JPH1080890A - Workpiece gripping device - Google Patents
Workpiece gripping deviceInfo
- Publication number
- JPH1080890A JPH1080890A JP25734296A JP25734296A JPH1080890A JP H1080890 A JPH1080890 A JP H1080890A JP 25734296 A JP25734296 A JP 25734296A JP 25734296 A JP25734296 A JP 25734296A JP H1080890 A JPH1080890 A JP H1080890A
- Authority
- JP
- Japan
- Prior art keywords
- gripping
- workpiece
- arm
- gripped
- pieces
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Feeding Of Workpieces (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、把持する工作物の
形状に倣って把持するようにした汎用性を有する工作物
把持装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a versatile workpiece gripping device for gripping a workpiece according to the shape of the workpiece to be gripped.
【０００２】[0002]
【従来の技術】例えば、射出成形品の取り出しには把持
装置が用いられている。従来の把持装置は図８及び図９
で示すように、ベースプレート１の立面に上方把持アー
ム２がヒンジ４により上下方向に回動可能に枢支され、
シリンダ６により上下方向に回動するようになってお
り、また、上方把持アーム２と対向して下方把持アーム
３がヒンジ５により上下方向に回動可能に枢支され、シ
リンダ７により上下方向に回動するようになっている構
造である。2. Description of the Related Art For example, a gripping device is used for taking out an injection molded product. FIGS. 8 and 9 show a conventional gripping device.
As shown by, the upper gripping arm 2 is pivotally supported on a vertical surface of the base plate 1 by a hinge 4 so as to be vertically rotatable,
The lower gripping arm 3 is pivotally supported vertically by a hinge 5 in opposition to the upper gripping arm 2, and is vertically pivotally supported by the hinge 7. It is a structure that is designed to rotate.
【０００３】[0003]
【発明が解決しようとする課題】前記従来の把持装置で
は、上下把持アーム２，３で把持する工作物Ｗ（例えば
射出成形品）の高さＨ寸法と奥行き寸法Ｌ１，Ｌ２が製
品個々に異なるため、現状では個々の工作物に対応する
専用の把持装置を用いていた。それにより、高価な設備
費用を要している問題があった。In the conventional gripping device, the height H and the depths L1, L2 of the workpiece W (eg, an injection molded product) gripped by the upper and lower gripping arms 2, 3 are different for each product. Therefore, at present, dedicated gripping devices corresponding to individual workpieces are used. As a result, there is a problem that expensive equipment costs are required.
【０００４】また、把持アームで把持する工作物等には
把持キズをつけないように配慮する必要があるが、製品
の形状によってはキズや変形させることがあり、これを
防止することも課題になっている。Also, it is necessary to take care not to damage the workpiece gripped by the gripping arm. However, depending on the shape of the product, the workpiece may be scratched or deformed. Has become.
【０００５】本発明の目的は、把持する工作物の形状に
倣って把持させし、把持キズや変形を防止し、かつ汎用
性を有する工作物把持装置を提供することである。SUMMARY OF THE INVENTION An object of the present invention is to provide a workpiece gripping device which is adapted to be gripped according to the shape of a workpiece to be gripped, is prevented from being scratched or deformed, and has versatility.
【０００６】[0006]
【課題を解決するための手段】上記の目的を達成するた
めの本発明の要旨は、対向する上下一対の把持アーム
と、この一対の把持アームの一方の把持アームを上下方
向にスライドさせる手段と、他方の把持アームを上下方
向に回動させる手段とを備え、前記上方把持アームの把
持面に多数枚の把持駒を自重で出没可能に並設し、下方
把持アームの把持面に多数枚の把持駒を弾性体で出没可
能に並設支持したことを特徴とするものである。The gist of the present invention to achieve the above object is to provide a pair of upper and lower gripping arms facing each other, and a means for vertically sliding one gripping arm of the pair of gripping arms. Means for vertically rotating the other gripping arm, a number of gripping pieces are juxtaposed on the gripping surface of the upper gripping arm so as to be able to come and go under their own weight, and a number of gripping pieces are provided on the gripping surface of the lower gripping arm. It is characterized in that the gripping pieces are supported side by side with an elastic body so as to be able to appear and disappear.
