JP2016002604A - Chuck device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute and release decompression operation and holding operation in a chuck device in the proper timing.SOLUTION: A chuck device comprises a first claw member having a first holding part for holding an object and forming a first air passage whose one end is a first opening for opening on a holding surface of the first holding part and the other end is a second opening of becoming a decompression device side opening, a second claw member having a second holding part for holding the object by cooperating with the first holding part and oppositely arranged to the first claw member, an opening-closing driving part for opening-closing the first holding part and the second holding part and a decompression adjustment part for putting the inside of the first air passage in a decompression state when closing the first holding part and the second holding part by the opening-closing driving part and releasing the decompression state by opening the first air passage when opening the first holding part and the second holding part.

Description

  The present invention relates to a chuck device.

  Conventionally, various industrial robots used for assembling various products have been proposed, and a gripping device for gripping an object is also known (for example, Patent Document 1). By the way, in the assembly process of various products, for example, a thin sheet-like component having high flexibility such as a seal or a film may be gripped. Such a sheet-like component is often made of a material in which the sandwiched position is not stable and the surface is slippery. For this reason, there is a case where the object is displaced only by sandwiching the object, and it is difficult to stably grasp the object with the gripping device of the type that sandwiches the object. On the other hand, the proposal which utilizes vacuum suction with clamping of a target object is known (for example, patent document 2). By using vacuum suction, the displacement of the object is suppressed, and a stable gripping state of the object is expected.

JP-A-5-285877 JP 2010-158754 A

  However, as in the proposal disclosed in Patent Document 2, when vacuum suction is performed together with object clamping, if the timing for releasing the vacuum state and the timing for releasing the object clamping are not appropriate, It may not be possible to properly open the target. In order to eliminate this, the apparatus becomes complicated, such as separately requiring sequence control for performing the sandwiching operation and the suction operation (decompression operation).

  In one aspect, an object of the chuck device disclosed in the present specification is to perform the decompression operation and the clamping operation and release at appropriate timing.

  The chuck device disclosed in the present specification includes a first clamping unit that clamps an object, one end is a first opening that opens on the clamping surface of the first clamping unit, and the other end is on the decompression device side. A first claw member in which a first air passage is formed as a second opening, and a second clamping unit that cooperates with the first clamping unit to clamp an object. A second claw member disposed opposite to the first claw member, an opening / closing drive unit for opening / closing the first clamping unit and the second clamping unit, and the opening / closing drive unit The first air passage is brought into a reduced pressure state when the sandwiching portion and the second sandwiching portion are closed, and the first sandwiching portion and the second sandwiching portion are opened when the first sandwiching portion and the second sandwiching portion are opened. And a decompression adjustment unit that opens the air passage and eliminates the decompressed state.

  According to the chuck device disclosed in the present specification, the decompression operation and the clamping operation can be executed and released at appropriate timing.

FIG. 1 is an example of a block diagram of a hand device including the chuck device according to the first embodiment. FIG. 2 is an explanatory view showing a schematic configuration of the chuck device. FIG. 3 is an explanatory view showing a state where the drive connecting portion is removed. FIG. 4 is an explanatory view showing the drive connecting portion. FIG. 5A is an explanatory diagram illustrating a state in which the second clamping unit approaches the object, and FIG. 5B is an explanatory diagram illustrating a state in which the second clamping unit is in contact with the object. FIG. 6 is an explanatory view showing a state where the chuck device 100 is chucked. FIG. 7 is a term chart showing an example of the operation of the chuck device. FIG. 8A is an explanatory view showing a state where the chuck device of the second embodiment is chucked, and FIG. 8B is an explanatory view showing a state where the reduced pressure state of the chuck device of the second embodiment is destroyed. It is. FIG. 9 is an explanatory view showing a schematic configuration of the chuck device of the third embodiment. FIG. 10 is an explanatory view showing the moving member. FIG. 11 (A) is an explanatory view showing a state in which the chuck device is chucked, and FIG. 11 (B) is an explanatory view showing a state in which the reduced pressure state is broken while the object is sandwiched, and FIG. ) Is an explanatory view showing a state in which the object that has been sandwiched is opened.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, in the drawings, the dimensions, ratios, and the like of each part may not be shown so as to completely match the actual ones. Further, depending on the drawings, components that are actually present may be omitted for convenience of explanation, or dimensions may be exaggerated from the actual drawing.

