JPH0646887U - Component gripping device - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] To improve the durability of the collet's claw that is mounted on a manipulator or the like to grip a component by elastic force and the precision of the holding position of the component. [Structure] A holder 120 is fixed to a base 110 attached to a head of a manipulator.
0 is the inner circumference of the collet 14 through the sleeve 130.
0 is slidably supported in the axial direction. The split claw 150 of the collet 140 includes a tapered portion 156 and a grip portion 15.
4, the spring portion 152, and the thickness T2 of the grip portion 154.
Is formed to have a size larger than the thickness T1 of the spring portion 152. When the claw 150 is inserted into the opening of the mating component and bends inward, only the spring portion 152 bends, and the grip portion 15
4 does not bend. Therefore, the spring constant of the spring portion 152 is kept constant even if the grip portion wears. The center bar 160 disposed inside the claws 150 supports the inside of the claws 150 with its tapered portion 162, and prevents the deflection of the plurality of claws 150 from being biased.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 This consideration relates to a component gripping device equipped on a manipulator used for transporting and assembling components.

[0002]

[Prior art]

 A device for carrying a component or inserting the component into a mating component, which is provided with a component gripping device having a chuck claw that can be opened and closed at the tip of the manipulator, is disclosed in, for example, Japanese Utility Model Laid-Open No. 63-110386, Sho 63-142900. It is disclosed in Japanese Patent Laid-Open No. 2-250788. FIG. 4 shows an outline of a general manipulator. The manipulator 1 includes, for example, an arm 2 that moves along an axis X that is two orthogonal axes that form a horizontal plane, and an arm that moves along an axis Y. 4, and a head 10 adapted to the work content is provided at the tip of the arm 4. FIG. 5 shows the mechanism of the head 10. The head 10 has a main shaft 14 that is vertically movable along a vertical axis Z with respect to a bracket 11 fixed to an arm 4, and the main shaft 14 is a spring. It is always urged upward by 15. A press ram 12 provided with an appropriate actuator is arranged above the main shaft 14 and pushes the main shaft 14 along the axis Z. A component gripping device 16 is attached to the lower end of the main shaft 14. FIG. 6 shows an outline of the component gripping device 16, and the component gripping device 16 has a collet 18. The collet 18 is composed of a plurality of claws 18A having a spring action that are divided. The effective outer diameter dimension of the pawl 18A in the open state is set to be larger than the inner diameter dimension of the hole 22 which is the opening of the component 20 to be gripped. A tapered taper portion 18B is provided at the tip of the claw 18A. By pressing the claw 18A into the hole 22 of the component 20, the claw 18A grips the component 20 by the bending force of the flexure 18 inside each other. .

[0003]

[Problems to be solved by the device]

 The material of the collet 18 is usually used by quenching and tempering spring steel, and its hardness is not so high. Therefore, as the insertion into the component is repeated, the tapered portion at the tip of the claw and the grip portion contacting the hole of the component are worn. When the grip portion is worn, the bending allowance of the claw becomes small and the spring constant becomes small, so that the gripping force of the component is reduced. Further, when the tip tapered portion is worn, there is a problem such that smooth insertion cannot be achieved when inserting into the hole of the component. Further, the spring force of the plurality of claws subjected to the heat treatment is not always uniform, so that when the component is gripped, a misalignment between the main shaft and the component axis may occur, which may cause a problem in assembly of the component. The present invention provides a component gripping device that eliminates the above-mentioned conventional problems.

[0004]

[Means for Solving the Problems]

 The component gripping device of the present invention has a tapered taper portion having a collet claw formed at the tip, a gripping portion that follows the taper portion, and a spring portion that follows the gripping portion. The basic means is to make the spring portion thicker than its thickness.

[0005]

[Action]

 When the claw of the collet is press-fitted into the opening of the component, the claw flexes inward to generate a spring force, but the grip part having a large wall thickness does not flex, but only the spring part flexes. Therefore, even if the grip portion is worn, the spring constant is maintained at the initial value.

[0006]

【Example】

 FIG. 1 is an explanatory view showing details of the component holding device of the present invention. A component gripping apparatus, generally designated by reference numeral 100, includes a base 110 at the tip of a spindle that moves up and down along an axis Z, and a holder 120 fixed to the base 110 with bolts 112. The fitting portions of the base 110 and the holder 120 are spigot engaging portions 122, and the axes of the base 110 and the holder 120 are aligned. The holder 120 has a stepped outer diameter portion and a stepped inner diameter portion, and the cylindrical bush 130 is inserted into the large diameter inner diameter portion. Then, the collet 140 is inserted into the inner diameter portion of the bush 130. The collet 140 has a claw 150 whose tip is divided into a plurality of pieces. The number of the claws 150 is appropriately selected, but in this embodiment, a collet having four claws 150 is shown.

The claw 150 in the component gripping device of the present invention includes a tapered taper portion 156 formed at the tip, a gripping portion 154 that engages with a hole of a component following the taper portion 156, and a spring portion 152 that generates a spring force. Equipped with. The thickness T2 of the grip portion 154 is set to be larger than the thickness T1 of the spring portion 152. The spring force of the claw 150 is generated by the bending of the thin spring portion 152, and the thick grip portion 154 is not bent. By providing a hardened layer 157 by chrome plating on the surface of the tapered portion 156 and a hardened layer 155 on the surface of the grip portion 154, durability is improved. For example, a coil spring 170 is interposed between the collet 140 and the base 110 to constantly urge the collet 140 downward. With this configuration, when an excessive thrust force is applied to the collet 140, the collet 140 is pushed into the hole of the base 110 against the spring force of the coil spring 170, and damage to the device can be prevented. . Further, in the device of the present invention, the center bar 160 is inserted in the center of the collet 140. The center bar 160 has a tapered taper portion 162 at the tip, and the taper portion 162 is mounted close to the inside of the claw 150. The upper end of the center bar 160 forms a large-diameter flange portion 164, the lower surface of the flange portion 164 contacts the upper end portion of the collet 140, and the upper surface of the flange portion 164 is pressed downward by the coil spring 170. . The axial positions of the collet 140 and the center bar 160 with respect to the holder 120 are restricted by the stepped portion of the collet 140 contacting the bottom portion 124 of the large-diameter hole of the holder 120.

