JP2013103298A - Tool for positioning gripping part - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily and surely change the position of a gripping unit in a workpiece gripping device by allowing a worker to move and position the gripping unit provided in the workpiece gripping device mounted to a robot arm according to a variation in the type of a workpiece without any additional driving device for moving the gripping unit to a robot or the workpiece gripping device.SOLUTION: A gripping unit positioning tool 400 for moving and positioning a gripping mechanism 11 according to the type of a workpiece in the workpiece gripping device 1 includes: a tool plate 401 in which an engagement recess 420 engaged with the gripping mechanism 11 that can be switched between a state that movement is permitted in the workpiece gripping device 1 and a state that the movement is restricted in the workpiece gripping device is disposed at a position corresponding to the gripping unit for the workpiece gripped by the gripping mechanism 11 according to the type of the workpiece; and a tool body positing unit 402 for positioning the tool plate 401 relative to the workpiece gripping device 1.

Description

  The present invention relates to a gripping part positioning jig, and in particular, gripping for positioning by moving the gripping part according to the type of work in a work gripping apparatus that is mounted on a robot arm and grips various works by the gripping part. The present invention relates to a part positioning jig.

In production lines that process and assemble multiple parts to complete products with various variations, technologies for flexibly handling various types of workpieces and efficiently transporting them are used (for example, patents). References 1, 2).
In Patent Document 1, it is possible to deal with a wide variety of workpieces by the hand portion replacement mechanism 54 that replaces the hand portion that grips the workpiece.
In Patent Document 2, the exchange time is shortened by rotating a plurality of hands by using a turret type robot hand, and selecting them by switching.

  However, in the hand part replacement mechanism 54 of Patent Document 1, separate hands must be prepared according to the type of work, and thus there is a problem in securing the production cost of the hand and securing the place. Further, since the structure of the turret type robot hand of Patent Document 2 is complicated, there is a problem in that the tip of the robot becomes heavy and the operation is restricted, and there is a limit to the type of switching.

  In order to solve such a problem, it is possible to change the position of the gripping unit in a workpiece gripping device that grips the workpiece when the type of the workpiece is changed, and to reduce the weight of the tip side of the robot arm, the gripping unit It is conceivable to adopt a configuration in which a robot or workpiece gripping device is not provided with a driving device for moving the robot.

  However, when such a configuration is adopted, it is possible to automate a series of operations for changing the position of the gripper each time the type of workpiece is changed, but the type of workpiece is not frequently changed. In some cases, considerable investment is required. Moreover, when an automation apparatus breaks down, an operator has to deal with after all. In this case, for example, if the operator changes the position of the gripping part while measuring the dimensions each time, it is not efficient and errors are likely to occur.

JP-A-6-262281 JP-A-5-301189

  The present invention has been made in view of such circumstances, and a driving device for moving a gripping portion provided to a workpiece gripping device mounted on a robot arm to a robot or a workpiece gripping device is provided. An object is to easily and surely change the position of the gripping portion in the workpiece gripping device by moving the operator and positioning it according to the change of the workpiece type without providing the workpiece.

  In order to achieve the above-mentioned object, the invention according to claim 1 is characterized in that the gripping portion in a workpiece gripping device that is mounted on a robot arm and grips various workpieces by the gripping portion is moved according to the type of the workpiece. A gripping part positioning jig for engaging with the gripping part that can be switched between a state in which movement of the work gripping device is allowed and a state in which the gripping unit is restricted is a type of workpiece. And a jig body provided at a position corresponding to the gripped part of the workpiece to be gripped by the gripping part, and a jig body positioning part for positioning the jig body with respect to the workpiece gripping device, , Provided.

According to the present invention, the gripping portion provided in the workpiece gripping device mounted on the robot arm can be changed according to the type of workpiece without providing a driving device for moving the gripping portion to the robot or the workpiece gripping device. Thus, the operator can move and position it to easily and reliably change the position of the gripping portion in the workpiece gripping device.
Therefore, it becomes possible to deal with various workpieces having variations while reducing the weight of the tip side of the robot arm.

  The invention according to claim 2 is the gripping part positioning jig according to claim 1, wherein the jig body positioning part is a jig that can be set on a gripping apparatus side set part provided in the work gripping apparatus. A tool main body side set portion is provided, and has a support column erected on the jig main body.

  According to this invention, the workpiece gripping device and the jig body can be positioned with a compact configuration via the support column. In addition, it is possible to secure a wide space for moving the gripping portion between the workpiece gripping device and the jig main body, and the operator can easily perform the positioning operation of the gripping portion.

  Invention of Claim 3 is a holding part positioning jig of Claim 2, Comprising: The said holding | grip the said support | pillar in the state by which the said jig | tool main body side set part was set to the said holding device side set part The apparatus further includes fixing means for fixing to the apparatus.

  According to the present invention, since the workpiece gripping device and the jig body are not erroneously shifted or separated during the positioning operation of the gripping portion by the operator, the positioning operation becomes easier.

  Invention of Claim 4 is a holding part positioning jig of Claim 1, Comprising: The base for positioning and installing the said jig | tool main body is further provided, The said jig | tool main body positioning part is the said A pedestal side set portion that can be set in a gripping device side set portion provided in the workpiece gripping device is provided, and has a column that is erected on the pedestal.

  According to this invention, since the height of the jig body is close to the operator's line of sight due to the pedestal, the operator can easily perform the positioning operation of the grip portion. Further, by consolidating the positioning function on the pedestal, the jig body is not complicated and can be easily managed.

  A fifth aspect of the present invention is the gripping part positioning jig according to the fourth aspect, wherein the pedestal has a movable mechanism that allows the pedestal to move.

  According to the present invention, when the operator manually changes the position of the gripping part, the work gripping device does not move until it is positioned on the pedestal, but at most moves to the vicinity of the pedestal. However, even in such a case, the pedestal can be easily moved and the jig body can be positioned with respect to the workpiece gripping device.

  A sixth aspect of the present invention is the gripping part positioning jig according to any one of the first to fifth aspects, wherein the jig main body is moved by the jig main body positioning part. And an engaging member that is detachably attached to the base portion and has the engaging portion disposed at a position corresponding to the type of workpiece.

  According to the present invention, by providing a minimum (for example, one) base portion and a plurality of types of engaging members having engaging portions disposed at positions corresponding to the type of workpiece, By changing only the engaging member and attaching it to the base portion when the angle is changed, a gripping portion positioning jig corresponding to the type of workpiece can be configured. Thereby, cost reduction and space saving of a jig storage place can be achieved.

  A seventh aspect of the present invention is the gripping part positioning jig according to any one of the first to sixth aspects, wherein the jig main body is moved by the jig main body positioning part. A base portion that is positioned with respect to the workpiece, and the engaging portion is recessed from the surface of the base portion so as to be raised toward the workpiece gripping device, or on the opposite side of the workpiece gripping device. It is arrange | positioned at the hollow part provided so that it might be.

  According to this invention, the height direction position of the engaging portion can be set according to the type of workpiece. Thereby, even if the height direction position of the gripped portion of the workpiece changes depending on the type of the workpiece, it is possible to cope with it.

  The invention according to an eighth aspect is the gripping portion positioning jig according to any one of the first to seventh aspects, wherein the jig main body moves toward the workpiece gripping device side of the engagement portion. It has an extending member that is provided so as to be able to move forward and backward, and that can extend the engaging portion toward the workpiece gripping device.

  According to this invention, when the type of workpiece is changed, the extension member is advanced to the workpiece gripping device side of the engaging portion, or retracted from the workpiece gripping device side of the engaging portion, thereby changing the type of workpiece. Accordingly, the position in the height direction of the engaging portion can be set. Thereby, even if the height direction position of the gripped portion of the workpiece changes depending on the type of the workpiece, it is possible to cope with it.

  The invention according to claim 9 is the gripping portion positioning jig according to any one of claims 1 to 8, wherein the jig body has a plurality of workpieces corresponding to a plurality of types of workpieces. An engaging portion is provided.

  According to the present invention, a single jig body can handle a plurality of types of workpieces. Thereby, cost reduction and space saving of a jig storage place can be achieved.