【０００７】[0007]
【発明の実施の形態】本発明の実施の形態を図面に基づ
いて説明する。図１において、１０はベースプレートで
ある。このベースプレート１の立面に工作物Ｗを把持す
る上方把持アーム１１と下方把持アーム１２が対向して
設けられている。Embodiments of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 10 denotes a base plate. An upper grip arm 11 and a lower grip arm 12 for gripping the workpiece W are provided on the vertical surface of the base plate 1 so as to face each other.
【０００８】前記上方把持アーム１１は図２で示すよう
に、ベースプレート１０の立面に上下方向に設けたガイ
ドレール１３に下方把持アーム上下動用シリンダ１５と
連結したローラ１４を介して上下方向にスライド可能に
案内されている。As shown in FIG. 2, the upper gripping arm 11 slides vertically on a guide rail 13 provided on the upright surface of the base plate 10 via a roller 14 connected to a cylinder 15 for vertically moving the lower gripping arm. Guided as possible.
【０００９】また、前記下方把持アーム１２は図２で示
すように、ベースプレート１０の立面にヒンジ１６を介
して上下方向に回動可能に取り付けられ、下方把持アー
ム回動用シリンダ１７が連結されている。As shown in FIG. 2, the lower gripping arm 12 is mounted on a vertical surface of the base plate 10 via a hinge 16 so as to be rotatable in a vertical direction, and a lower gripping arm rotating cylinder 17 is connected thereto. I have.
【００１０】さらに、前記上方把持アーム１１の把持面
には多数枚の把持駒１８ａが自重で出没可能に並設され
ており、下方把持アーム１２の把持面には多数枚の把持
駒１８ｂがゴム、樹脂等の弾性体１９で出没可能に並設
支持されている。この把持駒１８ａ，１８ｂの材質は金
属でもよいが、把持する工作物Ｗに対する把持キズ等を
考慮するとプラスチックが適当である。Further, on the gripping surface of the upper gripping arm 11, a number of gripping pieces 18a are juxtaposed so as to be able to protrude and retract by their own weight. On the gripping surface of the lower gripping arm 12, a number of gripping pieces 18b are provided. , And are supported side by side by an elastic body 19 such as resin. The material of the grip pieces 18a and 18b may be metal, but plastic is suitable in consideration of the scratches on the workpiece W to be gripped.
【００１１】本発明は上記の通りの構造であるから、上
方把持アーム１１は下方把持アーム上下動用シリンダ１
５の作動によりガイドレール１３に沿って上下方向にス
ライドし、下方把持アーム１２は下方把持アーム回動用
シリンダ１７により上下方向に回動して上方把持アーム
１１と下方把持アーム１２との対向間の把持間隔を工作
物Ｗに応じて開閉する。Since the present invention has a structure as described above, the upper gripping arm 11 is
5 slides up and down along the guide rail 13, and the lower gripping arm 12 is rotated vertically by the lower gripping arm rotation cylinder 17 to move the lower gripping arm 11 between the upper gripping arm 11 and the lower gripping arm 12. The gripping interval is opened and closed according to the workpiece W.
【００１２】一方、上方把持アーム１１の把持面に並設
されている多数枚の把持駒１８ａは工作部Ｗを把持して
いないときには図４で示すように、自重で下降して把持
面より突出した状態であり、また、下方把持アーム１２
の把持面に並設されている多数枚の把持駒１８ｂは図５
で示すように、弾性体１９の弾力により把持面より突出
している。On the other hand, when the workpiece W is not gripped, the large number of grip pieces 18a arranged side by side on the grip surface of the upper grip arm 11 descend by their own weight and project from the grip surface as shown in FIG. And the lower grip arm 12
Many grip pieces 18b arranged side by side on the grip surface of FIG.
As shown by, the elastic body 19 protrudes from the gripping surface due to the elasticity.
