JPH0516182U - Robot hand clamping device - Google Patents

Abstract

(57) [Summary] [Purpose] When attaching or detaching a work piece to or from a lathe, securely hold the work piece and prevent damage to the air chuck. [Structure] The casting part 10 is attached to the tip of the robot hand 1.
Attach the air chuck 2 for gripping. The air chuck 2 has clamp claws 4 for gripping the inner peripheral surface of the casting part 10.
And a pressing mechanism 5 for pressing the cast part 10 toward the chuck 12 side of the NC lathe 11. Therefore, the air chuck 2
Even if the gripping is released, the cast component 10 does not shift in position.

Description

[Detailed description of the device]

[0001]

[Industrial application]

 INDUSTRIAL APPLICABILITY The present invention relates to a robot hand clamp device capable of automatically attaching and detaching a work material such as a cast part to a chuck of a lathe, and can be applied to a numerically controlled lathe and the like.

[0002]

[Prior Art]

 Conventionally, when a workpiece such as a cast part is inserted into a chuck of a lathe such as a numerically controlled lathe (hereinafter referred to as "NC lathe") for machining, the air hand of the robot hand is used to machine the workpiece as follows. It is known to attach and detach.

That is, as shown in FIGS. 4 and 5, the inner peripheral surface 10 a of the casting component 10 is gripped by the air chuck 2 of the robot hand 1 and the casting component 10 is moved to the position of the chuck 12 of the NC lathe 11. Move and insert. Along with this, the NC lathe 11 grips and fixes the outer peripheral surface 10b of the casting component 10.

Then, after machining with a tool (not shown) or the like, the inner peripheral surface 10a of the casting part 10 is again gripped by the air chuck 2, and the chuck 12 is released, and the casting part 10 is taken out. Was there.

[0005]

[Problems to be solved by the device]

 When attaching / detaching the cast component 10 to / from the chuck 12 of the NC lathe 11 as described above, the circularity of the inner peripheral surface 10a and the outer peripheral surface 10b of the cast component 10 is poor, or the inner peripheral surface 10a and the outer peripheral surface 10b are If the accuracy is low due to poor concentricity or the like, problems may occur.

That is, when the casting part 10 is loaded on the NC lathe 11, the air chuck 2 inserts and grips the chuck 12 while gripping it with the air chuck 2. There is a risk that the air chuck 2 will be damaged due to excessive force. In addition, at the time of unloading, which is the time of removal from the NC lathe 11, the so-called three-way claw of the air chuck 2 does not normally come into contact with the inner peripheral surface 10a of the casting component 10, and there is a risk that it cannot be reliably gripped. is there.

In order to prevent the above problems, it is possible to release the grip of the air chuck 2 before gripping the chuck 12 at the time of loading, but in this case, the casting component 10 moves downward. However, it was difficult to securely grip the chuck 12. On the other hand, it is possible to release the grip of the chuck 12 before gripping the air chuck 2 at the time of unloading, but in this case as well, the casting part 10 moves downward, and the grip by the air chuck 2 becomes difficult. On the contrary, it becomes uncertain.

[0008]

[Means for Solving the Problems]

 A robot hand clamping device according to the present invention is a robot that moves a workpiece by grasping the workpiece with a clamp claw of an air chuck attached to the tip of the robot hand and attaching the workpiece to a chuck of a lathe. In the hand clamp device, the air chuck is provided with a pressing mechanism that comes into contact with the work material and presses the work material toward the chuck side with a built-in spring.

[0009]

[Action]

 The clamp jaws of the air chuck grip the work piece, and in this state the robot hand is operated to move the work piece, and the work piece is attached to or removed from the chuck of the lathe.

At this time, the work piece is pressed against the chuck side of the lathe by the spring of the pressing mechanism to fix it.

[0011]

【Example】

 1 to 3 show a practical example of a clamp device for a robot hand according to the present invention, and the present embodiment will be described with reference to these drawings.

FIG. 1 shows a side view of essential parts of a robot hand and an NC lathe according to one embodiment, FIG. 2 shows a front view of essential parts of a robot hand according to one embodiment, and FIG. The enlarged side view of the principal part of the clamp device for the robot hand.