  A tenth aspect of the present invention is the gripping portion positioning jig according to any one of the first to ninth aspects, wherein the gripping portion is located outside the gripped portion of the workpiece. A convex portion in the case of an outer type that presses and grips from the inside toward the inside, and a concave portion in the case of an inner type in which the gripping portion presses and grips the gripped portion of the workpiece from the inside to the outside. It is characterized by being.

  According to the present invention, it is possible to cope with a case where the gripping portion is an outer type, an inner type, or a combination of both types. In addition, it is possible to handle a workpiece having a complicated structure.

  According to the present invention, the gripping unit provided in the workpiece gripping device attached to the robot arm can be changed according to the type of workpiece without providing a driving device for moving the gripping unit to the robot or the workpiece gripping device. Thus, it is possible to provide a gripping part positioning jig that can be moved and positioned by an operator and easily and reliably change the position of the gripping part in the workpiece gripping apparatus.

It is a top view which shows the workpiece carrying-out process for demonstrating the usage example at the time of applying the holding part positioning jig which concerns on embodiment of this invention to a workpiece holding apparatus. It is sectional drawing which shows the structure of the principal part of the attitude | position control apparatus of a workpiece | work holding apparatus. It is a figure which shows operation | movement of the holding | grip mechanism in a workpiece | work holding apparatus, (a) is sectional drawing, (b) is a side view of a front-end | tip part. It is a figure which shows the holding mechanism in a workpiece | work holding apparatus, (a) is a perspective view, (b) is the state before holding, (c) is an exploded view of a driven member, (d) shows the state hold | gripped. . It is a fragmentary sectional front view which shows the structure of the holding part positioning jig for positioning the holding mechanism in a workpiece | work holding apparatus. It is a typical front view which shows operation | movement (when the rigidity of the pallet which mounts a workpiece | work is high) in the attitude | position control apparatus, (a) is the state before inserting the front-end | tip part of a holding mechanism in a to-be-held part, (B) shows the state after inserting the front-end | tip part of a holding mechanism in a to-be-held part. It is a typical front view which shows operation | movement (when the rigidity of the pallet which mounts a workpiece | work is low) in an attitude | position control apparatus, (a) is the state before inserting the front-end | tip part of a holding mechanism in a to-be-held part, (B) shows the state after inserting the front-end | tip part of a holding mechanism in a to-be-held part. It is a partial front sectional view for explaining operation of a work gripping device, and shows a state before gripping with a gripping device. It is a fragmentary front sectional view for demonstrating operation | movement of a workpiece | work holding apparatus, and shows the state which the support shaft contact | abutted to the workpiece | work. It is a fragmentary front sectional view for demonstrating operation | movement of a workpiece | work holding apparatus, and shows the state which the outer cylinder of the support shaft contact | abutted to the workpiece | work. It is a fragmentary front sectional view for demonstrating operation | movement of a workpiece | work holding | grip apparatus, and shows the state which clamp was completed. It is a fragmentary front sectional view for demonstrating operation | movement of the workpiece | work holding | gripping apparatus when the workpiece | work has produced the position shift excessively. It is an enlarged plan view of a gripping part positioning jig. (A) is a longitudinal cross-sectional view which shows the modification of a fixing means, (b) is a top view which shows another modification of a fixing means. It is sectional drawing which follows the AA line of FIG. (A) (b) is sectional drawing of the periphery of the engagement recessed part from which a height direction position differs. It is sectional drawing which follows the BB line of FIG. It is sectional drawing which follows the CC line of FIG. (A) is sectional drawing which follows the DD line | wire of FIG. 13, (b) is a top view of (a). It is a figure which shows the modification which attaches and uses two types of engagement members by which the engagement recessed part was arrange | positioned in a different position to the same position of a base part, (a) uses one engagement member (B) is a cross-sectional view taken along line EE of (a), (c) is a plan view when the other engagement member is used, and (d) is F- of (c). It is sectional drawing which follows F line. It is a typical perspective view which shows the modification provided with the base for positioning and installing a jig | tool plate, (a) is a figure which shows the case where a jig | tool main body positioning part is provided in the jig | tool plate, (b) ) Is a diagram showing a case where the jig body positioning portion is provided on the base instead of the jig plate. It is a perspective view for demonstrating an outer type holding mechanism, (a) shows an external appearance, (b) is sectional drawing which shows an internal structure. It is a sectional front view showing composition and operation of an outer type grasping mechanism, (a) shows a state before grasping, and (b) shows a grasped state. It is a partially exploded perspective view for demonstrating an outer type holding mechanism. It is an expanded sectional view around the engaging convex part of the gripping part positioning jig used when the gripped part is a convex part such as a boss, and (a) is based on the height direction position of the gripping point by the gripping mechanism. The case where it exists in the workpiece | work holding apparatus side from the surface of a part is shown, (b) shows the case where the height direction position of the holding | grip point by a holding | grip mechanism is on the opposite side to a workpiece | work holding apparatus from the surface of a base part.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate.
First, a workpiece gripping apparatus 1 in which a gripping part positioning jig according to an embodiment of the present invention is used will be described in detail with reference mainly to FIGS.

As shown in FIG. 1, the workpiece gripping device 1 is suitably used as a gripping device (robot hand) that is attached to the tip 102 of the robot arm 101 of the articulated robot 100 and grips a workpiece W having various variations. be able to.
In the present embodiment, a case will be described in which the workpiece gripping device 1 is mounted on the multi-joint robot 100 by being mounted on the posture control device 2 described later.
The articulated robot 100 includes a workpiece gripping device 1 in which a workpiece W placed on a pallet 201 that has been transported to a take-out position by a transport device 200 is mounted on a distal end portion 102 of a robot arm 101 (see also FIG. 2). Thus, the gripping portion Wa (FIG. 2) of the workpiece W is gripped at three positions, and the robot arm 101 is turned to release the gripping state and transport the workpiece to the unloading device 300 (see the workpiece W1).

  Here, it is assumed that the workpiece W such as a transmission case or a torque converter case where the position of the concave portion or the convex portion that becomes the gripped portion Wa changes depending on the product variation is gripped, but the present invention is limited to this. However, the present invention can be applied to gripping various workpieces.

  In the present embodiment, a case where the workpiece gripping device 1 is mounted on the posture control device 2 and mounted on the articulated robot 100 will be described. However, the present invention is not limited to this and the posture control device 2 is not used. In addition, the workpiece gripping device 1 may be attached to the distal end portion 102 of the robot arm 101.

  As shown in FIG. 2, the workpiece gripping apparatus 1 includes a support plate 22 connected to the robot arm 101 and a gripping mechanism (grip unit) 11 that is disposed on the support plate 22 and grips a gripped portion Wa of the workpiece W. And a triaxial movement mechanism 12 that is a free movement mechanism that supports the gripping mechanism 11 so as to be freely movable, and a movement restriction device 13 that restricts the movement of the gripping mechanism 11. That is, the gripping mechanism 11 can be switched between a state in which movement of the work gripping device 1 is permitted and a state in which the movement is restricted.

  Then, as shown in FIG. 1, the workpiece gripping device 1 includes a gripping part positioning jig for positioning the gripping mechanism 11 by moving the gripping mechanism 11 according to the type of the workpiece in order to adapt the gripping mechanism 11 to various workpieces. 400 is separately provided in the vicinity of the articulated robot 100. Details of the gripper positioning jig 400 will be described later.

  In the present embodiment, the workpiece gripping device 1 is provided with the same gripping mechanism 11 at three locations, and the gripped portion Wa formed of a recess such as a through-hole formed in the workpiece W is gripped at three locations. 11 (see FIG. 1), the number is not limited to three, and may be appropriately one or two or more depending on the shape of the workpiece W. The gripping mechanisms 11 arranged at three locations have the same configuration.

  As shown in FIG. 3, the gripping mechanism 11 houses the driving member 111 in which the wedge-shaped portion 111 a is formed, the driven member 112 that moves in the diameter-expanding direction by the driving member 111, and the driving member 111 and the driven member 112. A holder 113 and driving means 114 (FIG. 2) for driving the driven member 112 by reciprocating the driving member 111 are provided.