【００１３】そこで、上方把持アーム１１と下方把持ア
ーム１２とによって工作物Ｗを把持したときには、上方
把持アーム１１の把持面に並設されている多数枚の把持
駒１８ａは図６で示すように、工作物Ｗの凸面部では局
部的に押し上げられて把持面より没入した状態となり、
また、下方把持アーム１２の把持面に並設されている多
数枚の把持駒１８ｂは図７で示すように、工作物Ｗの凸
面部では局部的に押し下げられて弾性体１９を圧縮し把
持面より没入する。Therefore, when the workpiece W is gripped by the upper gripping arm 11 and the lower gripping arm 12, a number of gripping pieces 18a arranged in parallel on the gripping surface of the upper gripping arm 11, as shown in FIG. In the convex portion of the workpiece W, the workpiece is locally pushed up and immersed in the gripping surface,
As shown in FIG. 7, a large number of grip pieces 18b arranged side by side on the grip surface of the lower grip arm 12 are locally pressed down at the convex surface of the workpiece W to compress the elastic body 19 and compress the grip surface. More immersive.
【００１４】従って、図２で示すように、把持する工作
物Ｗの把持部の形状に基づいて把持駒１８ａ，１８ｂが
把持面より没入し、把持する工作物Ｗの形状に倣って把
持される。Accordingly, as shown in FIG. 2, the grip pieces 18a, 18b are immersed from the grip surface based on the shape of the grip portion of the workpiece W to be gripped, and gripped according to the shape of the workpiece W to be gripped. .
【００１５】これにより、把持する工作物Ｗの形状に限
定されることなく、工作物Ｗの形状に追従して把持され
るため、工作物Ｗの形状専用の把持装置が不要となり、
汎用性を有している。Thus, the workpiece W is gripped without being limited to the shape of the workpiece W to be gripped, so that a gripping device dedicated to the shape of the workpiece W is not required.
Has versatility.
【００１６】また、工作物Ｗに無理な把持力を付与しな
いため、工作物Ｗに対し把持キズや変形を防止する。Further, since no excessive gripping force is applied to the workpiece W, the workpiece W is prevented from being scratched or deformed.
【００１７】尚、本発明は、射出成形品の取り出しの際
の把持のみに限らず、パネルのプレス成形品等の工作物
に広く適用することができる。The present invention can be widely applied not only to gripping when taking out an injection molded product, but also to a work such as a press molded product of a panel.
【００１８】[0018]
【発明の効果】以上のように本発明によると、上下方向
にスライドさせる上方把持アームの把持面に多数枚の把
持駒を自重で出没可能に並設し、前記上方把持アームに
対向して上下方向に回動する下方把持アームの把持面に
多数枚の把持駒を弾性体で出没可能に並設した構成であ
るから、工作物の形状に限定されることなく、把持する
工作物の形状に倣って把持され、汎用性を可能とし設備
費用を低減すると共に、工作物に無理な把持力を付与し
ないため、工作物に対し把持キズや変形を防止すること
ができる利点を有している。As described above, according to the present invention, a large number of gripping pieces are juxtaposed by their own weight on the gripping surface of the upper gripping arm which is slid in the vertical direction. Since a large number of gripping pieces are arranged side by side with the elastic body on the gripping surface of the lower gripping arm that rotates in the direction, it is not limited to the shape of the workpiece, and the shape of the workpiece to be gripped is not limited to the shape of the workpiece. It has the advantage of being able to prevent gripping scratches and deformation on the workpiece because it is gripped imitatively, enables versatility and reduces equipment costs, and does not impart excessive gripping force to the workpiece.
【図１】本発明装置の全体斜視図FIG. 1 is an overall perspective view of the apparatus of the present invention.
【図２】図１のＣ−Ｃ線断面図FIG. 2 is a sectional view taken along line CC of FIG.
【図３】本発明装置の把持面部の斜視図FIG. 3 is a perspective view of a gripping surface portion of the device of the present invention.
【図４】工作物を把持していない時の上方把持アームの
把持駒の状態を示す図３のＡ断面図FIG. 4 is a sectional view taken along the line A in FIG. 3 showing a state of a gripping piece of an upper gripping arm when the workpiece is not gripped.
【図５】工作物を把持していない時の下方把持アームの
把持駒の状態を示す図３のＢ断面図5 is a sectional view taken along the line B in FIG. 3 showing a state of a gripping piece of a lower gripping arm when the workpiece is not gripped.
【図６】工作物を把持した時の上方把持アームの把持駒
の状態を示す断面図FIG. 6 is a sectional view showing a state of a gripping piece of an upper gripping arm when gripping a workpiece;
【図７】工作物を把持した時の下方把持アームの把持駒
の状態を示す断面図FIG. 7 is a sectional view showing a state of a gripping piece of a lower gripping arm when gripping a workpiece;
【図８】従来装置の全体斜視図FIG. 8 is an overall perspective view of a conventional device.
