JPH06582A - Work gripping device - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a work gripping device capable of smoothly and reliably gripping a work such as a wax molded product and easily preventing a shock from being applied to the work. The purpose is to [Structure] While engaging the locking tool 17 with the small diameter portion 19c of the work 18, and pressing the hand small body 11 against the upper truncated cone portion 19a of the work 18, the hand small body 11 is moved to The elastic body 36 provided on the surface facing the upper truncated cone portion 19a absorbs the impact when the upper truncated cone portion 19a of the work 18 and the hand body 11 are pressed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work gripping device for gripping a work such as a wax molded product when coating the outer periphery of the wax molded product in, for example, precision casting (lost wax casting) equipment. .

[0002]

2. Description of the Related Art Generally, in the lost wax casting method, first, a wax molded product having the same shape as the product is molded by injection molding, and then these wax molded products are assembled together in a tree shape, Refractory particles are sprayed around the assembly with the ceramic slurry applied, and this is repeated several times to form a large number of coating layers around the assembly, which is then dried. (Assembly) is melted and removed from inside the coating layer, and molten metal is injected into the open space,
Finally, the coating layer is removed to take out the product. By the way, when applying the ceramic slurry around the above-mentioned assembly, a coating robot is usually used in order to drop the excess ceramic slurry by immersing the assembly in the ceramic slurry and then pulling it up. The applicant of the present invention has proposed such a coating robot as shown in FIG. 2 (see Japanese Patent Application No. 2-7751).
Here, the coating robot shown in FIG. 2 will be described. In the figure, reference numeral 1 is a robot arm, and the robot arm 1 has, for example, a 6-axis joint used for spot welding work. . And
A box body 3 of the interlocking mechanism 2 is provided at the tip of the robot arm 1.
Is attached, and a rotary shaft 4 is rotatably provided in the robot arm 1 and the box body 3. Two gears 5 and 6 are mounted on the rotary shaft 4, and gears 7 and 8 provided in the box body 3 are meshed with the gears 5 and 6, respectively. The gear 7 is mounted on a cylindrical hand body 10 of a robot hand 9 rotatably attached to the box body 3, and a hand body 11 is axially retractable inside the hand body 10. It is fitted. On the other hand, the gear 8 is the support shaft 1 mounted in the box body 3.
2 is rotatably supported, and the gear 8 has a gear 1
3 is meshed. And this gear 13 is the box 3
The robot hand 14 is rotatably attached to the cylindrical hand body 15, and the hand body 16 is fitted in the hand body 15 so as to be retractable in the axial direction. Further, a U-shaped locking tool 17 attached to the tip of each hand body 10, 15 and each hand body 1
The work 18 is grasped between the tips of the workpieces 1 and 16. The work 18 is formed by embedding a metal attachment 19 at the upper end of a wax assembly formed by assembling wax molded products together in a tree shape. At the upper end of the attachment 19, a pair of cones is attached. Table portions 19a and 19b and a small diameter portion 19c continuous with the portions
And are formed.

In the coating robot constructed as described above, the attachment 19 of the assembly (work) 18 of the wax molded product, which is hung and carried by the hanger, is attached to the tip of each robot hand 9, 14. After gripping each by, each joint of the robot arm 1 is operated to remove the work 18 from the hanger, and the work 18 is immersed in the ceramic slurry. Next, the robot arm 1 is operated to pull up the work 18 held by the tips of the pair of robot hands 9 and 14 from the ceramic slurry and hold it in a horizontal state. Then, by rotating the rotating shaft 4, the gears 5 and 6 are rotated, respectively, and the gear 7 and the gears 8 and 13 are rotated. As a result, the robot hands 9 and 14 rotate in opposite directions. Then, the robot arm 1 is appropriately moved so that the ceramic slurry is uniformly adhered to the surface of each work 18, and then refractory particles are sprayed to form a coating layer, and this operation is repeated to form a multi-layer coating layer. Form.