As shown in FIG. 4B, the drive member 111 has a cylindrical shape, and is provided with a wedge-shaped portion 111a having a flat surface formed at three points in the circumferential direction at the tip portion.
As shown in FIG. 4C, the driven member 112 has a substantially rectangular shape, and is arranged at three locations side by side in the circumferential direction. In the driven member 112, a slope portion 112a that fits the wedge-shaped portion 111a is formed on one outer surface, and a joint portion 112b that joins the gripped portion Wa is formed on the other inner surface.
The joint portion 112b is formed in an arc shape in a cross-sectional view so as to match the hole shape of the gripped portion Wa, but is not limited to this, and is not limited to this, such as a rubber member having a high coefficient of friction, an anti-slip material such as a knurl. Processing may be performed.

  The gradient portion 112a is formed with a flat surface so as to fit the wedge-shaped portion 111a made of a flat surface, and the joint portion 112b is formed in an arc shape in cross section so as to fit the gripped portion Wa of the workpiece W. However, the present invention is not limited to this, and may be appropriately determined in consideration of the weight of the workpiece W, the wear resistance of the sliding portion, the difficulty of workability, and the like. For example, the gradient portion 112a and the wedge-shaped portion You may form 111a in circular arc shape by sectional view.

As shown in FIG. 3, the holder 113 has a main body portion 113a that supports the drive member 111 so as to be reciprocally movable in the vertical direction of FIG. 3A, and a front end that is screwed and joined to the front end of the main body portion 113a. Part 113b (see FIG. 4A).
The holder 113 supports the drive member 111 so as to be reciprocally movable on the inner peripheral surface 113c of the main body 113a, and the driven member 112 is supported by the support portions 113d and 113e (see FIG. 3B) of the tip 113b. It is supported so as to be capable of reciprocating in the left-right direction (horizontal direction) of (a).

As shown in FIG. 2, the driving means 114 is configured such that a reciprocating driving means such as an air cylinder is connected to the driving member 111 so that the driving member 111 can reciprocate.
The gripping mechanism 11 moves the driven member 112 in the left-right direction in FIG. 3A by reciprocating the driving member 111 in the vertical direction in FIG. )), And a mechanism for gripping the workpiece W (see FIG. 2) by pressing the joint 112b of the driven member 112 of the gripped portion Wa of the workpiece W (see FIG. 4D).

As shown in FIG. 2, the three-axis moving mechanism 12 includes an X-axis direction moving mechanism 121 disposed on the support plate 22, a Y-axis direction moving mechanism 122 supported by the X-axis direction moving mechanism 121, And a Z-axis direction moving mechanism 123 supported by a Y-axis direction moving mechanism 122 via a bracket 124.
The three-axis moving mechanism 12 is configured in the same manner as the three axes. For example, in the X-axis direction moving mechanism 121, a guide rail 121a disposed in the X-axis direction and a movable movement along the guide rail 121a are disposed. Holder 121b.
With this configuration, the workpiece gripping device 1 can be moved freely in the three axis directions of the front and rear (X axis), left and right (Y axis), and vertical (Z axis) directions by the three axis moving mechanism 12. I support it.

  In the present embodiment, the triaxial moving mechanism 12 is adopted, but the present invention is not limited to this, and the degree of freedom is appropriately set in consideration of the positional relationship of the gripped portion Wa of the workpiece W. One or two axes may be used, and a moving mechanism provided with a rotating shaft may be employed.

  The movement restricting device 13 is configured in the same manner for the three axes, and is provided in the X-axis direction moving mechanism 121, the Y-axis direction moving mechanism 122, and the Z-axis direction moving mechanism 123, respectively. For example, the X-axis direction moving mechanism 121 employs a lock mechanism that clamps the guide rail 121a and restricts the movement of the holder 121b. However, the locking method in the movement restricting device 13 is not particularly limited, and various forms such as an air type and an electromagnetic type can be adopted.

With this configuration, the workpiece gripping device 1 can be held by the movement restricting device 13 so that the gripping mechanism 11 is locked and moved in a state of being aligned with the gripped portion Wa of the workpiece W.
For this reason, the workpiece gripping device 1 can flexibly handle various workpieces having different positions of the gripped portion Wa by adjusting the gripping mechanism 11 to a free position by a gripping portion positioning jig 400 described later (see FIG. 5). can do.

<Attitude control device>
As shown in FIG. 2, the posture control device 2 includes a fixed plate 21 that is fixed to the distal end portion 102 of the robot arm 101, and an elastic mechanism 3 that elastically supports the support plate 22 of the workpiece gripping device 1 with respect to the fixed plate 21. The displacement detecting means 4 of the support plate 22 and the posture detecting device 6 for detecting the posture of the workpiece gripping device 1 are provided.
In the present embodiment, the case where the posture detection device 6 is provided will be described. However, the present invention is not limited to this. When the workpiece W is positioned on the pallet 201 (FIG. 1) in a normal state, May not include the attitude detection device 6.

The fixed plate 21 is a member that serves as a base for supporting the support plate 22 and has a rectangular shape in plan view (see FIG. 1).
The support plate 22 is elastically supported by the fixed plate 21 via elastic mechanisms 3 (see also FIG. 1) disposed at the four corners. At the support plate 22, the posture detection device 6 is arranged at predetermined locations (three locations in the present embodiment) so that the gripping mechanism 11 can securely grip the predetermined locations (three locations in the present embodiment) of the workpiece W. It is installed.

  As shown in FIG. 2, the elastic mechanism 3 is attached to the support plate 22 in a direction away from the fixed plate 21 (downward in FIG. 2) by a coil spring 31 disposed between the fixed plate 21 and the support plate 22. Thus, the support plate 22 is elastically supported with respect to the fixed plate 21.

  In the present embodiment, the coil spring 31 is employed as the spring member of the elastic mechanism 3, but the present invention is not limited to this, and the torsion is possible as long as the load and the amount of deflection necessary for posture control can be secured. Various spring members such as a coil spring, a leaf spring, and a disc spring can be employed. Moreover, it is not limited to a spring member, A gas spring can also be employ | adopted.

  That is, according to the operation content of the workpiece gripping device 1, a suitable posture member is realized by appropriately selecting an appropriate spring member or gas spring in consideration of a load and a deflection amount (stroke) necessary for the posture control. . The spring member is suitable for applications that gradually increase the attitude control force because the load is proportional to the amount of deflection, and the gas spring can generate a constant load even if the amount of deflection changes. Suitable for applications that ensure a stable and constant attitude control force.

The displacement detection means 4 is a detection device that detects the displacement of the support plate 22 relative to the fixed plate 21, and a detection device such as a proximity sensor is used.
The displacement detection means 4 includes a first detector 41 and a first detected portion 41a for detecting the original position of the support plate 22, and a second detector 42 and a second detected portion for detecting the grip position by the workpiece gripping device 1. 42a, and a third detector 43 and a third detected portion 43a that detect excessive displacement of the support plate 22.

  With this configuration, the support plate 22 moves in the direction approaching the fixed plate 21 from the original position shown in FIG. 8, and when the second detected portion 42 a reaches the position of the second detector 42, the gripping position by the workpiece gripping device 1 is reached. If it is detected (see FIG. 9) and the support plate 22 passes the gripping position and the third detected portion 43a reaches the position of the third detector 43, the excessive displacement of the support plate 22 can be detected ( (Refer FIG.12 (c)).

  As shown in FIG. 2, the posture detection device 6 includes a support shaft 5 that is brought into contact with the workpiece W, a flexible member 5 a provided at the tip of the support shaft 5, and an exterior that allows the support shaft 5 to be retractable. The cylinder 61, the urging means 62 that urges the support shaft 5 in the direction in which the support shaft 5 is pressed against the work W, the contact detection means 63 that detects that the support shaft 5 is in contact with the work W, and the outer cylinder 61 are illustrated. 3 and an air cylinder 64 that moves in the vertical direction.

Here, the flexible member 5a may use, for example, rubber, foamed polystyrene, sponge, or the like to relieve the impact force when the support shaft 5 is brought into contact with the workpiece W and prevent damage to the workpiece W. it can.
The air cylinder 64 is a device for allowing the outer cylinder 61 and the support shaft 5 to escape upward so that the posture detection device 6 does not interfere with the workpiece W when positioning the gripping mechanism 11 in the workpiece gripping device 1. The support shaft 5 can come into contact with the workpiece W in a state where the tube 61 and the support shaft 5 are lowered.

