KR880001883B1 - Clamp device - Google Patents

Abstract

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Description

Clamp device

1 to 4 are first embodiments of the present invention, in which FIG. 1 is a front view of a partial cross section, FIG. 2 is a side view of a partial cross section, and FIG. 3 is a front view of a partial cross section showing an air floating state, and FIG. The base expanded sectional drawing which shows the insertion process of a mounting component.

5 to 8 is a second embodiment of the present invention, Figure 5 is a front view of one end cross-sectional view, Figure 6 is a side view of a cross-section cut out a part, Figure 7 is a side view of a partial cross section showing an air-floating state, 8 is an enlarged cross-sectional view of the mounting table showing the vacuum chucking process of the mounting component.

TECHNICAL FIELD The present invention relates to a clamp device in an assembly robot or the like.

Conventionally, this type of clamp device is generally used to pick up and transport mounting parts placed at a predetermined position to assemble the parts to be fitted in the recesses fixed on the base or the like from above. If the machining precision of these parts is high and the stop position of the support arm such as a robot is correct, the mounting part is smoothly fitted into the recess of the part to be fitted.

In practice, however, there is an error in the stop position of the support arm, such as a robot, the dimensions of the parts, and the fixing positions of the parts to be fitted. Therefore, a mechanism for correcting the misalignment of the state positions between the mounting parts and the parts to be fitted is required.

Conventionally, such a correction mechanism has been proposed to be made by inserting an elastic member such as a spring between a support arm such as a robot and a clamp device body, or to allow sliding using a spring, a bearing, or a bowl.

However, in this conventional correction mechanism, the clamp device main body is always kept free with respect to support arms such as robots, which causes a new problem that the accuracy of positioning is deteriorated. Accurate positioning is difficult due to weakening, and when the mounting part is heavy, the smooth tracking motion is hindered by the frictional resistance between the support arm and the clamping device body due to the load. There was a problem that not only the correction of the gap but also the fitting work of the mounting parts.

In view of the above problems, an object of the present invention is to provide a clamping device capable of correcting a misalignment of a relative position of a mounting part and a component to be fitted without degrading the positioning accuracy of the clamping device.

Another object of the present invention is to provide a clamp device having a smooth following movement against the stagger of the relative position between the two parts.

It is still another object of the present invention to provide a clamping device capable of increasing the accuracy of relative positioning between both parts as well as providing a smooth following movement with respect to the shift of the relative position between the mounting part and the fitting part.

For this purpose, the clamping device main body having a finger holding the mounting parts is supported on the support arm so that the clamping device body can be eccentrically displaced so that the mounting parts and the parts to be fitted can be A stabilization mechanism was provided, and a coupling mechanism for integrally connecting or releasing the clamp device main body was provided to the support arm. The presence of this connecting mechanism allows the clamp device to integrate the body of the clamp device and the support arm other than when the clamp device requires a misalignment of the position. Therefore, the positioning of the clamp device by the correction mechanism can correct the misalignment of the position. The fall of precision can be prevented.

As a specific aspect, it was set as the structure which supplies air to the contact surface of a support arm and a clamp apparatus main body to the staggered correction mechanism of a position. As a result, the main body of the clamping device is placed in the air-floating state, thereby enabling the eccentric displacement without restraint with the support arm, that is, without frictional resistance, so that the clamping device can smoothly follow the movement of the relative position between the two parts. have.

As another modification, a vacuum suction device was used instead of the vacuum cleaner, and a guide pin was provided on the main body. By forming the guide hole for receiving this guide pin in the mounting base of the mounting part and the fitting part, the positional relationship between the guide pin and the vacuum-chucked mounting part is fixed. The accuracy of positioning can be improved.

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[First Embodiment]

1 to 4 show the clamp device 100 of the first embodiment, wherein the clamp device 100 is schematically a clamp device body 110 and a support arm 130 for supporting the clamp device body 110. The support arm 130 is generally composed of the arm of the assembly robot. The clamp device body 110 has a cover 112 integrally fixed to the shaft portion 111 and the shaft portion 111 has a lock groove 114 in the circumferential direction between the cover 112 and the drive portion 113. Formed. 115 is a picker which picks up a mounting component, and this white collector 115 is operated by an actuator (not shown) built in the drive part 113.

Support arm 130 is provided with a hole 131, the clamp device body 110 is configured in a state that the shaft portion 111 is inserted into the hole 131 to flow. The support arm 130 has two opposing first air cylinders 132 and 132 with the piston rods 133 and 133 protruding in the holes 131 facing each other. The tip of the piston rod 133 is formed to fit the lock groove 114, the shaft center is maintained by the piston rod 133 is engaged with the lock groove 144.

The piston rod 133 is mirrored in the direction of engagement with the lock groove 114 by the spring 134 and is engaged between the piston rod 133 and the lock groove 114 by introducing air into the pressure chamber 135. It is supposed to release. 136 denotes an O-ring, 137 denotes a stopper for a piston, and 138 denotes a C-ring. The air cylinder 132 and the lock groove 114 having such a configuration constitute a connection mechanism A for integrally connecting or releasing the clamp device body 110 to the support arm 130.

The support arm 130 is further provided with an annular air passage 140 in contact with the cover 112. 141 is an air supply port.

The support arm 130 is also integrally installed with the frame 150 extending downward while holding the cover 112, the second air cylinder 151 is installed on the frame 150.

