Holding mechanism

Abstract

The purpose of the present invention is to enable thinning. The gripping mechanism is a mechanism for holding a component. The gripping mechanism is provided with: a first member having a concave surface in which a part of a spherical surface or a conical surface is cut into an annular shape; and a second member disposed opposite to the first member and having a convex portion that moves along the concave surface in a state of abutting against the concave surface of the first member. The gripping mechanism is provided with a connection mechanism that connects the first member and the second member and that has a spring that urges one of the first member and the second member toward the other of the first member and the second member. The gripping mechanism allows the second member to tilt with respect to the first member by spring deflection.

Description

Technical Field

[0001] The invention relates to a holding mechanism. Background Art

[0002] Patent document 1 discloses a gripping device. The support shaft of the gripping device fixed to the support side of the robot is formed into a bowl shape. The deflection absorbing component opposite to the support shaft has a spherical surface opposite to the inner surface of the bowl-shaped support shaft, and the deflection absorbing component can rotate around the support.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: (Japanese) Patent Publication No. 62-136391 Summary of the invention

[0006] Technical problem to be solved by the invention

[0007] Since the above-mentioned holding device includes a bowl-shaped support shaft, the axial dimension of the support shaft is large, which causes a problem that the thickness dimension of the device becomes large.

[0008] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to achieve a reduction in thickness of a gripping device.

[0009] Technical solutions for solving technical problems

[0010] According to one aspect of the present invention, there is provided a holding mechanism, a holding component, wherein the first component has a concave surface that cuts a part of a spherical surface or a conical surface into a circular ring shape; a second component that is arranged opposite to the first component and has a convex portion that moves along the concave surface while abutting against the concave surface of the first component; a connecting mechanism that connects the first component and the second component and has a spring that applies force to one of the first component and the second component toward the other, and the second component is allowed to tilt relative to the first component by bending the spring.

[0011] Effects of the Invention

[0012] According to the gripping mechanism of one aspect of the present invention, the concave surface of the first member that the convex portion of the second member moves while abutting against is a shape obtained by cutting a part of a spherical surface or a conical surface into a ring shape.

[0013] Therefore, the gripping mechanism can be made thinner compared to a mechanism in which a bowl-shaped support shaft is provided on the first member and a spherical portion facing the inner surface of the bowl-shaped support shaft is formed on the second member. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1It is a side view showing the holding mechanism according to the present embodiment of the present invention.

[0015] Figure 2 It is a cross-sectional view showing the main part of the holding mechanism.

[0016] Figure 3 It is along Figure 2 Cross-sectional view along line III-III.

[0017] Figure 4 This is an explanatory diagram showing a clamp screw used in the gripping mechanism.

[0018] Figure 5 This is a partial cross-sectional view of the main part of the holding mechanism.

[0019] Figure 6 It is a cross-sectional view showing a main part of a gripping mechanism according to a modified example. DETAILED DESCRIPTION

[0020] Hereinafter, a gripping mechanism 10 according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 It is a side view showing the gripping mechanism 10 according to the embodiment of the present invention. Figure 2 It is a cross-sectional view showing a main part of the gripping mechanism 10 . Figure 3 It is along Figure 2 Cross-sectional view along line III-III. Figure 4 It is an explanatory diagram showing the clamp screw 12 used in the gripping mechanism 10 . Figure 5 This is a partial cross-sectional view showing an enlarged main portion of the gripping mechanism 10 .

[0021] like Figure 1 As shown, the gripping mechanism 10 is a mechanism that is attached to the front end of a robot arm 20 of a robot (not shown) and grips a component 22 .

[0022] To illustrate, the component 22 is a nut. The robot holds the nut by the holding mechanism 10 and temporarily fastens the held nut to, for example, a shaft of a pulley (not shown). If the shaft of the pulley is tilted, the nut cannot be temporarily fastened to the shaft. Therefore, the holding mechanism 10 allows the held nut to tilt and can temporarily fasten the nut to the shaft.