  The contact detection means 63 is composed of a proximity sensor or the like, and moves by a predetermined movement amount S (see FIG. 9A) after the support shaft 5 contacts the workpiece W, and the front end surface of the outer cylinder 61 and the support shaft When the support shaft 5 comes into contact with the workpiece W by the detected portion 63a that has moved to the facing position in a state where the front end surface of the surface 5 is flush (see FIG. 10A), a predetermined movement amount is obtained. Detects movement.

  The biasing means 62 is not particularly limited, and a coil spring or the like can be adopted. However, the elastic coefficient of the biasing means 62 is smaller than the elastic coefficient of the coil spring 31 of the elastic mechanism 3 (the elasticity of the elastic mechanism 3). The coefficient is set to be larger than the elastic coefficient of the biasing means 62).

  With this configuration, as shown in FIG. 9, the coil spring 31 (see FIG. 5) is bent more than the movement amount S (see FIG. 9A) that moves after the support shaft 5 abuts against the workpiece W. The amount of movement S ′ (see FIG. 9B) is smaller.

The posture detection device 6 is supported by the bracket 124 and is disposed in the vicinity of the gripping mechanism 11 of the workpiece gripping device 1.
The posture detection device 6 can detect that the driven member 112 that grips the workpiece W is properly inserted into the gripped portion Wa of the workpiece W by the contact detection means 63.

  That is, when the tip 102 of the robot arm 101 (see FIG. 1) is brought close to the support shaft 5 in contact with the workpiece W and the tip 102 is moved further toward the workpiece W, together with the workpiece gripping device 1. The outer cylinder 61 moves downward in FIG. 3 so that the support shaft 5 is accommodated in the outer cylinder 61 against the urging force of the urging means 62, and the distal end surface of the outer cylinder 61 and the distal end surface of the support shaft 5 are surfaces. It comes into contact with the workpiece W together.

  At this time, at the tip of the gripping mechanism 11, the posture detection device 6 is placed on the gripping mechanism 11 so that the driven member 112 that grips the work W is properly inserted into the gripped portion Wa of the work W. It is arranged at an appropriate position and height.

  For this reason, the posture detection device 6 contacts the state where the front end surface of the outer cylinder 61 and the front end surface of the support shaft 5 are flush with each other by a predetermined amount of movement after the support shaft 5 contacts the workpiece W. By detecting by the detection means 63, it can be confirmed that the driven member 112 that grips the workpiece W is properly inserted into the gripped portion Wa of the workpiece W.

Next, operations when the workpiece gripping device 1 is mounted on the posture control device 2 and applied to the articulated robot 100 will be described with reference to FIGS. 6 to 12.
<Operation of elastic mechanism 3>
First, the operation of the elastic mechanism 3 will be described with reference mainly to FIGS. FIG. 6 to be referred to is a schematic front view showing the operation of the elastic mechanism 3 when the rigidity of the pallet on which the workpiece is placed is high. FIG. 6A is a diagram before the tip of the gripping mechanism 11 is inserted into the gripped portion. The state, (b) shows the state after the tip of the gripping mechanism 11 is inserted into the gripped part. FIG. 7 is a schematic front view showing the operation of the elastic mechanism 3 when the rigidity of the pallet on which the workpiece is placed is low.
In FIGS. 6 and 7, for convenience of explanation, the inclination of the workpiece W and the like are exaggerated, but in reality, the amount of deformation is very small.

  Here, the pallet 201 (see FIG. 1) may be in various forms depending on the purpose and application. For example, when the pallet 201 is made of a metal angle material or the like, the pallet 201 generally has high rigidity and is made of synthetic resin. Since the rigidity of the elastic mechanism 3 is low, the elastic mechanism 3 has different functions depending on the relationship between the urging force (elastic supporting force) of the elastic mechanism 3 and the rigidity of the pallet 201 as follows.

<When pallet rigidity is high>
When the rigidity of the pallet on which the workpiece is placed is high, the elastic mechanism 3 tends to operate so as to control the posture of the workpiece gripping device 1 in accordance with the posture of the workpiece W.
That is, as shown in FIG. 1, for example, when the elastic mechanism 3 tries to grip the workpiece W placed on the pallet 201 with the gripping mechanism 11, the workpiece W placed on the pallet 201 is moved to a predetermined position. When the workpiece is deviated or inclined, the posture of the workpiece gripping device 1 with respect to the workpiece W is controlled according to the amount of deviation due to this deviation or the like.

  Specifically, as shown in FIG. 6A, when the workpiece W has an inclination of an angle α, the robot arm 101 (see FIG. 1) moves the workpiece gripping device 1 to a predetermined position with respect to the workpiece W. When the tip of the gripping mechanism 11 is inserted into the gripped portion Wa of the workpiece W, the support plate 22 is rotated clockwise from the gripped portion Wa of the workpiece W according to the inclination angle α of the workpiece W. The moment M to be applied is applied reactively.

  Then, as shown in FIG. 6B, the moment M applied in this way absorbs the inclination of the angle α of the workpiece gripping device 1 with respect to the workpiece W flexibly as appropriate, and the support plate 22 according to the inclination angle α. By correcting the position and the inclination angle, the posture control device 2 can suitably control the posture of the workpiece gripping device 1 with respect to the workpiece W.

<When pallet rigidity is low>
When the rigidity of the pallet on which the workpiece is placed is low, the elastic mechanism 3 tends to operate so as to match the posture of the workpiece W with the workpiece gripping device 1.
That is, as shown in FIG. 1, for example, when the elastic mechanism 3 tries to grip the workpiece W placed on the pallet 201 with the gripping mechanism 11, the workpiece W placed on the pallet 201 is moved to a predetermined position. When the workpiece W is deviated or tilted, the misalignment or the like is corrected, and the workpiece W functions to match the posture of the workpiece gripping device 1.

  Specifically, as shown in FIG. 7A, when the distal end portion of the gripping mechanism 11 is inserted into the gripped portion Wa of the workpiece W, the elastic mechanism 3 is tilted by its urging force (elastic support force). In order to apply an urging force (pressing force) to the workpiece W placed on the pallet 201 (see FIG. 1) at an angle α, the workpiece W is rotated counterclockwise by bending or deformation of the pallet 201. Moment M 'is applied.

  Then, as shown in FIG. 7B, the moment M ′ applied in this way acts so that the posture of the workpiece W becomes α ′ smaller than the inclination angle α. The posture of the workpiece W can be adjusted to the workpiece gripping device 1 by suitably correcting the deviation from the workpiece W.

  In this example, the case where the workpiece gripping device 1 functions so as to face the workpiece W in the direction of reducing the bending and deformation of the pallet has been described. However, the posture control device 2 greatly increases the bending and deformation of the pallet. The workpiece gripping device 1 may function so as to face the workpiece W in the direction in which the workpiece W is directed.

  In the present embodiment, for the sake of convenience, the case where the rigidity of the pallet 201 is high and the case where the rigidity is low has been described separately. However, in actuality, the pallet 201 is not strictly distinguished. However, it is possible to control the workpiece gripping device 1 so as to face the workpiece W suitably by appropriately adjusting the biasing force of the elastic mechanism 3.

<Operation of workpiece gripping device>
The operation of the workpiece gripping apparatus 1 will be described with reference to FIGS. 8 is a state before the workpiece is gripped by the gripping device, FIG. 9 is a state where the support shaft is in contact with the workpiece, FIG. 10 is a state where the outer cylinder of the support shaft is in contact with the workpiece, FIG. FIG. 5 is a partial front sectional view showing a state where clamping is completed.

  From the state in which the workpiece gripping device 1 does not contact the workpiece W (FIG. 8A), the tip 102 of the robot arm 101 is brought close to the support shaft 5 in contact with the workpiece W (FIG. 9A). Further, when the tip 102 is moved by S in the direction approaching the workpiece W, as shown in FIG. 10A, the outer cylinder 61 moves downward along with the workpiece gripping device 1 in FIG. The outer cylinder 61 is accommodated in the outer cylinder 61 against the urging force of the urging means 62, and the distal end surface of the outer cylinder 61 and the distal end surface of the support shaft 5 are flush with each other and abut against the workpiece W.

  Then, the contact detection means 63 detects a state in which the front end surface of the outer cylinder 61 and the front end surface of the support shaft 5 are flush with each other. In other words, the contact detection means 63 detects that the support shaft 5 has moved by a predetermined amount of movement after contacting the workpiece W by the detected portion 63a that has moved to the facing position.