As shown in FIGS. 1 and 2, an air chuck 2 is screwed to the tip of the robot hand 1. The air chuck 2 has three clamp claws 4 and these clamp claws 4 can be moved. The air chuck main body 3 for instructing, three pressing mechanisms 5 and the like are included.

That is, the air chuck 2 is located so as to face the chuck 12 of the NC lathe 11, and as shown in FIG. 2, the air chuck body 3 has a radial shape centered on the center of the air chuck body 3. Therefore, three clamp claws are supported 120 degrees apart from each other. The clamp claw 4 presses and grips the casting component 10 as the workpiece from the inner peripheral surface 10a side.

Further, a pressing mechanism 5 is located between the clamp claws 4 of the air chuck body 3. As shown in FIG. 2, these pressing mechanisms 5 are radial around the center of the air chuck body 3 and are supported by the air chuck body 3 at an angle of 120 ° from each other. Then, as shown in FIGS. 1 and 3, the pressing mechanism 5 presses the casting component 10 against the receiving surface 12 a of the chuck 12.

As shown in FIG. 3, the pressing mechanism 5 supported by the air chuck body 3 has a spring (not shown) incorporated therein and a ball 6 made of steel or the like at the tip thereof. The structure is a so-called spring plunger in which the ball 6 is pressed by a spring. Therefore, the balls 6 contacting the casting component 10 press the casting component 10 against the chuck 12 with a predetermined pressure.

As described above, when the cast component 10 is loaded on the chuck 12 of the NC lathe 11, even if the air chuck 2 is released from the grip before the chuck 12 is gripped, the three pressing mechanisms 5 are not attached to the chuck 4 side. Since the cast part 10 is pressed against the cast part 10, the cast part 10 does not move downward. On the other hand, when unloading, conversely, even if the gripping of the chuck 12 is released before the air chuck 2 is gripped, the same is true because the three pressing mechanisms 5 press the casting part 10 toward the chuck 12 side. It does not shift to.

In the present embodiment, the work piece is described as the cast part 12, but other work pieces may be used, and the work piece may be applied to a lathe of another type instead of the NC lathe 11. It may be done.

Further, in the present embodiment, since the casting part 10 is pressed by the spherical ball 6 located at the tip of the pressing mechanism 5, the contact resistance between the casting part 10 and the pressing mechanism 5 is reduced. Further, there is an advantage that the casting part 10 can be easily centered and more surely gripped.

[0020]

[Effect of the device]

 According to the robot hand clamping device of the present invention, the air chuck of the robot hand is provided with the pressing mechanism for pressing the work piece against the chuck of the lathe. Have an effect.

Even if the precision of the work material itself such as a cast part is poor, since the work material is pressed and fixed by the pressing mechanism at the time of loading, it is held by the chuck of the lathe after releasing the grip of the air chuck. It will be possible. Therefore, the force applied to the clamp jaws of the air chuck is not applied, and the damage of the air chuck can be prevented.

Further, even during unloading, since the workpiece is pressed and fixed by the pressing mechanism, it is possible to release the chuck of the lathe and then hold it by the air chuck. Therefore, it becomes possible to reliably hold the workpiece with the air chuck.

[Brief description of drawings]

FIG. 1 is a robot hand and N according to an embodiment of the present invention.
It is a principal part side view of a C lathe.

FIG. 2 is a front view of a main part of a robot hand according to an embodiment of the present invention.

FIG. 3 is an enlarged side view of a main part of a clamp device for a robot hand according to an embodiment of the present invention.

FIG. 4 is a side view of essential parts of a robot hand and an NC lathe according to a conventional technique.

FIG. 5 is a front view of a main part of a robot hand according to a conventional technique.

[Explanation of symbols]

 1 Robot Hand 2 Air Chuck 3 Air Chuck Main Body 4 Clamp Claw 5 Pressing Mechanism 6 Ball 10 Cast Parts 11 NC Lathe 12 Chuck

Claims (1)

[Scope of utility model registration request] 1. A clamping device for a robot hand, wherein a workpiece is grasped and moved by a clamp claw of an air chuck attached to a tip of a robot hand, and the workpiece is attached to and detached from a chuck of a lathe. A clamping device for a robot hand, characterized in that a pressing mechanism that comes into contact with a work material and presses the work material to the chuck side with a built-in spring is provided on the air chuck.