JP2764487B2 - Gripping device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping device capable of gripping a work reliably.

[0002]

2. Description of the Related Art At the tip of an industrial robot arm, assembly and
2. Description of the Related Art A device for gripping a work for carrying work or the like is provided. As such a gripping device, a device that sandwiches a work with two plate-like devices can be considered.

[0003]

However, in this apparatus, there is a risk of dropping the work, and positioning accuracy when gripping the work is required to some extent.

Accordingly, an object of the present invention is to provide a gripping device capable of gripping a work reliably with rough positioning.

[0005]

According to the present invention, the inside of the ring attached to the work has a ring shape and is the same as the finger.
Insert three fingers into the angled tapered gripper
Open outward with, the gripping device configured to grip the workpiece against the inner ring-shaped grip portion with a finger, a drive motor fixed to the center of the body, a drive gear driven by the drive motor, the main body And three driven gears respectively attached at positions at 120 ° angular intervals around the drive gear so as to mesh with the drive gear.
The three fingers are attached to the driven gear at angular positions of 120 ° around the driving gear, respectively, and each of the fingers has a thinner tapered base. It is.

[0006]

When the driving gear is rotated by the driving means, three driven gears integrated with the finger rotate. At this time,
The three fingers move outward from the center (open) and move back from the center to the center (close) in a similar manner.

The work has a ring-shaped portion to be gripped, and the inside is tapered at the same angle as the finger. The inner diameter of the tapered portion is set to be slightly smaller than the circumscribed circle where the three fingers are spread most.

[0008] The ring attached to the work side 3
When a finger is inserted and opened, the inside of the ring is pressed with the finger and the work is gripped. Since the circumscribed circle with the finger closed is sufficiently smaller than the inner diameter of the ring, the gripping operation can be performed with rough positioning accuracy. In addition, since the workpiece is gripped by the tapered portion, the workpiece can be lifted and securely gripped even if the vertical position accuracy with respect to the workpiece is somewhat poor.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

1A and 1B, a drive motor 5 is fixed to a main body 9 and a drive gear 4 is directly connected to the drive motor 5. The main body 9 is attached to a robot arm. Three shafts 7a, 7b, 7c are attached to the main body 9 by screws 8 at angular intervals of 120 ° around the drive gear 4, and driven gears are respectively mounted on the shafts 7a, 7b, 7c via bearings 6. 3a, 3b and 3c are attached so as to mesh with the driving gear 4. Fingers 2a, 2b, and 2c are attached to the driven gears 3a, 3b, and 3c at angular intervals of 120 degrees around the driving gear 4. Each of the fingers 2a, 2b, and 2c has a tapered shape in which the base is thin.

As shown in FIG. 2, a ring 10 which is a gripping portion is attached to a target work 12. Work 12
May be any size that does not hinder the work. The inner surface of the ring 10, which is the grip portion, is composed of fingers 2a, 2b, and 2c.
It has a tapered shape in the same direction as.

The operation of the gripping device 1 configured as described above will be described. As shown in FIG. 2, fingers 2a, 2b, and 2c that are gathered from the center are inserted into a ring 10 attached to a work 12. At this time, the driving gear 4 and the driven gears 3a, 3b, 3c are fixed at positions where they can rotate without contacting the ring 10. In addition, the diameter of the circumscribed circle of the fingers 2a, 2b, 2c gathered from the center at this time is sufficiently smaller than the inner diameter of the ring 10, so that the positioning can be roughened at the time of insertion.

After the insertion, the drive gear 4 is rotated by the drive motor 5 to rotate the three driven gears 3a, 3b, 3c. At this time, the fingers 2a, 2b, and 2c integrated with the driven gears 3a, 3b, and 3c perform an operation of spreading outward. Three fingers 2a, 2b, 2c spread and ring 1
In this case, the workpiece 12 integrated with the ring 10 is securely gripped by hitting the zero tapered portion 11. At this time, the ring 1 is slightly in front of the three fingers 2a, 2b,
Since 0 is pressed and gripped, a toggle effect occurs, and the gripping force becomes strong. The material of the fingers 2a, 2b, 2c and the ring 10 is preferably stainless steel in terms of durability.

When the present invention was applied to an actual machine, the driving motor 5 could be gripped at a load of about 30 kg with no problem at 10 W.

[0015]

As described above, according to the present invention, the state in which the finger is closed
The circumscribing circle is sufficiently smaller than the inner diameter of the ring.
Gripping operation with accurate positioning accuracy
Grip against the ring-shaped tapered part attached to the side
Therefore, even if the vertical position accuracy with the workpiece is slightly
Workpiece that is integrated with the
You.

[Brief description of the drawings]

FIG. 1A is a partially cutaway side view showing an embodiment of a gripping device according to the present invention, and FIG. 1B is a bottom view of the device.

FIG. 2 is a partially broken side view when a gripping device grips a work.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 gripping device 2a, 2b, 2c finger 3a, 3b, 3c driven gear 4 drive gear 5 drive motor 6 bearing 7a, 7b, 7c shaft 8 screw 9 main body 10 ring 11 ring tapered portion 12 work

──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Takeshi Ishihara 3-1-1 Yoshino-cho, Nishibiwajima-cho, Nishi-Kasugai-gun, Aichi Pref. Takagaku Works, Ltd. Examiner, FA System Division, Yasushi Nakamura (56) References JP 61 −33883 (JP, A) Japanese Utility Model Showa 55-2587 (JP, U) Japanese Utility Model Showa 50-101282 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) B25J 15/08

Claims (1)

(57) [Claims] (1) The inside of a ring attached to a work side is a phosphor.
Gripping tapered at the same angle as the finger
A gripping device configured to insert three fingers into the part and open outward and press the inside of the ring-shaped gripping part with the fingers to grip the workpiece; A drive gear driven by a drive motor, and three driven gears attached to the main body so as to be engaged with the drive gear at angular intervals of 120 ° around the drive gear, respectively. The three fingers are attached to the driven gear at angular intervals of 120 ° around the driving gear, respectively, and the roots of the fingers are each tapered. Gripping device.