(First embodiment)
First, a schematic configuration of the hand device 1 including the chuck device 100 according to the first embodiment will be described with reference to FIG. FIG. 1 is an example of a block diagram of a hand device including the chuck device according to the first embodiment. The chuck device 100 can be an object 50 that holds various articles, for example, a flexible printed circuit board (FPB) that is an electronic component. The chuck device 100 of the present embodiment can be applied to a film-like or sheet-like object 50. The hand device 1 includes a control unit 2. The control unit 2 is electrically connected to an opening / closing drive unit 3, a pressure reducing device 5, a moving mechanism 6, and a rotating mechanism 7. The opening / closing drive unit 3 performs an opening / closing operation of the chuck device 100 as will be described in detail later. The opening / closing drive unit 3 includes a drive connecting unit 4. The drive connecting portion will be described later. The decompression device 5 adsorbs an object to be sandwiched by the hand device 1. By operating the decompression device 5, the connection destination of the decompression device 5 can be brought close to a vacuum state. Thereby, the target object 50 can be adsorbed. The moving mechanism 6 moves the chuck device 100 in the X direction, the Y direction, and the Z direction. The rotation mechanism 7 can rotate the chuck device 100 around the Z axis (θz). The rotation mechanism 7 may have a function of rotating around the X axis (θx) or the Y axis (θy).

  The chuck device 100 includes a first claw member 101 having a first clamping part 102 and a second claw member 105 having a second clamping part 106. A first air passage 103 and a second air passage 104 are formed in the first claw member 101. A third air passage 107 is formed in the second claw member 105. Hereinafter, the first claw member 101 and the second claw member 105 will be described with reference to FIGS. FIG. 2 is an explanatory diagram showing a schematic configuration of the chuck device 100. FIG. 3 is an explanatory view showing a state where the drive connecting portion 4 is removed. FIG. 4 is an explanatory view showing the drive connecting portion 4.

  The first claw member 101 includes a first clamping unit 102 that clamps the object 50. The first clamping unit 102 clamps the object 50 in cooperation with the second clamping unit 106 included in the second claw member 105. A first air passage 103 is formed inside the first claw member 101. The first opening 103 a that is one end of the first air passage 103 opens in the clamping surface 102 a of the first clamping unit 102. The other end of the first air passage 103 is a second opening 103b which is an opening on the decompression device 5 side. The second opening 103 b is opened on the rear end surface 101 b of the first claw member 101. The first claw member 101 is formed with a stepped portion 101a that is lowered on the first clamping portion 102 side. The upper surface of the stepped portion 101a becomes a contact surface 101a1 with which the contact surface 105a of the second claw member 105 contacts.

  The second claw member 105 includes a second clamping unit 106 that cooperates with the first clamping unit 102 to clamp the object 50. The 2nd nail | claw member 105 is opposingly arranged so that the 1st clamping part 102 and the 2nd clamping part 106 may face. The surface of the second claw member 105 facing the first claw member 101 is smooth, and the portion located on the rear end side of the facing surface is in contact with the contact surface 101a1 provided in the first claw member 101. It is a contact surface 105a. The second clamping part 106 is located on the front end side of the second claw member 105 and is formed of a material having flexibility as compared with the material on the rear end side of the second claw member 105. Specifically, the second clamping unit 106 is made of silicon rubber. Thereby, the 2nd clamping part 106 can be elastically deformed easily. In the present embodiment, the second holding part 106 is formed of a flexible material, but at least one of the first holding part 102 and the second holding part 106 is a flexible material. It is desirable to be molded by.

  A second air passage 104 is formed inside the first claw member 101. The second air passage 104 is branched from the first air passage 103. The second air passage 104 includes a third opening 104a that opens to the contact surface 101a1 with which the second claw member 105 contacts when the first holding part 102 and the second holding part 106 are closed. ing.

  A third air passage 107 is formed in the second claw member 105. One end of the third air passage 107 is a fourth opening 107 a that opens to the clamping surface 106 a of the second clamping unit 106. The other end of the third air passage 107 opens to the contact surface 105a on which the first claw member 101 comes into contact when the first holding unit 102 and the second holding unit 106 are closed. The third opening 104b is provided so as to be connectable to the third opening 104a.

  The 2nd air passage 104 provided with the 3rd opening 104a, the 3rd air passage 107 provided with the 4th opening 107a and the 5th opening 107b functions as a decompression adjustment part. That is, the second air passage 104 and the third air passage 107 are configured such that the first air passage 103 is in a state where the first holding portion 102 and the second holding portion 106 are closed and the object 50 is held. At the same time, a closed path leading to the decompression device 5 is formed. On the other hand, when the first holding unit 102 and the second holding unit 106 are separated from each other, the circuit in which the reduced pressure state is maintained is destroyed, and the reduced pressure state is released.