  On the other hand, as shown in FIG. 10B, the displacement detection means 4 detects the presence of the second detected portion 42a that has moved to the position where the second detector 42 that detects the grip position by the workpiece gripping device 1 faces. Detect. In this way, the posture control device 2 confirms that the workpiece gripping device 1 has been positioned at the regular gripping position.

  At this time, if the workpiece gripping device 1 is positioned at the regular gripping position, the driven member 112 that grips the workpiece W at the tip of the gripping mechanism 11 simultaneously has a predetermined gap δ (see FIG. 10A). ) And is properly inserted into the gripped portion Wa of the workpiece W.

  In this way, the attitude detection device 6 moves a predetermined amount after the support shaft 5 abuts against the workpiece W, and the state where the tip surface of the outer cylinder 61 and the tip surface of the support shaft 5 are flush with each other. By detecting by the contact detection means 63, it can be confirmed that the driven member 112 that grips the workpiece W is properly inserted into the gripped portion Wa of the workpiece W.

  Then, as shown in FIG. 11, the gripping mechanism 11 pushes the driving member 111 into the driven member 112 by the driving unit 114 in a state where the workpiece gripping device 1 is positioned in a predetermined posture with respect to the workpiece W. The workpiece W is moved (see FIG. 11A), and the workpiece W is gripped so as to press the driven member 112 of the gripped portion Wa of the workpiece W.

<Operation when the workpiece is excessively displaced>
The operation of the posture control device 2 of the workpiece gripping device 1 when the workpiece W placed on the pallet 201 in FIG. 1 is excessively displaced due to vibration or external factors will be described with reference to FIG.
The posture control device 2 detects the state by the posture detection device 6 and the displacement detection means 4 when the work W that cannot be posture-controlled by the elastic mechanism 3 is excessively displaced.

  When the workpiece W is excessively deviated from the predetermined placement state, as shown in FIG. 12A, when the tip of the gripping mechanism 11 tries to approach the gripped portion Wa of the workpiece W, the workpiece W Is excessively displaced, the tip of the gripping mechanism 11 cannot be inserted into the gripped portion Wa of the workpiece W, and the tip of the gripping mechanism 11 contacts the workpiece W.

  In the state where the tip of the gripping mechanism 11 is in contact with the workpiece W, the tip 102 of the robot arm 101 is moved so as to approach the support shaft 5 until it contacts the workpiece W, as shown in FIG. Thus, the support shaft 5 cannot be brought into contact with the workpiece W.

  For this reason, the contact detection means 63 cannot detect a state in which the support shaft 5 moves by a predetermined movement amount S and the front end surface of the outer cylinder 61 and the front end surface of the support shaft 5 are flush with each other. .

  The support plate 22 is detected by the second detected portion 42a that has been moved to a position where the second detector 42 faces by the displacement detection means 4 without detecting that the support shaft 5 is in contact with the workpiece W. Is detected to have moved to the workpiece gripping position.

  However, even if the displacement detection means 4 detects that the support plate 22 has been displaced to the workpiece gripping position by the second detector 42, the contact detection means 63 indicates that the support shaft 5 is in contact with the workpiece W. Since it is not detected, it cannot be determined that the workpiece gripping device 1 has been positioned at a normal position with respect to the workpiece W.

  For this reason, when the distal end portion 102 of the robot arm 101 is further moved, the posture control device 2 has moved to a position where the third detector 43 faces by the displacement detection means 4 as shown in FIG. An excessive displacement of the support plate 22 is detected by the third detected portion 43a.

  In this way, the posture control device 2 detects the excessive displacement of the support plate 22 by the displacement detection unit 4 in a state where the contact detection unit 63 does not detect that the support shaft 5 is in contact with the workpiece W. Thus, it is determined that the workpiece W is excessively displaced, and an excessive load generated when the workpiece gripping device 1 tries to grip the workpiece W can be detected and avoided in advance.

Next, the gripper positioning jig 400 will be described in detail.
<Grip part positioning jig>
FIG. 13 is an enlarged plan view of the gripper positioning jig.
As shown in FIGS. 5 and 13, the gripping part positioning jig 400 includes a through-hole that can be engaged with the gripping mechanism 11 that can be switched between a state in which movement of the work gripping device 1 is allowed and a state in which it is restricted. The engagement concave portion (engagement portion) 420 is provided at a position corresponding to the gripped portion Wa (see FIG. 2) of the workpiece W gripped by the gripping mechanism 11 according to the type of the workpiece W. (Jig body) 401 is provided. Here, the jig plate 401 has a substantially cylindrical metal base portion 409 such as aluminum (including an alloy), and a substantially cylindrical metal bush 410 such as steel having an engagement recess 420. It is arranged and configured. However, the material of the jig plate 401 is not necessarily limited to the above material, and may be formed of other materials. Further, the engagement recess 420 may be formed directly on the base portion 409.

  In the present embodiment, the jig plate 401 is provided with a plurality of engaging recesses 420 corresponding to a plurality of types of workpieces W, respectively. According to such a configuration, a single jig plate 401 can handle a plurality of types of workpieces W. Thereby, cost reduction and space saving of a jig storage place can be achieved. However, the present invention is not limited thereto, and the jig plate 401 may be configured to be provided with an engagement recess 420 corresponding to one type of workpiece W.

  The gripping part positioning jig 400 includes a jig body positioning part 402 for positioning the jig plate 401 with respect to the workpiece gripping apparatus 1. As shown in FIG. 5, the jig main body positioning unit 402 has a column 404 standing on the base unit 409 of the jig plate 401, and the column 404 is attached to the support plate 22 of the workpiece gripping device 1. A guide post (jig body side set portion) 403 which can be set on the provided substantially cylindrical guide member (gripping device side set portion) 221 is provided. Here, for example, setting A to B means that when A and B satisfy a specific relationship (positional relationship), both elements of A and B are integrated and the behavior is unified. . A and B are, for example, a gripping device side set portion and a jig body side set portion.

  With this configuration, the guide member 221 provided on the support plate 22 is fitted to the guide post 403 of the jig main body positioning unit 402 so that the workpiece gripping device 1 attached to the tip 102 of the robot arm 101 is attached. The gripper positioning jig 400 can be positioned.

  The gripper positioning jig 400 is a fixing means for fixing the column 404 to the support plate 22 of the workpiece gripping device 1 in a state where the guide post 403 of the column 404 is fitted to the guide member 221 and set. A screw fastening member 405 is further provided.

  However, the fixing means is not limited to the screw fastening member 405. FIG. 14A is a longitudinal sectional view showing a modified example of the fixing means, and FIG. 14B is a plan view showing another modified example of the fixing means. As shown in FIG. 14A, for example, an L-shaped pin 406 may be inserted into a through hole 403 a formed in the guide post 403 along the direction perpendicular to the axis to fix the column 404 to the support plate 22. . Alternatively, as shown in FIG. 14B, the side surface of the base portion of the guide post 403 protruding from the support plate 22 is sandwiched between a pair of pressing members 407a and 407b, and the pair of pressing members 407a and 407b is, for example, a thumbscrew The column 404 may be fixed to the support plate 22 by fastening with the member 408.

  FIG. 15 is a cross-sectional view taken along the line AA of FIG. As shown in FIG. 15, the bush 410 has a cylindrical portion 411 and a flange portion 412 formed at one open end of the cylindrical portion 411. Here, the inner surface of the cylindrical portion 411 constitutes the engaging recess 420. The bush 410 has a cylindrical portion 411 fitted into a through-hole 409a formed at a predetermined position in accordance with the type of workpiece in the base portion 409, and the flange portion 412 is brought into contact with the surface 409b of the base portion 409. In this state, the base unit 409 is installed and fixed. The bushing 410 is fixed to the base portion 409 by press fitting, caulking, adhesion, or the like.

