against the curved facing surface of the workpiece W by being independently displaced. An irregularly shaped workpiece W can be reliably gripped. In addition, as shown in FIG. 9, when the work W to be gripped is a circular part in plan view with its entire circumference curved, each spherical portion of both gripping members 6 with respect to the curved surfaces facing each other of the work W Since 6a is displaced independently and pressed, even such an irregularly shaped workpiece W can be reliably gripped.
以上説明したように、本実施形態例に係る把持装置では、ワークを把持する把持部材６が互いの先端側を連結した内側可撓性片７と外側可撓性片８とで構成されており、そのうち内側可撓性片７の後端側（上端側）が支持ブロック５に固定された固定端部７ａとなっていると共に、外側可撓性片８の後端側（上端側）が可動体４に固定された可動端部８ａとなっている。そして、この可動体４を駆動モータ２等からなる駆動手段によって上下方向に往復移動することにより、二股に分かれた内側可撓性片７と外側可撓性片８の先端側がワークに対して近接および離反する方向へ弾性変形するようになっているため、一対の把持部材６を大きな弾性力でワークの外周面に圧接させることができ、簡単な構成でありながらワークを確実に把持することができる。 As described above, in the gripping device according to the present embodiment, the gripping member 6 that grips the work is composed of the inner flexible piece 7 and the outer flexible piece 8 that connect the distal ends of each other. Of these, the rear end side (upper end side) of the inner flexible piece 7 is a fixed end portion 7a fixed to the support block 5, and the rear end side (upper end side) of the outer flexible piece 8 is movable. The movable end 8 a is fixed to the body 4. Then, the movable body 4 is reciprocated in the vertical direction by the driving means including the drive motor 2 and the like, so that the distal ends of the inner flexible piece 7 and the outer flexible piece 8 which are divided into two are close to the workpiece. The pair of gripping members 6 can be pressed against the outer peripheral surface of the workpiece with a large elastic force, and the workpiece can be reliably gripped with a simple configuration. it can.
また、本実施形態例に係る把持装置では、把持部材６を構成する内側可撓性片７と外側可撓性片８にその先端から後端部にかけて直線状に延びる多数のスリットＳが形成されており、これらスリットＳによって内側可撓性片７と外側可撓性片８が片持ち状に延びる複数の弾性爪に分割されているため、各弾性爪の先端部をワークの外周面の形状に倣って変形（追従）させることができ、異形状のワークでも確実に把持することができる。しかも、各弾性爪の先端にワークと点接触可能な球面部６ａが形成されているため、弾性爪の先端部とワークの外周面との接触状態を安定化させることができる。 Further, in the gripping device according to the present embodiment, the inner flexible piece 7 and the outer flexible piece 8 constituting the gripping member 6 are formed with a large number of slits S extending linearly from the front end to the rear end. Since the inner flexible piece 7 and the outer flexible piece 8 are divided into a plurality of elastic claws extending in a cantilever manner by the slits S, the distal end portion of each elastic claw is formed in the shape of the outer peripheral surface of the workpiece. Can be deformed (followed) in accordance with the above, and even a workpiece having an irregular shape can be reliably gripped. In addition, since the spherical portion 6a that can make point contact with the workpiece is formed at the tip of each elastic claw, the contact state between the tip of the elastic claw and the outer peripheral surface of the workpiece can be stabilized.
また、ベース部材１の下端部に両把持部材６で囲まれた空間内に突出する当接部材１０を取り付けることが可能となり、その場合、ワークの上面を当接部材１０で押え付けて上下方向の移動を規制した状態で、両把持部材６の先端部でワークの外周面を安定的に把持することができる。 Moreover, it becomes possible to attach the contact member 10 which protrudes in the space enclosed by the both holding members 6 to the lower end part of the base member 1, and in that case, the upper surface of the work is pressed down by the contact member 10 in the vertical direction. The outer peripheral surface of the workpiece can be stably gripped by the tip portions of the gripping members 6 in a state where the movement of the gripping member 6 is restricted.
なお、当接部材としては図６に示すような弾性材料で形成されたものに限らず、図１０に示すように、別の形態の当接部材１１を用いることも可能である。この当接部材１１は上下方向へ移動可能となっており、その先端にワークの上面を吸着可能な吸着用開口部１１ａを有しているため、両把持部材６で把持したワークを吸着用開口部１１ａで吸着しながら安定した姿勢で所定のステージまで搬送することができる。しかも、当該ステージに搬送後のワークを対象製品の所定位置に組み込む際に、当接部材１１を下方へ移動させてワークを押し込みながら把持解除すれば、ワークを対象製品の所定位置に容易に組み込むことができる。 Note that the contact member is not limited to one formed of an elastic material as shown in FIG. 6, and another form of contact member 11 can be used as shown in FIG. 10. The abutting member 11 is movable in the vertical direction, and has a suction opening 11a capable of sucking the upper surface of the work at the tip, so that the work gripped by both gripping members 6 can be opened. It can be conveyed to a predetermined stage in a stable posture while being adsorbed by the portion 11a. In addition, when the workpiece after transported to the stage is assembled at a predetermined position of the target product, the workpiece can be easily assembled at the predetermined position of the target product by moving the contact member 11 downward and releasing the grip while pushing the workpiece. be able to.