【図９】図８のＤ−Ｄ線断面図9 is a sectional view taken along line DD of FIG.
１０ ベースプレート １１ 上方把持アーム １２ 下方把持アーム １３ ガイドレール １４ ローラ １５ 下方把持アーム上下動用シリンダ １６ ヒンジ １７ 下方把持アーム回動用シリンダ １８ａ 把持駒 １８ｂ 把持駒 １９ 弾性体 DESCRIPTION OF SYMBOLS 10 Base plate 11 Upper gripping arm 12 Lower gripping arm 13 Guide rail 14 Roller 15 Lower gripping arm vertical movement cylinder 16 Hinge 17 Lower gripping arm rotation cylinder 18a Gripping piece 18b Gripping piece 19 Elastic body
Claims (1)
一対の把持アームの一方の把持アームを上下方向にスラ
イドさせる手段と、他方の把持アームを上下方向に回動
させる手段とを備え、 前記上方把持アームの把持面に多数枚の把持駒を自重で
出没可能に並設し、下方把持アームの把持面に多数枚の
把持駒を弾性体で出没可能に並設支持したことを特徴と
する工作物把持装置。1. A pair of upper and lower gripping arms facing each other, means for vertically sliding one gripping arm of the pair of gripping arms, and means for vertically rotating the other gripping arm, A large number of gripping pieces are juxtaposed on the gripping surface of the upper gripping arm so that they can protrude and retract by their own weight, and a large number of gripping pieces are juxtaposed and supported by an elastic body on the gripping surface of the lower gripping arm. Workpiece holding device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25734296A JPH1080890A (en) | 1996-09-09 | 1996-09-09 | Workpiece gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25734296A JPH1080890A (en) | 1996-09-09 | 1996-09-09 | Workpiece gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH1080890A true JPH1080890A (en) | 1998-03-31 |
Family
ID=17305044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25734296A Pending JPH1080890A (en) | 1996-09-09 | 1996-09-09 | Workpiece gripping device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH1080890A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001105378A (en) * | 1999-10-08 | 2001-04-17 | Aloka Co Ltd | Handling device |
| JP2002321184A (en) * | 2001-04-23 | 2002-11-05 | Yamazaki Mazak Corp | Clamp unit and gantry robot using clamp unit |
| JP2011026111A (en) * | 2009-07-03 | 2011-02-10 | Tokyo Electron Ltd | Position-deviation prevention device, substrate holder including this, substrate conveying device, and substrate conveying method |
| JP2013006249A (en) * | 2011-06-27 | 2013-01-10 | Shin-Etsu Chemical Co Ltd | Magnet fixture |
| IT201900005096A1 (en) * | 2019-04-04 | 2020-10-04 | Mec S R L | GRIP SYSTEM WITH VARIABLE ADAPTATION |
-
1996
- 1996-09-09 JP JP25734296A patent/JPH1080890A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001105378A (en) * | 1999-10-08 | 2001-04-17 | Aloka Co Ltd | Handling device |
| JP2002321184A (en) * | 2001-04-23 | 2002-11-05 | Yamazaki Mazak Corp | Clamp unit and gantry robot using clamp unit |
| JP2011026111A (en) * | 2009-07-03 | 2011-02-10 | Tokyo Electron Ltd | Position-deviation prevention device, substrate holder including this, substrate conveying device, and substrate conveying method |
| TWI555681B (en) * | 2009-07-03 | 2016-11-01 | Tokyo Electron Ltd | A position shift preventing device, a substrate holder including the same, a substrate handling device, and a substrate handling method |
| JP2013006249A (en) * | 2011-06-27 | 2013-01-10 | Shin-Etsu Chemical Co Ltd | Magnet fixture |
| IT201900005096A1 (en) * | 2019-04-04 | 2020-10-04 | Mec S R L | GRIP SYSTEM WITH VARIABLE ADAPTATION |
| EP3718712A1 (en) * | 2019-04-04 | 2020-10-07 | MEC S.r.l. | Variable adaptation gripping system |
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