[0004]

In the conventional coating robot described above, when the attachment 19 of the assembly (work) 18 of the wax molded product is gripped by the tips of the robot hands 9 and 14, respectively,
U-shaped locking tool 1 at the tip of each hand body 10, 15
7 is a lateral truncated cone 19b of the attachment 19
While engaging with the small-diameter portion 19c, the hand bodies 11, 16 are lowered and pressed against the upper truncated cone portion 19a of the attachment 19. However,
In this way, when the hand bodies 11, 16 are pressed against the upper truncated cone portion 19a of the attachment 19,
Since the hand bodies 11, 16 and the attachment 19 are both made of metal, when the two come into contact with each other, a shock is transmitted to the attachment 19 and the wax molded product of the work 18 attached to the lower portion of the attachment 19 vibrates. There was a problem of falling.

The present invention has been made in view of the above circumstances, and an object thereof is to be able to smoothly and surely grip a work such as a wax molded product and to apply a shock to the work. The object of the present invention is to provide a gripping device for a work that can easily prevent

[0006]

In order to achieve the above object, the present invention provides a work gripping device for gripping a work, which has a large diameter portion and a small diameter portion continuous with the large diameter portion. The engaging member, and the sliding member which is provided so as to be able to move toward and away from the engaging member and is in pressure contact with the large diameter portion of the work, the large diameter portion of the workpiece of the sliding member. An elastic body is provided on the surface opposite to.

[0007]

In the work gripping device of the present invention, when the engaging member is engaged with the small diameter portion of the work and the sliding body is pressed against the large diameter portion of the work, The elastic body provided on the surface facing the large-diameter portion absorbs the impact when the large-diameter portion of the work and the sliding body are pressed.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIG. It should be noted that, in this figure, a portion corresponding to the left portion of the conventional example shown in FIG. 2 is illustrated, and this portion will be described, and a portion corresponding to the right portion has the same configuration, and therefore will be described. Omit it. Further, the same parts as those in the above-mentioned conventional example are designated by the same reference numerals to simplify the description.

The hand body 10 is rotatably provided in the box body 3 through a plurality of rotation supporting members 30, and a piston 31 is slidably provided at the inner base end side of the hand body 10. ing. And, in the piston 31,
The hand body 11 is connected via a connecting bolt 32 and a fastening bolt 33, and a spring 34 for urging the piston 31 toward the base end side is mounted around the connecting bolt 32. By supplying the fluid to the inner proximal end side of the hand body 10, the piston 31, the connecting bolt 32, the fastening bolt 33 and the hand body 11 move to the distal end side against the biasing force of the spring 34. It is supposed to do. In addition, the hand body 11
A conical recess 35 is formed on the tip surface of the
An elastic body 36 made of rubber in the shape of a donut is attached to the bottom of the recess 35. A urethane bellows 20 is attached between the outer peripheral tip of the hand body 11 and the hand body 10 provided around the hand body 11 via a ring body 37 so as to be expandable and contractible. As the ring body 37, a ring-shaped member having a complete annular shape, a ring-shaped one-piece portion cut out, a half-shaped member, or the like is appropriately selected for use. Further, the ring body 37 is screwed through the bellows 20 by screws 38,
The outer peripheral tip of the hand body 11 and the hand body 1
1 is attached to a hand body 10 provided around the body 1. Furthermore, the U-shaped locking tool 17 is attached to the hand body 10 via a pair of mounting members 39, and a mounting groove 17a having a cup-shaped cross section is formed.