  16 (a) and 16 (b) are cross-sectional views of the periphery of the engaging recess having different height direction positions. The bush 410 shown in FIG. 16A is installed so that the collar portion 412 abuts on a raised portion 431 that presents an annular plate disposed on the surface 409b of the base portion 409 at a position coaxial with the through hole 409a. . That is, the engaging recess 420 of the bush 410 is disposed in a raised portion 431 provided to be raised from the surface 409b of the base portion 409 to the workpiece gripping device 1 side. The bush 410 shown in FIG. 16B is installed such that the flange portion 412 contacts an indentation portion 432 having an annular step formed on the surface 409b of the base portion 409 at a position coaxial with the through hole 409a. Yes. That is, the engagement recess 420 of the bush 410 is disposed in a recess 432 provided so as to be recessed from the surface 409b of the base 409 to the opposite side of the workpiece gripping device 1. According to such a configuration, the height direction position of the engaging recess 420 can be set according to the type of the workpiece W. Thereby, even if the height direction position of the gripped portion Wa (see FIG. 2) of the workpiece W changes depending on the type of the workpiece W, it is possible to cope with it. However, the raised portion 431 may be formed integrally with the base portion 409.

  17 is a cross-sectional view taken along line BB in FIG. As shown in FIG. 17, the jig plate 401 includes an engaging member 433 that is detachably attached to the base portion 409 and has an engaging recess 420 disposed at a position corresponding to the type of the workpiece W. Have. The engaging member 433 has a substantially cylindrical shape, and includes a holding portion 434 where the bushing 410 is installed, and a connection portion 435 connected to the upper end surface of the holding portion 434. The engaging member 433 has a connecting portion 435 inserted into a through-hole 409c formed at a predetermined position in accordance with the type of workpiece in the base portion 409, and the holding portion 434 contacts the back surface 409d of the base portion 409. In a state of being in contact, the base unit 409 is installed and fixed by a screw member 436.

  A through hole 434a is formed at the center of the holding portion 434, and a recess 432a having an annular step is formed at the upper opening end of the through hole 434a. The bush 410 is installed and fixed to the engaging member 433 in a state where the cylindrical portion 411 is inserted into the through hole 434a of the holding portion 434 and the flange portion 412 is in contact with the recessed portion 432a. According to such a configuration, the height direction position of the engaging recess 420 can be set in a wide range according to the type of the workpiece W, and the height direction of the gripped portion Wa (see FIG. 2) of the workpiece W can be set. Even if the position changes considerably depending on the type of the workpiece W, it is possible to cope with it.

  18 is a cross-sectional view taken along the line CC of FIG. As shown in FIG. 18, the jig plate 401 is detachably attached to the base portion 409 and is configured so that a plurality of engagement recesses 420 are disposed at positions corresponding to a plurality of types of workpieces W. A member 441 is provided. The engaging member 441 has a substantially rectangular flat plate shape, and the opening 409e formed in the base portion 409 is provided on the back surface with the columnar connecting members 442 and 443 arranged at the four corners of the upper surface therebetween. It is fixed to the base portion 409 with screw members 444 and 445 so as to cover it in plan view from the 409d side. Through holes 441a, 441b, 441c are formed in the engaging member 441 at positions corresponding to a plurality of types of workpieces W, respectively, and a depression that presents an annular step at the upper opening end of the through holes 441a, 441b, 441c. Portions 432b, 432c, and 432d are formed, respectively. Here, the plurality of bushes 410 are engaged in a state in which the cylindrical portion 411 is fitted and inserted into the through holes 441a, 441b, and 441c of the engaging member 441 and the flange portion 412 is in contact with the recessed portions 432b, 432c, and 432d. It is installed and fixed to the joint member 441. According to such a configuration, the horizontal position and the height direction position of the engagement recess 420 can be set according to a plurality of types of workpieces W using one engagement member 441. Of course, the bushes 410 provided at the same position can also be used for a plurality of types of workpieces W.

  FIG. 19A is a cross-sectional view taken along the line DD in FIG. 13, and FIG. 19B is a plan view of FIG. As shown in FIG. 19, the jig plate 401 (see FIG. 13) is provided so as to be capable of moving forward and backward to the workpiece gripping device 1 side (upper side) of the engagement recess 420 of the bush 410 fitted into the through hole 441 d. An extension member 451 is provided. The extension member 451 has a hook shape in plan view, and its end is attached to the engagement member 441 so as to be rotatable around the shaft member 453 in the direction of the arrow in FIG. An inner surface 452 having the same diameter as the engagement recess 420 is formed on the inner side of the hook shape of the extension member 451, and the extension member 451 is rotated to advance to the upper side of the engagement recess 420 of the bush 410. The axial length of the engaging recess 420 can be extended upward. According to such a configuration, when the type of the workpiece W is changed, the extension member 451 is advanced to the upper side of the engagement concave portion 420 or retracted from the upper side of the engagement concave portion 420, whereby the type of the workpiece W is changed. Accordingly, the position in the height direction of the engaging recess 420 can be set. Thereby, even if the height direction position of the gripped portion Wa of the workpiece W changes depending on the type of the workpiece, it is possible to cope with it. The extension member 451 may be provided so as to be able to move forward and backward by sliding in a linear direction toward the workpiece gripping device 1 side (upper side) of the engagement recess 420. Further, the extension member 451 may be attached to the base portion 409.

  Next, a gripping part positioning method that uses the gripping part positioning jig 400 to move and position the gripping mechanism 11 in the work gripping apparatus 1 according to the type of the work W will be described.

  First, by driving the articulated robot 100, the workpiece gripping device 1 attached to the tip 102 of the robot arm 101 is moved, and the jig of the gripping portion positioning jig 400 is moved to the guide member 221 of the workpiece gripping device 1. The guide post 403 of the main body positioning unit 402 is fitted. As a result, the gripper positioning jig 400 is positioned with respect to the workpiece gripping device 1. However, the operator may move the gripper positioning jig 400 to position the gripper positioning jig 400 with respect to the workpiece gripping device 1.

  Subsequently, the column 404 of the gripper positioning jig 400 is fixed to the support plate 22 of the workpiece gripping device 1 using the screw fastening member 405. Thereby, since the workpiece gripping device 1 and the jig plate 401 are not erroneously shifted or separated during the positioning operation of the gripping mechanism 11 by the operator, the positioning operation becomes easier.

  Then, the gripping mechanism 11 is set to a state in which three-dimensional movement in the work gripping device 1 is allowed. Subsequently, in a state where the gripper positioning jig 400 is positioned with respect to the workpiece gripping device 1, the operator moves the gripping mechanism 11 in the workpiece gripping device 1 in advance according to the type of the workpiece W to be gripped. The front end of the gripping mechanism 11 is inserted into the engaging recess 420 at the determined position and engaged. Subsequently, the movement restricting device 13 restricts the movement of the three-axis moving mechanism 12, thereby setting (locking) the gripping mechanism 11 in a state in which the three-dimensional movement in the work grasping device 1 is restricted. When the workpiece gripping device 1 includes a plurality of gripping mechanisms 11, the above steps are repeated. Thereby, the gripping mechanism 11 in the workpiece gripping device 1 is moved and positioned according to the type of the workpiece W.

  Next, the screw fastening member 405 is loosened to release the fixation between the support 404 of the gripper positioning jig 400 and the support plate 22 of the workpiece gripping device 1. Subsequently, by driving the articulated robot 100, the workpiece gripping device 1 attached to the distal end portion 102 of the robot arm 101 is moved, and the workpiece gripping device 1 is separated from the gripping portion positioning jig 400. However, the operator may move the gripper positioning jig 400 to separate the gripper positioning jig 400 from the workpiece gripping device 1. Finally, by driving the articulated robot 100, the workpiece gripping device 1 is moved back to a predetermined gripping device reference position.

  As described above, in the present embodiment, the gripper positioning jig 400 for positioning by moving the gripping mechanism 11 in the workpiece gripping device 1 according to the type of the workpiece W is allowed to move in the workpiece gripping device 1. The engaging recess 420 that can be engaged with the gripping mechanism 11 that can be switched between the closed state and the restricted state corresponds to the gripped portion Wa of the workpiece W that is gripped by the gripping mechanism 11 according to the type of the workpiece W. A jig plate 401 provided at a position, and a jig body positioning unit 402 for positioning the jig plate 401 with respect to the workpiece gripping device 1 are provided.

According to the present embodiment, the gripping mechanism 11 provided in the workpiece gripping device 1 attached to the robot arm 101 is provided with a driving device for moving the gripping mechanism 11 to the robot or the workpiece gripping device 1. Instead, according to the change in the type of the workpiece W, the operator can move and position it, and the position of the gripping mechanism 11 in the workpiece gripping device 1 can be easily and reliably changed.
Therefore, it is possible to cope with various workpieces having variations while reducing the weight of the tip side of the robot arm 101.

