JP2004034279A - Gripping device - Google Patents

Abstract

An object of the present invention is to provide a gripping device that can accurately grip a minute work and can grip the workpiece without being concerned with assembly accuracy or variation.
A gripping device includes a main body, a movable piece that holds the workpiece together with the main body, and a movable piece driving mechanism that presses the movable piece. The movable piece 15 is formed integrally with a slit 16 provided on one side of the main body 11 along the length direction of the main body 11, and the distal end 15 a thereof is separated from the distal end 12 of the main body 11 by an appropriate gap. When the distal end 15a is pressed by the movable piece driving mechanism 30, the distal end moves toward the distal end 12, and the work is sandwiched between the distal end of the movable piece 15 and the distal end 12 of the main body 11. Can be grasped.
[Selection diagram] Fig. 1

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a gripping device, and more particularly to a gripping device suitable for gripping a minute work.
[0002]
[Prior art]
In an optical element mounting apparatus for mounting an optical element on a device, for example, a small work having a vertical, horizontal, and depth dimension of about 0.2 to 0.5 mm may be assembled, and a gripping device that handles the minute work. It has. FIG. 6 shows an example of a conventional gripping device for handling such a minute work.
[0003]
The gripping device shown in FIG. 1 includes a pair of left and right symmetrical hands 1 and 1 rotatably supported on a fulcrum pin 2 as a center. Rollers 3 are attached to the inside of the hands 1 and 1 so as to be rotatable by a shaft 4. The tip of the hand 1 is formed in an elongated shape so that the work W can be gripped.
On the other hand, the tapered hand driver 5 is mounted on the rod of the cylinder 6, and the hand driver 5 moves forward and backward between the rollers 3 of both hands 1.
[0004]
When the cylinder 6 is driven, the hand driver 5 moves forward in the direction opposite to the arrow x, enters the space between the rollers 3 while making contact with the rollers 3, and the pair of hands 1 By rotating the fulcrum pin 2 around the fulcrum pin 2 in the direction opposite to the arrow y, the tip of the hand 1 opens in the direction opposite to the arrow z while the distance between the rollers 3 gradually increases. In this state, when the hand driver 6 moves backward in the direction of the arrow x, the pair of hands 1 rotate around the fulcrum pin 2 in the direction of the arrow y by the spring force of the return spring 7, and the rollers 3. The distance between the three hands 3 becomes narrower, and the tips of the pair of hands 1 close in the direction of the arrow z, whereby the tips of the pair of hands 1 grip the minute work W.
[0005]
Therefore, the conventional gripping device includes a pair of left and right hands 1, 1, a tapered hand driver 4 for opening and closing the hands 1, 1 symmetrically, and a cylinder 5 for moving the hand driver 4 forward and backward. It is provided with.
The pair of hands 1 and 1 holding the work W are rotated horizontally or moved vertically by a mechanism (not shown) to move the held work W to the next step. I have.
[0006]
[Problems to be solved by the invention]
By the way, the conventional gripping device described above has a configuration in which a minute work W is gripped by both hands 1, but when gripping the work W, a delicate error occurs between the left and right hands 1 and the work W is gripped. There was a problem that it could not be grasped accurately.
[0007]
That is, if the hand 1 has a symmetrical shape, rattling occurs due to an assembly error and the like, and even if the accuracy of each component constituting the gripping device is increased, the left and right hands 1 move symmetrically about the center line. Cannot be performed accurately, and it is slightly displaced. Further, when the hand driving body 5 is operated, the hand driving body 5 is displaced from the center line and the degree of contact with both rollers 3, 3 cannot be made exactly the same. However, the left and right hands 1 failed to pinch the work W, or the posture of the work W changed even if it was pinched, and the work W could not be grasped accurately.
[0008]
SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems of the related art, and an object of the present invention is to provide a gripping device that can accurately grip a minute work and that can grip without regard to assembly accuracy or variation. is there.
[0009]
[Means for Solving the Problems]
In order to solve the above problems, the present invention employs the following solutions.
The invention according to claim 1 is a gripping device for gripping a workpiece, wherein the gripper is provided on one side of the main body, and the tip is opposed to the tip of the main body with an appropriate gap therebetween. A movable piece; and a movable piece driving mechanism for pressing the distal end of the movable piece toward the distal end of the main body. When the movable piece driving mechanism presses the distal end of the movable piece against the distal end of the main body, the movable piece The work is held between the body and the main body.