  When the object 50 is appropriately grasped and released by the decompression operation and the sandwiching operation, the timing for executing the decompression operation and the sandwiching operation becomes important. Specifically, when the object 50 is gripped, a pressure reducing operation for suction is performed after the clamping operation between the first clamping unit 102 and the second clamping unit 106 is completed. On the other hand, when releasing the countermeasure 50, the nipping operation is terminated after releasing the suction by the decompression operation. The chuck device 100 according to the present embodiment is configured to perform each operation at the timing as described above in accordance with the mechanical operation of the device.

  As described above, the timing of the decompression operation and the clamping operation is required to be slightly shifted. Therefore, the chuck device 100 of the present embodiment creates this timing shift by performing the opening / closing operation of the second claw member 105 using the drive connecting portion 4. 2 and 4, the drive connecting portion 4 includes a frame 4 a formed so as to cover the second claw member 105 and a connection portion 4 a 1 provided on the frame 4 a. The connection part 4a1 is connected to the opening / closing drive part 3, and raises / lowers the frame 4a, and consequently the second claw member 105. The frame 4 is provided with a rotation support portion 4b and a slider portion 4c. The rotation support portion 4b and the slider portion 4c are both rod-shaped members. Referring to FIG. 3, the second claw member 105 has a shaft portion 105 b. The shaft portion 105b is a through hole, and the rotation support portion 4b included in the drive connecting portion 4 is inserted into the shaft portion 105b. The second claw member 105 is formed with a guide portion 105c that is provided on the distal end side with respect to the shaft portion 105b and that is inclined downward toward the distal end side. The slider portion 4c is engaged with the guide portion 105c. By providing such a drive connecting portion 4, when the second claw member 105 is moved, a rotating operation and a linear operation are realized. The rotation operation is performed using the second clamping unit 106 as a fulcrum. As a result, the decompression state is destroyed by releasing the connection between the third opening 104a and the fifth opening 107b while continuing the sandwiching operation by the first sandwiching section 102 and the second sandwiching section 106. The operation can be terminated.

  Next, the operation of the chuck device 100 will be described with reference to FIGS. FIG. 5A is an explanatory diagram showing a state in which the second clamping unit approaches the object. FIG. 5B is an explanatory diagram showing a state in which the second clamping unit is in contact with the object. FIG. 6 is an explanatory view showing a state where the chuck device 100 is chucked. FIG. 7 is a term chart showing an example of the operation of the chuck device 100. Note that the chuck device 100 moves to the position of the object 50 to be gripped by the moving mechanism 6.

  When gripping an object, the control unit 2 first sends a closing signal as a chuck operation signal at the timing (a) in the time chart. Thereby, as shown in FIG. 5A, the second claw member 105 is lowered via the drive connecting portion 4. At this time, the second claw member 105 is rotated by the rotation support portion 4b, and the slider portion 4c is in contact with the upper end edge of the guide portion 105c. Thereby, the 2nd nail | claw member 105 is the state which the 2nd clamping part 106 which is a front end side falls. The decompression device 5 continues to operate. However, the first air passage 103 connected to the decompression device 5 is in a state where the second air passage 104 branched from the first air passage 103 is opened by the third opening 104a. Also in this part, the adsorption action is not exhibited. When the drive connecting portion 4 is lowered in this state, the second holding portion 106 contacts the object 50 at the timing (b). As a result, as shown in FIG. 5B, the clamping operation by the first clamping unit 102 and the second clamping unit 106 is started. At this timing, since the pressure reducing action is not effective as described above, the object is not blown away by the movement of air.

  When the drive connecting portion 4 continues to descend even after the clamping operation is started, the rear end side of the second claw member 105 rotates counterclockwise in the drawing. This is because the slider part 4c can move relatively along the guide part 105c, so that rotation about the shaft part 105b of the second claw member 105 as the rotation axis is allowed. As a result, the second claw member 105 performs a rotation operation with the second clamping portion 106 as a fulcrum, and the third opening 104a and the fifth opening 107b approach each other. At this time, since the second clamping unit 106 is made of flexible silicon rubber, it is easily deformed when pressed against the object 50. As a result, the periphery of the fourth opening 107a is sealed. If the descent of the drive connecting portion 4 is continued, the third opening 104a and the fifth opening 107b are connected at the timing shown in FIG. 6C as shown in FIG. As a result, the first air passage 103, the second air passage 104, and the third air passage 107 form a closed circuit. As a result, these air passages are in a decompressed state, and the object 50 is adsorbed by the first opening 103a and the fourth opening 107a.

  Thus, slipping of the clamped object 50 can be suppressed by executing the pressure reducing operation after the clamping operation.