In the coating robot equipped with the work gripping device constructed as described above, a set of wax moldings that are hung and transported by a hanger, as in the conventional coating robot described above. The lower truncated cone portion 19b and the small diameter portion 19 of the attachment 19 of the three-dimensional body 18
c is laterally engaged in the mounting groove 17a of the U-shaped locking tool 17 at the tip of each hand body 10 (15), and each hand body 11 (16) is lowered to attach the attachment 19 of the attachment 19. By pressing the attachment 19 of the assembly 18 with the tip of each robot hand 9 (14) by pressing it onto the upper truncated cone portion 19a, each joint of the robot arm (1) is operated to remove the assembly 18 from the assembly 18. Remove from hanger and soak in ceramic slurry. Next, the robot arm (1) is operated to operate the pair of robot hands 9
The assembly 18 held at the tip of (14) is pulled up from the ceramic slurry and held in a horizontal state. Then, by rotating the rotary shaft (4), each gear 5
By rotating (6) respectively, the gear 7 and the gears (8, 1
3) Rotate. As a result, each robot hand 9
(14) rotate in opposite directions. Then, the robot arm (1) is appropriately moved so that the ceramic slurry is evenly adhered to the surface of each assembly 18, and then refractory particles are sprayed to form a coating layer, and this operation is repeated to repeat the multilayer coating. Form a coating layer. Here, the reference numerals in parentheses () indicate the members in FIG.

In this way, when the attachment 19 of the assembly 18 is gripped by the tip of each robot hand 9 (14), each of the hand bodies 11 (16) is lowered and the upper truncated cone part of the attachment 19 is attached. When pressing against the hand body 19a, the elastic body 36 is attached to the bottom of the recess 35 at the tip of each hand body 11 (16).
The shock caused by the contact between 6) and the attachment 19 is reliably absorbed, and the wax molded product of the assembly 18 does not drop. The elastic body 36 may be attached to the taper surface of the recess 35 at the tip of each hand body 11 (16). In this case, the attachment 19 of the assembly 18 of the wax molded product is attached. When detaching from the tip of each robot hand 9 (14), if each hand small body 11 (16) is lifted and is attempted to be separated from the upper truncated cone portion 19a of the attachment 19, the attachment is made to the conical elastic body. Since the upper truncated cone portion 19a of 19 is attached and cannot be smoothly separated, vibration is applied to the assembly 18, which is not preferable. In this respect, the elastic body 36 of the present embodiment is formed in the shape of a donut disk and contacts only the upper surface of the upper truncated cone portion 19a of the attachment 19, so the attachment 19 is detached from the tip of each robot hand 9 (14). When it is made, it can be easily separated, and the elastic body 36 does not adhere to the attachment 19.

[0012]

As described above, according to the present invention, in a work gripping device for gripping a work having a large diameter portion and a small diameter portion connected to the large diameter portion, a locking device for engaging the small diameter portion of the work. And a slide body which is provided so as to be able to move closer to and away from the locking tool and which is in pressure contact with the large diameter portion of the work, and the elastic surface is provided on the surface of the sliding body facing the large diameter portion of the work. Since the body is provided, when the locking tool is engaged with the small diameter portion of the work and the sliding body is pressed against the large diameter portion of the work, the sliding body and the large diameter portion of the work are The elastic body provided on the opposing surface absorbs the impact at the time of pressure contact between the large diameter portion of the work and the sliding body, so that the work such as the wax molded product can be smoothly and surely gripped. It is possible to easily prevent the impact from being applied to the work.

[Brief description of drawings]

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

FIG. 2 is a cross-sectional view showing a tip portion of a conventional coating robot.

[Explanation of symbols]

 11.16 Hand small body (sliding body) 17 Locking tool 18 Workpiece (assembly) 19a Upper truncated cone portion (large diameter portion) 19b Lower truncated cone portion 19c Small diameter portion 36 Elastic body

Claims (1)

[Claims] 1. A gripping device for a work, which grips a work having a large-diameter portion and a small-diameter portion connected to the large-diameter portion. And a sliding body that is in pressure contact with the large diameter portion of the workpiece, and an elastic body is provided on the surface of the sliding body facing the large diameter portion of the workpiece. Gripping device.