Next, the operation of the component holding device will be described. FIG. 2 shows an example in which the component gripping device 100 grips the dowel pin 300 on the table 200. 2A shows a state where the center of the component gripping device 100 attached to the tip of the manipulator is aligned with the center of the dowel pin 300 placed on the table 200, and FIG. 2B shows the component gripping device. 100 shows a state in which 100 is lowered along the axis Z and the grip portion 154 of the claw 150 of the collet is press-fitted into the hole 310 of the dowel pin 300. The lowering of the component gripping device 100 is continued until the lower end surface of the holder 120 contacts the upper end surface of the dowel pin 300. In this state, the spring portion 152 of the claw 150 bends inward to generate a spring force, the outer peripheral portion of the grip portion 154 is pressed against the inner peripheral portion of the hole 310 of the dowel pin 300, and the dowel pin 300 is rubbed with a frictional force. To grip. FIG. 2C shows a state in which the component holding device 100 holding the dowel pin 300 is lifted from the table 200.

FIG. 3 shows the action of pressing the dowel pin 300 into the hole 510 of the cylinder block 500 of the engine. The component gripping device 100 with its axis aligned with the mounting hole 510 of the cylinder block 500 descends in the Z-axis direction. When the taper portion 320 of the lower end of the dowel pin 300 hits the edge of the hole 510 of the cylinder block 500, the lower end portion of the holder 120 presses the upper end portion of the dowel pin 300, and as shown in FIG. Elpin 300 is pressed into hole 510. The outer diameter of the dowel pin 300 and the inner diameter of the mounting hole 510 of the cylinder block 500 are such that a tight fit is formed, and the dowel pin 300 is fixed in the mounting hole 510. After that, as shown in FIG. 3B, the component gripping device 100 is lifted to extract the gripping portion 154 from the dowel pin 300, and the next dowel pin 300 is gripped.

[0010]

[Effect of device]

 As described above, the grip portion 154 of the collet claw 150 is repeatedly engaged and disengaged with the hole 310 of the dowel pin 300, which is a component. In this device, since only the spring portion 152 of the claw 150 is bent, even if the grip portion 154 is worn, the spring portion 152 is not affected and the initial spring constant can be maintained. Therefore, the spring force does not deteriorate and good grip can be continued. Further, by forming hardened layers 155 and 157 on the surface of the tapered portion 156 at the tip of the claw 150 and the surface of the grip portion 154 by hard chrome plating, the wear resistance can be further improved. At this time, since the taper portion and the grip portion do not participate in the bending, the hardened layer due to plating does not peel off. Furthermore, since the center bar 160 that restricts the deflection of the claws when the claws 150 bend inward is provided, when the claws 150 hold parts, the spring constants of a plurality of claws are not uniform. Even if there is, the center of the gripped component 300 and the center of the component gripping device 100 are always aligned with each other, and the accuracy of the assembly work or the like can be improved.

[Brief description of drawings]

FIG. 1 is an explanatory view showing an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing an operation.

FIG. 3 is an explanatory diagram showing an operation.

FIG. 4 is an explanatory diagram showing an outline of a manipulator equipped with a component gripping device.

FIG. 5 is an explanatory diagram showing a head of a manipulator.

FIG. 6 is an explanatory view showing a conventional grip portion.

[Explanation of symbols]

 1 Manipulator 10 Head 100 Component Grasping Device 110 Base 120 Holder 130 Sleeve 140 Collet 150 Claw 152 Spring Part 154 Gripping Part 156 Taper Part 160 Center Bar 170 Spring

Claims (3)

[Scope of utility model registration request] 1. A component gripping device to be mounted on a manipulator having a degree of freedom of movement in a plane and in a direction perpendicular to the plane, wherein a claw for elastically contacting the inner peripheral surface of the opening of the component and gripping the component is provided. A collet having and a holder for supporting an outer peripheral portion of the collet are provided, and a claw of the collet has a tapered taper portion formed at a tip portion, a grip portion that follows the taper portion, and a spring portion that follows the grip portion, A component gripping device in which the thickness of the grip is larger than that of the spring. 2. A component gripping device to be mounted on a manipulator having a degree of freedom capable of operating in a plane and in a direction perpendicular to the plane, the claw gripping the component by elastically contacting an inner peripheral surface of an opening of the component. A collet having a collet, a holder for supporting the outer peripheral portion of the collet, and a center bar inserted in the inner peripheral portion of the collet, the claw of the collet has a tapered taper portion formed at the tip portion, and a grip portion following the taper portion And a spring portion following the grip portion, and the thickness of the grip portion is formed to be larger than the thickness of the spring portion, and the center bar has a claw of the collet when the claw of the collet bends inward. A component gripping device having a tapered portion that abuts an inner peripheral portion. 3. The component gripping device according to claim 1, wherein a layer of a material having high wear resistance is attached to the surfaces of the tapered portion and the gripping portion of the collet claw.