  When opening the grasped object 50, the reverse operation is followed. That is, in FIG. 7, when an open signal is sent as a chuck operation signal at the timing (d), the drive connecting portion 4 starts to rise. As a result, the second claw member 105 rotates with the shaft portion 105b as a fulcrum, and the rear end side is lifted. As a result, in FIG. 7, the third opening 104a and the fifth opening 107b are separated at the timing (e), and the reduced pressure state is destroyed. When the drive connecting portion 4 is further raised, the slider portion comes into contact with the upper end edge of the guide portion 105c, so that the rotation of the second claw member 105 is stopped. Thereafter, the second claw is maintained while maintaining its posture. The member 105 is pulled up. As a result, the clamping operation by the first clamping unit 102 and the second clamping unit 106 ends at the timing (f).

  As described above, when the clamping operation is finished, the pressure reducing operation has already been finished, so that the object is not blown away by the movement of air due to the pressure reducing action.

  As described above, according to the chuck device 100 of the present embodiment, the decompression operation and the clamping operation can be executed and released at appropriate timing.

(Second Embodiment)
Next, the chuck device 200 of the second embodiment will be described with reference to FIG. FIG. 8A is an explanatory view showing a state where the chuck device 200 of the second embodiment is chucked, and FIG. 8B shows a state where the reduced pressure state of the chuck device 200 of the second embodiment is destroyed. It is explanatory drawing.

  The chuck device 200 according to the second embodiment is different from the chuck device 100 according to the first embodiment in that the chuck device 200 according to the second embodiment does not include the third air passage 107, and the operation of the device is also different. Common. Accordingly, common components are denoted by the same reference numerals in the drawings, and detailed description thereof is omitted.

  In the second embodiment, the second air passage 104 and the contact surface 105 a included in the second claw member 105 function as the decompression adjusting unit. The abutting surface 105a is a surface on which the first claw member 101 abuts when the first clamping unit 102 and the second clamping unit 106 are closed. In the first embodiment, the third opening 104a of the second air passage 104 and the fifth opening 107b of the third air passage 107 are connected to each other, and the pressure reducing operation is performed by leaving, and the end. did. On the other hand, in the second embodiment, the pressure reducing operation is performed depending on whether the contact surface 105a closes or opens the third opening 104a of the second air passage 104, and ends. Thus, also in the chuck apparatus 200 of 2nd Embodiment, execution and cancellation | release of pressure reduction operation | movement and clamping operation | movement can be performed at an appropriate timing.

(Third embodiment)
Next, a chuck device 300 according to a third embodiment will be described with reference to FIGS. 9 to 11. FIG. 9 is an explanatory view showing a schematic configuration of the chuck device 300 of the third embodiment. FIG. 10 is an explanatory view showing the moving member 207. FIG. 11A is an explanatory view showing a state in which the chuck device 300 is chucked, and FIG. 11B is an explanatory view showing a state in which the reduced pressure state is broken while the object 50 is sandwiched. (C) is explanatory drawing which shows the state which open | released the target object 50 clamped.

  The chuck device 300 includes a first claw member 201 and a second claw member 205. The 1st nail | claw member 201 is provided with the 1st clamping part 202 in the front-end | tip part. The surface where the first claw member 201 faces the second claw member 205 is a smooth surface. A first air passage 203 is formed inside the first claw member 201 as in the first claw member 101 of the first embodiment, and the first opening 203a is opened on the clamping surface 202a. doing. The second opening 203b opens on the surface facing the second claw member 205. This is different from the first embodiment. Further, unlike the first embodiment, the first claw member 201 of the present embodiment does not include the second air passage.

  The second claw member 205 includes a stepped portion 205a that is raised one step at the rear end. A through hole 205a1 is provided in the stepped portion 205a. The surface of the stepped portion 205a that faces the first claw member 201 forms an engaging surface 205b that engages with an engaging portion 207b that will be described in detail later. A moving member 207 is slidably mounted in the through hole 205a1.

  The moving member 207 functions as a decompression adjustment unit. The moving member 207 is provided on the second claw member 205, and can be separated from and connected to the first claw member 201 by the opening / closing drive unit 3. Further, the moving member 207 is formed with a fourth air passage 208 that is connected to the second opening 203b when the first clamping unit 202 and the second clamping unit 206 are closed. The fourth air passage 208 is connected to the decompression device 5. That is, in the third embodiment, the first air passage 203 is connected to the decompression device 5 through the fourth air passage 208. The moving member 207 includes a cylindrical portion 207a and a hook-shaped engaging portion 207b connected to the cylindrical portion 207a. The cylindrical portion 207a is slidably fitted into the through hole 205a1. The engaging portion 207b is disposed in a space formed below the step portion 205a by providing the step portion 205a. The engaging portion 207 b is pulled up by the opening / closing drive portion 3, thereby engaging with the second claw member 205, more specifically with the engaging surface 205 b while being separated from the first claw member 201. The claw member 205 is separated from the first claw member 201.