[0010]
According to the present invention, when the movable piece is pressed by the movable piece driving mechanism, the distal end of the movable piece moves so as to approach the distal end of the main body. Thus, the work can be easily and reliably held, and the work can be gripped satisfactorily.
[0011]
According to a second aspect of the present invention, in the gripping device according to the first aspect, the movable piece is formed by a slit provided along a length direction at a tip of one side of the main body. I do.
[0012]
According to the present invention, the relative position between the distal end portion of the main body and the movable piece does not change, so that the assembly accuracy is not affected.
[0013]
According to a third aspect of the present invention, in the gripping device according to the first or second aspect, the distal end of the main body includes a storage notch for accommodating the work when the work is sandwiched together with the distal end of the movable piece. It is characterized by the following.
[0014]
According to the present invention, when the work is sandwiched between the distal end portion of the movable piece and the distal end portion of the main body, the work is inserted while being stored in the storage notch of the main body. In this state, the workpiece can be gripped, and the reliability of the gripping device can be improved.
[0015]
The invention according to claim 4 is the gripping device according to claim 1, wherein the movable piece is attached to one side of the main body. Therefore, the work is sandwiched between the main body and the movable piece attached thereto, so that the work can be reliably gripped.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 3 are schematic diagrams showing a gripping device according to a first embodiment of the present invention, FIG. 2 is an enlarged view showing a main part of the gripping device, and FIG. FIG.
The gripping device 10 of this embodiment is roughly divided into a main body 11, a movable piece 20 that holds the workpiece W (see FIGS. 2 and 3) together with the main body 11, and a movable piece 20, as shown in FIG. And a movable piece driving mechanism 30 for pressing.
[0017]
The main body 11 is made of metal having an appropriate width and length. As shown in FIGS. 1 and 2, the tip 12 has a top formed in a substantially V-shape. Is mounted on the rod 21 of the cylinder 20. Then, when gripping the work W, the rod 20 is driven forward by the cylinder 20 in the direction of the arrow a in FIG. 1, whereby the distal end portion 12 of the main body 11 advances in the direction of the arrow b in FIG. On the other hand, it moves to a predetermined position. The cylinder 20 is installed on a fixed part (not shown).
[0018]
The movable piece 15 is formed integrally by providing a slit 16 on one side of the main body 11 along the length (height) direction of the main body 11, and the distal end 15 a thereof is formed integrally with the distal end 12 of the main body 11. They are arranged facing each other with an appropriate gap (slit 16) therebetween. The movable piece 15 can move toward the distal end 12 when the distal end 15a is pressed by a movable piece driving mechanism 30 described later.
[0019]
Therefore, the slit 16 is provided on one side of the main body 11 along the length (height) direction of the main body 11, and the deepest portion 16a has a larger width dimension and is cut out in a substantially circular shape. This allows the tip 15a of the movable piece 15 to swing toward the main body 11 with the back 16a as a fulcrum.
[0020]
As shown in FIG. 1, the movable piece driving mechanism 30 includes an inverted L-shaped lever 31 pivotally supported by a pin 33 on the base 13 side of the main body 11, and a cylinder in which the base 31 b of the lever 31 is connected to a rod 35. 34, and a tension spring 36 mounted between the support portion 14 provided to extend to the base portion 13 of the main body 11 and the base portion 31b of the lever 31. The cylinder 34 is installed on the support 14 of the main body 11.
[0021]
The movable piece drive mechanism 30 normally releases the movable piece 15 as shown in FIG. 1 by the spring force of a tension spring 36, and when the work W is gripped, the rod 35 is driven in the arrow direction c by driving the cylinder 34. When the lever 31 moves forward, the lever 31 is rotated counterclockwise about the pin 33 as shown by the arrow d in FIGS. 1 and 3, and the tip 31a of the lever 31 is movable as shown by the arrow e in FIG. By pressing the tip 15a of the piece 15 toward the main body 11 and swinging it, the workpiece W can be sandwiched and gripped between the tip 15a of the movable piece 15 and the tip 12 of the main body 11.
[0022]
In this case, when the movable piece 15 is pressed by the lever 31, it swings by its own bending force, but when released from the lever 31, it returns to its original position by its own restoring force. Therefore, it is preferable that the movable piece 15 and the main body 11 are not made of a soft material but made of a hard metal material such as tool steel or alloy steel.
