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Chuck device and robot arm

A technology of robot arms and chucks, applied in the direction of chucks, manipulators, claw arms, etc., which can solve the problems of increasing and unrealistic arrangement of chuck devices

Inactive Publication Date: 2011-06-22
KONICA MINOLTA BUSINESS TECH INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0017] In this regard, it is considered to make the distance between the collets as wide as possible, but if the distance between the collets is widened, as the number of collets increases, the collet device will increase in the direction in which the collets are arranged. , unrealistic

Method used

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  • Chuck device and robot arm
  • Chuck device and robot arm
  • Chuck device and robot arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] figure 1 It is a figure which shows the overall structure of the chuck apparatus 1 of this embodiment, (a) shows a side view, (b) shows the cross-sectional view taken along the line A-A of (a). figure 2 express figure 1 (b) Partial enlarged view. figure 1 with figure 2 , the arrow X direction corresponds to the width direction, the Y direction corresponds to the height direction, and the Z direction corresponds to the depth direction. Hereinafter, the width direction may be referred to as the left-right direction, and the height direction may be referred to as the up-down direction.

[0053] Such as figure 1 with figure 2 As shown, the chuck device 1 includes: five chuck parts 10, 20, 30, 40, 50, a base 60, a drive motor 70, a power transmission mechanism 80, and the like.

[0054] The base 60 is composed of a metal base 61, side plates 62, 63, 64, and the like.

[0055] The base 61 is connected to the robot arm 2 .

[0056] The side plates 62 to 64 are a...

Embodiment 2

[0134] The first embodiment described above uses a gear drive mechanism, but this embodiment is different from the first embodiment in that a scotch yoke mechanism is used instead of the gear drive mechanism. Hereinafter, in order to avoid duplication of description, the description of the same content as in the first embodiment is omitted, and the same symbols are assigned to components having the same function.

[0135] Figure 5 It is a diagram showing a configuration example of the Scotch-yoke mechanism using the present embodiment.

[0136] Such as Figure 5 As shown, the collet portion 600 includes a collet 601, a support plate 602, a crank pin bearing 603, and the like.

[0137] The chuck 601 is supported by the support plate 602 similarly to the chuck 11 . Figure 5 Only one is shown, but it can also be figure 1 As shown in (a), there are three or more.

[0138] The support plate 602 is freely movable in the up and down direction by the side plate 62 by inserting...

Embodiment 3

[0153] Figure 7 is an overall configuration diagram showing a state in which a gripper device 801 is attached to a robot arm 803 of a robot 802 capable of moving on a two-dimensional plane.

[0154] Figure 7 The shown collet device 801 is substantially the same as the collet device 1 described above, but in the collet parts 10-50 (cf. figure 1 (b)) Only one chuck 11-51 is provided, and the structure example which can transport five workpiece|works with five chucks 11-51 in total is shown.

[0155] Such as Figure 7 As shown, the robot arm 803 freely moves in the X-Y direction, and performs the following actions while holding, for example, five workpieces 811 to 815 placed on the workpiece placement table 810 . That is, for example, when gripping the workpieces 811 to 815 in the order of the chucks 11 to 51, the drive motor 70 is driven to change the posture of the chucks to the posture when the chuck 11 is used (specifically, the reference posture), Simultaneously, the ro...

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PUM

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Abstract

The present invention provides a chuck device which can better improve workpiece transferring efficiency. The chuck device (1) is provided with chuck parts (10-50). The chuck part (10) causes a supporting plate (12) which supports three chucks (11) to connect with a gear (14) through a connecting component (13). The supporting plate (12) is supported by a side plate (62) with a vertically movable mode in a Y direction. If the rotation of a driving side gear (82) is used for causing a gear (87) to rotate, a crank mechanism, namely a connection component (13) is used for converting the rotation movement to linear movement for causing vertical reciprocation of the supporting plate (12). The chucks (11) also reciprocate vertically. The chuck parts (20-50) move in the same way. The chuck device (1) causes position staggering between the adjacent chuck parts in a reciprocation direction. When the chuck part (20) moves frontwards, the adjacent chuck part (10) is caused to retreat. Therefore, even the distance between the adjacent chuck parts is not increased, the number of the chucks can be increased for improving the transferring efficiency of the workpiece.

Description

technical field [0001] The invention relates to a gripper device mounted on a robot arm and the robot arm. Background technique [0002] In a manufacturing process, it may be necessary to carry out an operation of transporting a work (work) such as a part to be assembled from a certain position to another position. For example, in a production site where multiple varieties are changed, a chuck device equipped with multiple chucks is installed on the front end of the robot arm of a multi-axis robot, and the workpiece is gripped by each chuck to move the robot arm. Transport the workpiece to the destination location. [0003] Figure 8 (a) is a diagram showing a configuration example in which a chuck device 902 including a plurality of chucks 903 to 905 is attached to the tip of a robot arm 901 . [0004] Figure 8 The example of (a) shows the case where the workpiece 911 is to be gripped by the chuck 905 among the workpieces 911 to 913 placed on the workpiece supply table 9...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/02B25J15/08B25J18/00
Inventor 平井健太
Owner KONICA MINOLTA BUSINESS TECH INC