  In the state shown in FIG. 11A, the object 50 is held by the first holding unit 202 and the second holding unit 206, and the fourth air passage 208 is connected to the second opening 203b. It is in a state that has been. That is, the sandwiching operation and the decompression operation are performed. From this state, as shown in FIG. 11B, when the moving member 207 is pulled upward, the connection state between the fourth air passage 208 and the second opening 203b is canceled, and the reduced pressure state is destroyed. Then, as shown in FIG. 11C, when the moving member 207 is further lifted and the engaging portion 207b is engaged with the engaging surface 205b, the second claw member 205 is then lifted and the first claw is moved. It leaves | separates from the member 201.

  Even in the chuck device 300 according to the third embodiment, the decompression operation and the clamping operation are appropriately performed and released as in the chuck device 100 according to the first embodiment and the chuck device 200 according to the second embodiment. Can be done at the timing.

  Although the preferred embodiment of the present invention has been described in detail above, the present invention is not limited to the specific embodiment, and various modifications, within the scope of the gist of the present invention described in the claims, It can be changed.

DESCRIPTION OF SYMBOLS 1 Hand apparatus 2 Control part 3 Opening / closing drive part 4 Drive connection part 4a Frame 4a1 Connection part 4b Rotation support part 4c Slider part 5 Pressure reducing device 100, 200, 300 Chuck apparatus 101, 201 First claw member 101a Step part 101a1 Contact Surface 101b, 201a Rear end surface 102, 202 First clamping portion 102a, 202a Holding surface 103, 203 First air passage 103a, 203a First opening 103b, 203b Second opening 104 Second air passage 104a Third Opening 105, 205 second claw member 105a contact surface 105b shaft portion 105c guide portion 106, 206 second clamping portion 107 third air passage 107a fourth opening 205b engagement surface 207 moving member 207a cylindrical portion 207b engagement portion 208 fourth air passage

Claims (6)

A first opening that includes a first holding portion that holds the object, one end being a first opening that opens to the holding surface of the first holding portion, and the other end being a second opening that is an opening on the decompression device side. A first claw member formed with a first air passage;
A second nail member provided in cooperation with the first nipping unit to sandwich the object and having a second nail member disposed opposite to the first nail member;
An opening / closing drive part for opening and closing the first clamping part and the second clamping part;
When the first and second clamping parts are closed by the opening / closing drive part, the inside of the first air passage is brought into a reduced pressure state, and the first and second clamping parts are And a decompression adjustment unit that opens the first air passage to eliminate the decompression state when opening
A chuck device comprising: The decompression adjustment unit includes:
A third opening that branches from the first air passage and opens to a contact surface with which the second claw member comes into contact when the first holding portion and the second holding portion are closed; A second air passage,
One end is a fourth opening that opens to the clamping surface of the second clamping part, and the other claw member is closed when the first clamping part and the second clamping part are closed. A third air passage that is a fifth opening that opens to a contact surface that contacts the third opening and is connectable to the third opening;
The chuck device according to claim 1, comprising: The decompression adjustment unit includes:
A third opening that branches off from the first air passage and opens to a contact surface with which the second claw portion comes into contact when the first holding portion and the second holding portion are closed; A second air passage,
An abutting surface with which the first claw member abuts when the first clamping part and the second clamping part are closed;
The chuck device according to claim 1, comprising: The opening / closing drive unit is
A rotation support portion engaged with a shaft portion provided on the second claw member;
4. A drive coupling portion comprising: a slider portion that is provided on a distal end side of the shaft portion of the second claw member and engages with a guide portion that is inclined downward toward the distal end side. The chuck device according to any one of the above. The decompression adjustment unit includes:
The second claw member is provided on the second claw member and can be separated from and connected to the first claw member by the opening / closing drive unit, and when the first clamping unit and the second clamping unit are closed, A fourth air passage connected to the second opening is formed, and the second claw member is engaged with the second claw member while being separated from the first claw member by the opening / closing drive unit. The chuck device according to claim 1, further comprising a moving member having an engaging portion that separates the first claw member from the first claw member.   The chuck device according to any one of claims 1 to 5, wherein at least one of the first clamping unit and the second clamping unit is formed of a flexible material.

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