  Further, in the present embodiment, the jig body positioning unit 402 includes a support post 404 that is provided with a guide post 403 that can be set on a guide member 221 provided in the workpiece gripping apparatus 1 and is erected on the jig plate 401. ing. According to such a configuration, the workpiece gripping device 1 and the jig plate 401 can be positioned with a compact configuration via the support column 404. Further, a wide space for moving the gripping mechanism 11 between the workpiece gripping device 1 and the jig plate 401 can be secured, and the operator can easily position the gripping mechanism 11.

Next, an embodiment in which a part of the configuration of the above-described embodiment is changed will be described with respect to the changed configuration (modified example). The same configurations and operations as those of the above-described embodiment will be omitted from the detailed description as being taken into the following embodiments, and differences will be mainly described.
<Modification>

  FIG. 20 is a view showing a modified example in which two types of engagement members having engagement recesses arranged at different positions are exchangeably attached to the same position of the base portion, and FIG. (B) is a cross-sectional view taken along line EE of (a), (c) is a plan view when the other engaging member is used, and (d) is (c) It is sectional drawing which follows the FF line | wire of).

  As shown in FIGS. 20A to 20D, the jig plate 401 is detachably attached to the base portion 409 and has different positions according to the types of two types of workpieces W in which the positions of the gripped portions Wa are different. You may have two types of engaging members 461 and 462 by which the engagement recessed part 420 was arrange | positioned. The engaging members 461 and 462 have a substantially rectangular flat plate shape, are arranged so as to cover the opening 409f formed in the base portion 409 from the back surface 409d side, and are fixed to the base portion 409 by a screw member 463. ing. Through holes 461a and 462a are formed in the engaging members 461 and 462 at different positions according to the workpiece W to be grasped, respectively. The bush 410 is engaged with the cylindrical portion 411 in the through holes 461a and 462a of the engaging members 461 and 462, and the flange portion 412 is in contact with the surfaces 461b and 462b of the engaging members 461 and 462. The members 461 and 462 are respectively installed and fixed. According to such a configuration, when the type of the workpiece is changed, only the engaging member 461 (462) is replaced and attached to the base portion 409, whereby the gripping portion positioning jig 400 corresponding to the type of the workpiece W is obtained. Can be configured. Thereby, cost reduction and space saving of a jig storage place can be achieved. In addition, the engagement member exchanged is not limited to two types, and may be three or more types. Further, the engaging members 461 and 462 may be arranged so as to cover the opening 409f formed in the base portion 409 from the surface 409b side.

  FIG. 21 is a schematic perspective view showing a modification provided with a pedestal for positioning and installing the jig plate, and (a) shows a case where the jig body positioning portion is provided on the jig plate. FIG. 4B is a diagram showing a case where the jig body positioning portion is provided on the base instead of the jig plate.

  As shown in FIGS. 21A and 21B, the gripper positioning jigs 400 and 470 may include bases 477 and 478 for positioning and installing the jig plates 401 and 471, respectively. According to such a configuration, the height of the jig plates 401 and 471 is close to the operator's line of sight due to the pedestals 477 and 478, so that the operator can easily position the gripping mechanism 11. Further, as shown in FIG. 21B, the jig body positioning portion 472 may be provided on the base 478 instead of the jig plate 471. In this case, the jig body positioning portion 472 is provided with a guide post 473 (pedestal side set portion) that can be set on a guide member 221 (see FIG. 5) provided in the workpiece gripping device 1 and is erected on the pedestal 478. A support column 474 is provided. The jig plate 471 has notches 475 and 476 for avoiding interference with the jig body positioning part 472. According to such a configuration, by integrating the positioning function in the base 478, the jig plate 471 is not complicated and can be easily managed.

  Further, as shown in FIG. 21, the pedestals 477 and 478 preferably have movable mechanisms 479 (not shown in FIG. 21B) that allow the pedestals 477 and 478 to move. According to such a configuration, when the operator manually changes the position of the gripping mechanism 11, the work gripping device 1 does not move until it is positioned on the bases 477 and 478, and at most the bases 477 and 478. However, even in such a case, the pedestals 477 and 478 can be easily moved so that the workpiece gripping device 1 is moved to the jig plate 401, 471 can be positioned. The movable mechanism 479 is not limited to a wheel such as a caster for manual operation. For example, a pinion gear that is rotatably provided on the bases 477 and 478 is provided on a linear rack laid on the floor. The bases 477 and 478 may be moved by meshing and rotating the pinion gear by a driving device such as a motor.

  Further, in the above-described embodiment, when the gripped portion Wa is a concave portion such as a through hole formed in the workpiece W, and an inner type gripping mechanism that presses and grips the concave portion from the inside to the outside is employed. However, the present invention is not limited to this, and when the gripped portion is a convex portion such as a boss, the outer type of the collet chuck type that presses and grips the convex portion from the outside to the inside. A gripping mechanism can also be employed.

  The outer type gripping mechanism 11 ′ will be described with reference to FIGS. 22 to 24. FIG. 22 to be referred to is a perspective view for explaining an outer-type gripping mechanism, wherein (a) shows an external appearance and (b) is a cross-sectional view showing an internal structure. FIG. 23 is a cross-sectional front view showing the configuration and operation of an outer-type gripping mechanism, where (a) shows a state before gripping and (b) shows a gripped state. FIG. 24 is a partially exploded perspective view for explaining the configuration of the outer-type gripping mechanism. In the following description, since only the difference from the above-described embodiment is the gripping mechanism 11, detailed description of other configurations is omitted.

  As shown in FIGS. 22 and 23, the gripping mechanism 11 ′ includes a drive member 111 ′ having a wedge-shaped portion 111a ′ and a gradient portion 112a ′ that is adapted to the wedge-shaped portion 111a ′. A driven member 112 ′ that moves in the radial direction (see also FIG. 24), a holder 113 ′ that is provided in the drive member 111 ′ and supports the driven member 112 ′ so as to be movable in the axial direction, and a driven member 112 ′. And a collet bar 114a ′ connected to driving means 114 (see FIG. 2) for reciprocating and expanding and contracting the driven member 112 ′.

The drive member 111 ′ is a member that drives the driven member 112 ′ to expand and contract the diameter, and is fixed to the triaxial moving mechanism 12 side in the same manner as the holder 113 (see FIG. 3) in the above-described embodiment. .
As shown in FIG. 23 (a), the driving member 111 'includes a cylindrical barrel portion 111c' having a recess 111b 'formed therein, and a ring that is screwed into the distal end portion of the barrel portion 111c'. A lid portion 111d 'having a shape and the wedge-shaped portion 111a' formed on the inner peripheral portion of the lid portion 111d 'are provided.

As shown in FIG. 24, the driven member 112 ′ is connected by a root portion 112 c ′ having a bowl shape so that three bodies are arranged with a gap in the circumferential direction to form a collet shape as a whole.
As shown in FIG. 23 (a), the outer peripheral portion of the driven member 112 'is formed with a gradient portion 112a' having a taper whose diameter is enlarged at the tip end side. The inner peripheral portion of the driven member 112 ′ is formed with a joint portion 112 b ′ with a gripped portion Wa ′ including a through hole adapted to a convex portion that is the gripped portion Wa ′.

As shown in FIG. 24, three holders 113 'are arranged side by side so as to form a gap in the circumferential direction, and form a ring shape as a whole in the drive member 111' in the axial direction (FIG. 23). In the vertical direction). A ring groove 113a ′ is formed along the circumferential direction in the inner peripheral portion of the holder 113 ′, and a root portion 112c ′ of the driven member 112 ′ and a tip end portion 114b ′ of the collet bar 114a ′ are formed in the ring groove 113a ′. Buried.
The holder 113 'holds the driven member 112' and the collet bar 114a 'so as to be integrally connected, and the driven member 112' is slidable in the axial direction (vertical direction in FIG. 23) with respect to the driving member 111 '. And is supported so as to be movable in the direction of diameter reduction and diameter expansion.

