JPH07314372A - Grasping device for automatic assembly - Google Patents

Abstract

PURPOSE:To enable grasping two or more sorts of works of different sizes, and assembling of them in a small space. CONSTITUTION:A device is provided with a thin-plate fixing pawl of which base part is fixed on one side of a jig main body, a movable pawl 2 of which base part is supported on the other side of the jig main body to get apart from/ closer to the fixed pawl 1, a thin part 3 formed at a forward end part of the movable pawl 2 and of an almost similar thickness to that of the fixed pawl 1, and a thick part 4 formed to be swollen at an upper part of the thick part 3 on the inner side and having a larger thickness than that of the thin part 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to an automatic assembly machine,
The present invention relates to a gripping device for automatic assembly that enables gripping of two or more kinds of workpieces having different sizes and assembly in a narrow assembly space.

[0002]

2. Description of the Related Art Conventionally, when gripping two or more types of workpieces having different sizes, a dedicated chuck suitable for each size is exchanged and used.

[0003]

In the case of the above-mentioned conventional apparatus, it is necessary to replace the dedicated chuck for works of different sizes, and the replacement work is complicated. Further, when there is an obstacle in the space around the work to be grasped or the space around the assembly position and the distance to the obstacle is small, grasping and assembling cannot be performed due to the stroke of the grasping nail and the thickness of the nail. There is a problem. The present invention has been made in view of the above points, and an object of the present invention is to provide an automatic assembly gripping device capable of gripping two or more kinds of workpieces having different sizes and assembling in a narrow space.

[0004]

In order to solve the above-mentioned problems, a grasping device for automatic assembly according to the present invention comprises a thin plate-like fixing claw having a base fixed to one side of a jig body, and the jig body. On the other side, a movable claw whose base is supported by the fixed claw so as to be able to move forward and backward, a thin portion formed at the tip of the movable claw and having substantially the same thickness as the fixed claw, and an inner side above the thin portion. And a thick portion having a thickness larger than the thickness of the thin portion.

[0005]

In the automatic assembling gripping device of the present invention constructed as described above, the fixed claw is thin and thin, and the tip of the movable claw is thin because it is a thin portion having substantially the same thickness as that of the fixed claw. A stroke can hold a workpiece of a large size, and since one of the claws does not move, it is possible to hold in a narrow space and assemble in a narrow space.

In addition, inside the thin portion of the movable claw,
Since a thicker part that is thicker than the thin part is formed,
With the same small stroke, it is possible to grip a work of a small size and grip and assemble in a narrow space without replacing the claws.

[0007]

EXAMPLES Examples will be described with reference to the drawings. Reference numeral 1 denotes a thin plate-shaped fixed claw whose base is fixed to one side of a jig main body (not shown), 2 is a movable claw whose base is supported by the fixed claw 1 on the other side of the jig main body so that the base is freely movable. Is formed on the tip of the movable claw 2 and has a thin portion having substantially the same thickness as the fixed claw 1 and 4 is a thin portion 3
Is a thick-walled portion that is formed to bulge inward above and has a thickness greater than the thickness of the thin-walled portion 3.

Next, the gripping and assembling of the work will be described. When assembling the base work 5 shown in FIG. 2 by gripping the center work 6 of FIG. 3A and the side work 7 of FIG. 5A, the robot arm is opened with the movable pawl 2 open relative to the fixed pawl 1. As shown in FIG. 1, the fixed claw 1 is applied to one side of the upper part of the base work 5, and since the upper part is thick, the thin part 3 of the movable claw 2 is placed on the other side of the base work 5. Abutting and gripping, the base work 5 is moved to a predetermined assembly position and set.

Next, since the central work 6 is thin, as shown in FIG. 3B, the central work 6 is gripped by the thick parts 4 of the fixed pawl 1 and the movable pawl 2, and the base of the central work 6 is held. Is set in the groove 8 at the center of the base work 5. Next, since the side part work 7 is also thin, as shown in FIG. 5B, it is similarly gripped by the fixed claw 1 and the thick part 4, and as shown in FIG.
It is set in the left recess 9 of the base work 5.

Further, another side work 7 is similarly gripped, the jig body is rotated by 180 degrees, and set in the right recess 10 of the base work 5. Further, since the thickness of the fixing claw 1 is designed to be thinner than the space distance between the central work 6 and the side work 7 after the assembly is completed, the fixing claw 1 is fixed to the central work 6 when the side work 7 is assembled. The nail 1 does not hit.

Further, when the movable pawl 2 is open, the distance between the fixed pawl 1 and the thin portion 3 of the movable pawl 2 is larger than that of the upper grip portion of the central work 5, and the fixed pawl 1 and the meat are provided. The distance from the thick part 4 is larger than that of the side work 7, and when the movable claw 2 is closed, the distance between the fixed claw 1 and the thin part 3 is smaller than that of the central work 5. Moreover, the distance between the fixed claw 1 and the thick portion 4 is designed to be smaller than the holding portion of the side work 7. In addition, in the above-mentioned assembly, if the assembly of the central part work 6 is made to be the last, the assembly space is narrowed by the both side part works 7, and the assembling conditions are deteriorated.

[0012]

Since the present invention is configured as described above, it has the following effects. In the automatic assembly gripping device of the present invention, the fixed claw 1 is thin and thin, and the tip of the movable claw 2 is thin by the thin portion 3 having substantially the same thickness as the fixed claw 1. Therefore, the stroke is small and the size is large. The work can be gripped, and further, the work can be gripped in a narrow space and assembled in a narrow space.

In addition, since the thick portion 4 having a thickness larger than that of the thin portion 3 is formed inside the thin portion 3 of the movable claw 2, the stroke of the workpiece is small and the workpiece having a small size is formed. It can be gripped, gripped and assembled in a narrow space, and there is no need to replace it with a dedicated chuck as in the conventional case.

[Brief description of drawings]

FIG. 1 is a perspective view of an embodiment of the present invention during assembly.

FIG. 2 is a perspective view of a base work.

FIG. 3A and FIG. 3B are perspective views of a central work piece and a gripped portion.

FIG. 4 is a perspective view of another assembly.

5A and 5B are perspective views of a side part work and a gripping state.

FIG. 6 is a perspective view of the work after the assembly is completed.

[Explanation of symbols]

 1 Fixed claw 2 Movable claw 3 Thin part 4 Thick part

Claims (1)

[Claims] 1. A thin plate-shaped fixed claw having a base fixed to one side of a jig main body, and a movable claw having a base supported by the fixed claw on the other side of the jig main body so that the base is freely movable. A thin portion formed at the tip of the claw and having a thickness approximately the same as that of the fixed claw, and a thick portion formed to bulge inward above the thin portion and having a thickness greater than the thickness of the thin portion. And a gripping device for automatic assembly.