The piston rod 152 extended from the second air cylinder 151 is adapted to fit the lid 112 by pressing the upper surface of the lid 112 and cooperating with the support arm 130. 153 denotes a spring for pushing the piston rod 152 away from the cover 112, 154 denotes an air passage, and 155 denotes an air supply port. The second air cylinder 151 having such a configuration is composed of a lock mechanism B that temporarily locks the clamp device body 110 in an eccentric state.

The operation of the clamp device 100 having the above configuration will be described.

As shown in FIG. 4, the fitting part 1 is inserted into the hole 3 of the base 2. FIG. Usually, the cutting surface portion 4 is made in the hole 3 of the base 2 so as to easily fit the component.

If the mounting part 1 and the shaft center of the hole 3 do not coincide due to the error of the stop position of the support arm 130 or the position error of the hole 3 of the base 2, the fitting part 1 is fitted. At the start of the work, the mounting part 1 comes into contact with the cutting surface portion 4 of the hole 3. At the start of the fitting process, the connection mechanism A is released, that is, air is introduced into the pressure chamber 135 to release the engagement between the piston rod 133 and the lock groove 114 and at the same time, the annular air passage 140. In FIG. 3, the clamp device body 110 is placed in the air floating state with respect to the support arm 130. As shown in FIG. This allows the clamp device body 110 to be eccentrically displaced without being restrained with respect to the support arm 130 and to be fitted to the mounting part 1 while being guided to the tapered surface of the cutting surface portion 4. do.

In the process of picking up the mounting part 1, for example, at the place where the part is placed, the clamp device main body 110 is first roughly disposed at the position of the mounting part 1, and the clamp device main body 110 is mounted at this time. The clamp device body 110 is placed in a floating state with respect to the misalignment of the position with the component 1 to enable eccentric displacement. After picking up the mounting part (1) by the pinger 115, the lock mechanism (B) is operated to lock the clamping device main body (110) to lift the mounting part (1).

Second Embodiment

5 to 8 show the clamp apparatus 200 of the second embodiment, and the same elements as the clamp apparatus 100 described above with respect to the structure of the clamp apparatus 200 are denoted by the same reference numerals. It will be omitted and the difference will be described.

The clamp device body 210 is provided with a vacuum suction device 215 for vacuum suction of the mounting part 1, and at the same time, guide pins 216 and 216 are installed.

On the other hand, the support arm 230 has a second air cylinder 251 is built in, the piston rod 252 extending in the second air cylinder 251 is to be in contact with the lower surface of the cover 112. The second air cylinder 251 now constitutes a connecting mechanism A for integrally connecting or releasing the clamp device main body 210 with respect to the support arm 230, and the first air cylinder 232. Reference numeral 232 is an in-situ return mechanism C for returning the clamp device body 210 to the axial center position and integrally connecting the support arm 230.

The operation of the clamp device 200 having the above configuration will be described. 8 shows a process of vacuuming the mounting part 1. The positioning protrusion 11 of the mounting part 1 protrudes from the mounting base 10, and the guide hole 12 is drilled at predetermined intervals from this protrusion 11.

When the vacuum chuck process starts, the clamp device main body 210 is left in the air floating state with respect to the support arm 230 as shown in FIG. As a result, the clamp device main body 210 can be eccentrically displaced without being restrained with respect to the support arm 230, and the guide pin 216 enters the guide hole 12 while being guided. The clamp mechanism main body 210 is integrally connected to the support arm 230 in an eccentric state by operating the connection mechanism A composed of the second air cylinder 251 together with the vacuum chuck of the mounting part 1. The guide pin 216 is guided to the guide hole 12 so that the relative positional relationship between the guide pin 216 and the vacuum-chucked mounting part 1 is fixed.

7 shows a process of fitting the fitting hole 21 of the base 20. The mounting guide hole 22 corresponding to the guide hole 12 of the mounting table 10 is drilled in the base 20. have. Release the coupling mechanism (A) at the beginning of this fitting process. In other words, the clamp device body 210 is placed in the air floating state with respect to the support arm 230. The guide pin 216 enters the mounting guide hole 22 while being guided to position the clamp device body 210, that is, the mounting part 1.

After the fitting process of the attachment part 1 is complete | finished, the home position return mechanism C used as the 1st air cylinders 232 and 232 is operated. As a result, the clamp device body 210 is returned to the axial center position.

Since the present invention is constituted as described above, it is possible to prevent the deterioration of the positioning accuracy of the clamp device due to the presence of the misalignment correction mechanism of the relative position between the mounting component and the component to be fitted.

In addition, when the clamping device body is air-floating as in the embodiment, the misalignment of the position can be smoothly corrected.

In addition, when the guide pin is installed in the clamp device body, the positioning accuracy of the clamp device can be improved.

Claims (8)

A clamping mechanism which supports the clamping device body having a picker for picking up the mounting part to be fluidly supported by the support arm, thereby correcting the misalignment of the relative position between the mounting part and the part to be fitted. Clamping device characterized in that the connection mechanism for connecting or releasing integrally installed. The clamp device according to claim 1, wherein the correction mechanism supplies air to a contact surface between the support arm and the clamp device main body. The clamp device according to claim 2, wherein the coupling mechanism is an air cylinder. The clamp device according to any one of claims 1 to 3, wherein the coupling mechanism axially connects the clamp device main body. The clamp device according to any one of claims 1 to 3, wherein the coupling mechanism eccentrically connects the clamp device body. The clamp device according to any one of claims 1 to 3, wherein the mounting parts are picked up. The clamp device according to claim 5, wherein the vacuum cleaner is a vacuum suction device for vacuum suction of the mounting part. The clamp device according to claim 7, wherein a positioning guide pin is provided on the clamp device body.

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