また、上記実施形態例では、ベース部材１の中心軸を挟んだ対向位置に２つの把持部材６を配置し、これら２つの把持部材６によってワークを把持するようにしているが、把持部材６の数は２つに限定されず、図１１に示すように、例えば３つの把持部材６を周方向に等間隔をおいて配置するようにしても良い。 In the above embodiment, the two gripping members 6 are arranged at opposing positions with the central axis of the base member 1 interposed therebetween, and the workpiece is gripped by these two gripping members 6. The number is not limited to two, and as shown in FIG. 11, for example, three gripping members 6 may be arranged at equal intervals in the circumferential direction.
また、上記実施形態例では、内側可撓性片７の上端側を固定端部７ａとすると共に、外側可撓性片８の上端側を可動端部８ａとした場合について説明したが、これとは逆に、外側可撓性片８の上端側を支持本体に固定される固定端部とし、内側可撓性片７の上端側を支持本体に対して移動可能な可動端部とすることも可能である。 In the above embodiment, the case where the upper end side of the inner flexible piece 7 is the fixed end portion 7a and the upper end side of the outer flexible piece 8 is the movable end portion 8a has been described. Conversely, the upper end side of the outer flexible piece 8 may be a fixed end portion fixed to the support body, and the upper end side of the inner flexible piece 7 may be a movable end portion that is movable with respect to the support body. Is possible.
１ ベース部材
１ａ ガイド溝
２ 駆動モータ（駆動手段）
２ａ ロッド
３ 連結体
４ 可動体
５ 支持ブロック
６ 把持部材
６ａ 球面部
７ 内側可撓性片
７ａ 固定端部
８ 外側可撓性片
８ａ 可動端部
１０，１１ 当接部材
１１ａ 吸着用開口部
Ｓ スリット
Ｗ ワーク
DESCRIPTION OF SYMBOLS 1 Base member 1a Guide groove 2 Drive motor (drive means)
2a rod 3 connecting body 4 movable body 5 support block 6 gripping member 6a spherical surface portion 7 inner flexible piece 7a fixed end portion 8 outer flexible piece 8a movable end portion 10, 11 abutting member 11a suction opening S slit W Work
Claims (6)
前記把持部材が互いの先端側を連結した内側可撓性片と外側可撓性片とからなり、これら内側可撓性片と外側可撓性片の後端側のうち、いずれか一方を前記支持本体に固定された固定端部となすと共に、いずれか他方を前記支持本体に対して移動可能な可動端部となし、前記駆動手段によって前記可動端部を前記支持本体の前記軸線方向に往復移動することにより、前記把持部材がワークに対して近接および離反する方向へ弾性変形するようにしたことを特徴とする把持装置。 In a gripping device comprising a support body, a plurality of gripping members disposed so as to surround a workpiece disposed on an extension line in the axial direction of the support body, and drive means for operating these gripping members,
The gripping member is composed of an inner flexible piece and an outer flexible piece in which the distal end sides are connected to each other, and either one of the inner flexible piece and the rear flexible piece is connected to the rear end side of the inner flexible piece. The other end is a movable end that is movable relative to the support body, and the drive means reciprocates the movable end in the axial direction of the support body. A gripping apparatus, wherein the gripping member is elastically deformed in a direction of moving toward and away from the workpiece by moving.
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| JP2015115027A JP2017001113A (en) | 2015-06-05 | 2015-06-05 | Gripping device |
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|---|---|---|---|
| JP2015115027A JP2017001113A (en) | 2015-06-05 | 2015-06-05 | Gripping device |
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| JP2017001113A true JP2017001113A (en) | 2017-01-05 |
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| JP2015115027A Pending JP2017001113A (en) | 2015-06-05 | 2015-06-05 | Gripping device |
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| WO2020088741A1 (en) * | 2018-10-30 | 2020-05-07 | Siemens Aktiengesellschaft | Gripping finger having curved spacing elements, and adaptive gripping device |
| JP2021035710A (en) * | 2019-08-30 | 2021-03-04 | 株式会社前川製作所 | Gripping device |
| CN113146673A (en) * | 2021-03-31 | 2021-07-23 | 北京理工大学 | Flexible manipulator for grabbing grenades |
| WO2023007995A1 (en) * | 2021-07-26 | 2023-02-02 | 株式会社日本ピスコ | Grasping device for transfer device |
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