  The collet bar 114a 'has a rod-like shape, and includes a distal end portion 114b' whose diameter is increased in a disk shape, and a guide ring 114c 'that is slidably provided in the concave portion 111b' of the drive member 111 '. ing. The tip end portion 114b 'of the collet bar 114a' is embedded in the inner peripheral portion of the holder 113 'while being in contact with the root portion 112c' of the driven member 112 '.

With this configuration, as shown in FIG. 23 (a), the gripping mechanism 11 ′ moves the collet bar 114a ′ downward in FIG. 23 (a) by the driving means 114 (see FIG. 2). Can be moved in the diameter expansion direction of FIG.
On the other hand, as shown in FIG. 23B, the gripping mechanism 11 ′ moves the driven member 112 ′ by moving the collet bar 114a ′ upward in FIG. 23B by the driving means 114 (see FIG. 2). The workpiece W ′ can be gripped by moving in the diameter reducing direction and pressing the joint 112b ′ of the driven member 112 ′ of the workpiece W ′ of the workpiece W ′.

  FIG. 25 is an enlarged cross-sectional view around the engaging convex portion of the gripping portion positioning jig used when the gripped portion is a convex portion such as a boss, and (a) is the height of the gripping point by the gripping mechanism. The case where the direction position is closer to the workpiece gripping device than the surface of the base portion is shown, and (b) is the case where the height direction position of the gripping point by the gripping mechanism is on the opposite side of the workpiece gripping device from the surface of the base portion. Show.

  As shown in FIG. 25 (a), the jig plate 481 of the gripping part positioning jig 480 is detachably attached to the base part 489, and is engaged at a position corresponding to the type of the workpiece W ′ (see FIG. 23). The engagement member 490 is configured to be provided with the portion 492. The engagement member 490 has a substantially columnar shape, a columnar raised portion 491, a columnar engagement convex portion 492 connected to the end surface of the raised portion 491 on the workpiece gripping device side, and a raised portion 491. And an external thread portion 493 provided on the end surface opposite to the workpiece gripping device. The engaging member 490 has a male screw part 493 in a screw hole 489a formed at a predetermined position in the base part 489 according to the type of workpiece until the raised part 491 contacts the surface 489b of the base part 489. It is fixed to the base portion 489 by screwing.

  Further, as shown in FIG. 25 (b), the jig plate 481 is detachably attached to the base portion 489, and an engagement convex portion 492 is arranged at a position corresponding to the type of the workpiece W ′. The engaging member 494 is provided. The engaging member 494 has a bottomed cylindrical shape, and is provided continuously with a holding portion 495 in which an engaging convex portion 492 is erected at the center of a recessed portion 497 that is a bottom surface, and an upper end surface of the holding portion 495. And a connection portion 496. The engaging member 494 has a connecting portion 496 inserted into a through-hole 489c formed at a predetermined position in the base portion 489 in accordance with the type of the workpiece W ′, and the holding portion 495 is a back surface 489d of the base portion 489. In a state of being in contact with the base member 489, the base member 489 is installed and fixed by a screw member 464.

  According to such a structure, the height direction position of the engaging convex part 492 is set according to the kind of workpiece | work W 'by changing the height dimension of the raising part 491 and the depth dimension of the hollow part 497. be able to. As a result, even if the height position of the gripped portion Wa ′ (see FIG. 23) of the workpiece W ′ changes depending on the type of the workpiece W ′, it is possible to cope with it. The engaging member 490 shown in FIG. 25A is arranged in a recess (not shown) provided so as to be recessed from the surface 489b of the base portion 489 to the opposite side of the workpiece gripping device, and the engaging convex portion A position in the height direction of 492 may be set.

  As described above, the engaging portion that can be engaged with the gripping mechanism is the engaging convex portion 492 in the case of the outer type in which the gripping mechanism presses and grips the gripped portion of the work from the outside to the inside. In the case of an inner type in which the gripping mechanism presses and grips the gripped portion of the workpiece from the inside to the outside, the engagement recess 420 can be formed.

  If comprised in this way, it can respond also when the holding | grip mechanism 11 is an outer type, an inner type, or these both types coexist. In addition, it is possible to handle a workpiece having a complicated structure.

  In addition, when the to-be-gripped part of a workpiece | work is a convex part, the said convex part is not limited to column shape, such as an above-described boss | hub, A rectangular parallelepiped shape (partition shape), such as a rib, may be sufficient. In this case, the gripping mechanism 11 ′ presses two opposing surfaces of a rectangular parallelepiped convex portion such as a rib inward from the outside to grip the work, and can be engaged with the gripping mechanism 11 ′. The engaging convex part of the gripping part positioning jig is formed in a shape corresponding to a rectangular parallelepiped convex part such as a rib which is a gripped part of the workpiece.

  As mentioned above, although this invention was demonstrated based on embodiment, this invention is not limited to the structure described in the said embodiment (a modification is included), The above-mentioned structure is combined thru | or selected suitably. In the range which does not deviate from the meaning, the structure can be changed suitably.

1 Work Gripping Device 11, 11 'Gripping mechanism (gripping part)
101 robot arm 221 guide member (gripping device side set part)
400, 470, 480 Gripping part positioning jig 401, 471, 481 Jig plate (jig body)
402,472 Jig body positioning part 403,473 Guide post (Jig body side set part)
404, 474 Post 405 Fastening member (fixing means)
406 pin (fixing means)
407a, 407b Holding member (fixing means)
408 thumbscrew member (fixing means)
409, 489 Base part 409b, 489b Surface 420 Engaging recess (engaging part)
431, 491 Raised part 432, 432 a to 432 d, 497 Depressed part 433, 441, 461, 462, 490, 494 Engaging member 451 Extension member 477,478 Base 479 Movable mechanism 492 Engaging convex part (engaging part)
W, W 'Work Wa, Wa' Grasping part

Claims (10)

A gripping part positioning jig for positioning by moving the gripping part in a work gripping apparatus mounted on a robot arm and gripping various works by a gripping part according to the type of the work,
An engagement portion that can be engaged with the gripping portion that can be switched between a state in which movement of the work gripping device is allowed and a state in which the workpiece is restricted is a gripping portion of the workpiece that is gripped by the gripping portion according to the type of the workpiece. A jig body provided at a position corresponding to the gripped portion;
A gripping part positioning jig, comprising: a jig body positioning part for positioning the jig body with respect to the workpiece gripping device.   The jig main body positioning unit includes a post that is provided on a jig main body side set portion that can be set on a gripping device side set unit provided in the work gripping device, and has a column that is erected on the jig main body. The gripper positioning jig according to claim 1.   The gripping device according to claim 2, further comprising a fixing means for fixing the support column to the workpiece gripping device in a state where the jig body side setting portion is set on the gripping device side setting portion. Part positioning jig. A pedestal for positioning and installing the jig body;
2. The jig main body positioning portion includes a support column erected on the pedestal provided with a pedestal side set portion that can be set on a gripping device side set portion provided in the workpiece gripping device. The holding part positioning jig described in 1.   The gripper positioning jig according to claim 4, wherein the pedestal includes a movable mechanism that enables the pedestal to move.   The jig body includes a base portion that is positioned with respect to the workpiece gripping device by the jig body positioning portion, and is detachably attached to the base portion, and the engaging portion is arranged at a position corresponding to the type of workpiece. The holding part positioning jig according to claim 1, further comprising an engaging member provided.   The jig body has a base portion that is positioned with respect to the workpiece gripping device by the jig body positioning portion, and the engaging portion is raised from the surface of the base portion to the workpiece gripping device side. 7. The raised portion provided on the base, or the recessed portion provided so as to be recessed on the opposite side to the workpiece gripping device of the base portion. 7. The holding part positioning jig described in 1.   The jig body includes an extension member provided so as to be able to move forward and backward to the workpiece gripping device side of the engagement portion and capable of extending the engagement portion to the workpiece gripping device side. The holding part positioning jig as described in any one of Claims 7.   The gripper positioning jig according to any one of claims 1 to 8, wherein the jig body is provided with a plurality of engaging portions respectively corresponding to a plurality of types of workpieces. .   The engaging portion is a convex portion in the case of an outer type in which the gripping portion presses and grips the gripped portion of the workpiece from the outside to the inside, and the gripping portion grips the gripped portion of the workpiece from the inside. The gripping part positioning jig according to any one of claims 1 to 9, wherein the gripping part positioning jig is a concave part in the case of an inner type that is pressed and gripped outward.

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