[0023]
As shown in FIG. 2, a storage notch 17 formed in an inverted L-shape is provided at the top of the distal end portion 12 of the main body 11. The storage notch 17 is cut out at the distal end portion 12 of the main body 11 by opening the front of the distal end portion 12 and the side of the movable piece 15 side, and has therein the distal end portion 15a of the movable piece 15 as shown in FIG. By holding and holding the work W, the work W can be held in a normal posture without floating the work W upward.
The work W is handled by the optical element mounting apparatus, and is a small and lightweight one having a vertical, horizontal, and depth dimension of less than 1 mm.
[0024]
Since the gripping mechanism 10 of this embodiment is configured as described above, its operation will be described next.
When the work W is conveyed to the work table D, first, the cylinder 20 is driven and the rod 21 moves forward, so that the main body 11 mounted on the rod 21 moves forward toward the work W as shown in FIG. At the same time, when the main body 11 advances to a predetermined position with respect to the work W, the driving of the cylinder 20 is stopped.
[0025]
Next, when the cylinder 34 of the movable piece driving mechanism 30 is driven, the rod 35 advances in the arrow direction c in FIG. 1 to press the base 31 b of the lever 31 against the spring force of the tension spring 36. Since the lever 31 is rotated in the direction of the arrow d in FIG. 3 and the distal end 31a of the lever 31 presses the distal end 15a of the movable piece 15 toward the main body 11 as shown by the arrow e in FIG. The workpiece W can be gripped by sandwiching the workpiece W between the distal end 31 a of the lever 31 and the distal end 12 of the main body 11.
[0026]
In this embodiment, as described above, the main body 11 is fixed, and only the movable piece 15 is pressed against the main body 11 and rocks, thereby sandwiching the work W. Therefore, it is not necessary to operate symmetrically about the center line, so that it is not necessary to make the components of the gripping device 10 high-precision, and even if the assembly accuracy varies, Therefore, the work W can be easily and reliably gripped, and the work W can be gripped accurately.
[0027]
Moreover, the movable piece 15 is integrally formed by providing the slit 16 on one side of the main body 11, and the relative position between the distal end portion 12 of the main body 11 and the movable piece 15 does not change. Nothing.
An L-shaped storage notch 17 is provided at the distal end portion 12 of the main body 11, and when the work W is sandwiched between the distal end portion 12 and the movable piece 15, the work W is inserted into the storage notch 17 of the distal end portion 11. Not only does the work W not float upward, but also allows the work W to be clamped in a normal posture, so that the posture of the work W does not change at all, and therefore the work W is kept in a stable state. Can be gripped.
[0028]
FIG. 4 shows a main part of a gripping device according to a second embodiment of the present invention.
In the above-described first embodiment, an example in which the movable piece 15 is provided by providing the slit 16 in the main body 11 has been described. However, the difference from the first embodiment in this embodiment is that the movable piece 15 is provided in the main body 11. Numeral 15 is directly attached.
[0029]
That is, the movable piece 15 in this case is made of, for example, a metal plate, and its base 15 b is attached to the tip 12 of the main body 11 by the screw 18, and the tip 15 a is separated from the tip 12 by a gap. . In FIG. 4, the same parts as those in FIGS. 1 to 3 are denoted by the same reference numerals, and the components not shown have the same configuration as that of the above-described embodiment, and a description thereof will be omitted.
[0030]
Then, when the work W (see FIGS. 2 and 3) is gripped, when the lever 31 rotates in the arrow direction d by the forward drive of the cylinder 34 of the movable piece driving mechanism 30, the distal end 31a of the lever 31 moves Is pressed toward the main body 11 as shown by an arrow e, thereby gripping the workpiece W between the movable piece 15 and the main body 11 (see FIG. 3). When the movable piece 15 is rotated and opened, the movable piece 15 can release its grip on the work W by its own elastic restoring force.
Therefore, according to this embodiment, basically, the same functions and effects as those of the first embodiment can be obtained.
[0031]
FIG. 5 shows a main part of a gripping device according to another embodiment of the present invention.
In this case, the movable piece 15 is attached to the main body 11 in a tiltable manner. That is, the movable piece 15 has a substantially triangular fulcrum portion 15b at an intermediate position in the longitudinal direction, and the fulcrum portion 15b is pivotally connected to a side portion of the main body 11 on the side of the distal end portion 12 via the support pin 11a. By being supported, the distal end portion 15a is opposed to the distal end portion 12 of the main body 11 with a gap therebetween.
[0032]
A tension spring 19 is mounted between the base 15 c of the movable piece 15 and the side of the main body 11, and the distal end 15 a of the movable piece 15 is separated from the distal end 12 of the main body 11 by the spring force of the tension spring 19. ing.
On the other hand, the base portion 13 of the main body 11 is provided with an overhang portion 14a extending substantially parallel to the main body 11, and the cylinder 34 of the movable piece driving mechanism 30 is installed on the overhang portion 14a. It is in contact with the tip 16 of the piece 15.
[0033]
Then, in order to grip the workpiece W, the rod 35 is driven by the cylinder 34 to push the distal end portion 15 a of the movable piece 15 in the direction of the arrow against the spring force of the tension spring 19, whereby the distal end of the movable piece 15 is moved. 15a is swung by the distal end portion 12 of the main body 11, the work W is sandwiched and gripped between the distal end portion 12 and the distal end portion 15a, and in that state, the rod 35 is retracted and the pressing on the movable piece 15 is released. Then, the tip 15a of the movable piece 15 is separated from the tip 12 of the main body 11 by the spring force of the tension spring 19, and returns to the original position. Accordingly, in the movable piece driving mechanism 30, the rod 35 of the cylinder 34 directly presses the movable piece 15.
[0034]
Also in this embodiment, the work W can be gripped or released by the main body 11 and the movable piece 15 tiltably attached to the main body 11, so that it is basically the same as the above-described embodiments. The operation and effect of the present invention can be obtained.
[0035]
In each of the illustrated embodiments, an example has been described in which the main body 11 and the movable piece 15 grip the work W when the main body 11 is lowered with respect to the work W. The workpiece W may be gripped by moving in the horizontal direction toward the workpiece W. In short, the gripping device may be configured to be able to grip not only in the vertical direction but also in the horizontal direction. Of course.
In addition, the example in which the work W is transported to the predetermined position has been described. However, the present invention is not limited thereto. For example, the work stored in the tray may be gripped by a gripping device. Absent.
[0036]
【The invention's effect】
As described above, according to the present invention, when the movable piece is pressed by the movable piece drive mechanism, the distal end of the movable piece is configured to sandwich the work between the distal ends of the main body and hold the work. The workpiece can be easily and reliably sandwiched between the distal end of the main body and the distal end of the main body, the workpiece can be grasped accurately, and there is an effect without assembling accuracy or variation.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing a gripping device according to a first embodiment of the present invention.
FIG. 2 is an enlarged view showing a main part of the gripping device.
FIG. 3 is an explanatory diagram of a workpiece gripping state showing a main part of the gripping device.
FIG. 4 is an explanatory diagram of a main part showing a gripping device according to a second embodiment of the present invention.
FIG. 5 is an explanatory diagram of a main part showing a gripping device according to another embodiment of the present invention.
FIG. 6 is an explanatory view showing a conventional gripping device.
[Explanation of symbols]
REFERENCE SIGNS LIST 10 gripping device 11 main body 12 main body distal end 13 main body base 15 movable piece 15 a movable piece distal end 16 slit 16 a depth 17 storage notch 18 screw 19 tension spring 30 movable piece drive mechanism 31 lever 33 pin 34 cylinder 36 tension Spring W Work

Claims (4)

A gripping device for gripping a work,
A main body, a movable piece provided on one side of the main body and having a distal end opposed to the distal end of the main body with an appropriate gap therebetween, and pressing the distal end of the movable piece toward the distal end of the main body. And a movable piece drive mechanism for
When the movable piece driving mechanism presses the tip of the movable piece against the tip of the main body, the work is held between the movable piece and the main body. The gripping device according to claim 1,
The gripping device, wherein the movable piece is formed by a slit provided along a length direction at a tip of one side of the main body. The gripping device according to claim 1 or 2,
A gripping device, wherein a notch for accommodating the work when the work is sandwiched together with the tip of the movable piece is provided at the tip of the main body. The gripping device according to claim 1,
The said movable piece is attached to one side part of a main body, The holding apparatus characterized by the above-mentioned.

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