[0023] The gripping mechanism 10 includes a mounting portion 30 detachably mounted on the front end of the robot arm 20. The mounting portion 30 is formed in a circular ring shape and is mounted on the robot arm 20 in a state where the front end of the robot arm 20 is inserted into a mounting hole 32 formed in the center.

[0024] The holding mechanism 10 includes: a first member 40 fixed to the mounting portion 30; a second member 42 disposed opposite to the first member 40; and a connecting mechanism 44 connecting the first member 40 and the second member 42 (see Figure 5 ); a chuck 46, which is disposed on the second component 42.

[0025] (Chuck)

[0026] The chuck 46 includes a block-shaped chuck cylinder 50 fixed to the second member 42. The chuck cylinder 50 includes an actuating shaft 52 extending from one side surface 50A and another side surface 50B. Each actuating shaft 52 is composed of a large-diameter shaft 52A having a large diameter and a small-diameter shaft 52B having a smaller diameter than the large-diameter shaft 52A. The chuck cylinder 50 is controlled by gas supplied from a pipe not shown in the figure, and each actuating shaft 52 is extended and retracted.

[0027] A support plate 60 is provided at the front end of each actuating shaft 52. A gripping arm 62 is fixed to each support plate 60. Each gripping arm 62 is formed in an L shape. The front end portions of the two gripping arms 62 extend toward the center of the gripping mechanism 10. A claw portion 64 is provided at the front end portion of each gripping arm 62. Each claw portion 64 protrudes in a direction away from the chuck cylinder 50.

[0028] The gripping mechanism 10 uses the gas supplied to the chuck cylinder 50 to move the actuating shaft 52 backward, and moves the two gripping arms 62 toward the center of the gripping mechanism 10, thereby forming a gripping state in which the component 22 is gripped by the claws 64 provided on the gripping arms 62. In addition, the gripping mechanism 10 extends the actuating shaft 52 by the gas supplied to the chuck cylinder 50, and moves the two gripping arms 62 in a direction away from each other, thereby forming a released state in which the gripping state is released.

[0029] (First component)

[0030] like Figure 1 and Figure 2 As shown in the figure, the first component 40 is formed in a rectangular plate shape. A circular opening 40A is formed in the central portion of the first component 40. A circular recess 70 is formed in the first opposing surface 40B on the second component 42 side of the first component 40. The recess 70 is formed in the central portion of the first component 40. The center of the recess 70 is arranged on the central axis C of the mounting portion 30 formed in a circular ring shape. In addition, the central axis C of the mounting portion 30 constitutes the central axis C of the holding mechanism 10.

[0031] The edge of the concave portion 70 forms a concave surface 72 that cuts a portion of the spherical surface into a circular ring shape. The concave surface 72 is formed in a manner similar to that of the chuck 46 (see Figure 1 ) The position where the spherical shape 74 centered on the part 22 held by the user overlaps.

[0032] Specifically, the concave surface 72 is formed in a circular ring shape and is formed in a shape that recedes toward the mounting surface 40C side to which the mounting portion 30 is mounted as it moves from the outer peripheral edge toward the inner peripheral edge.

[0033] The spherical center 76 (see Figure 1 ), as an example, it is set on the center line that becomes the rotation center of the ball when the thread teeth of the nut as the component 22 held by the tool 46 are aligned with the axis and temporarily tightened. Here, when the nut is temporarily tightened, the nut rotates around the central axis C of the holding mechanism 10.

[0034] (Second component)

[0035] like Figure 2 and Figure 3 As shown, the second member 42 is formed in a rectangular plate shape. The second member 42 has a convex portion 80 that moves along the concave surface 72 while in contact with the concave surface 72 of the first member 40. The convex portion 80 is composed of a plurality of clamp screws 12.

[0036] Specifically, in the second member 42, a plurality of recessed step portions 84 are formed on the fixing surface 42A to which the chuck cylinder 50 is fixed. Each step portion 84 is formed on a circle 86 (see FIG. 1 ) corresponding to the concave surface 72. Figure 3 ) are arranged at eight locations with equal intervals on the step portion 84. A threaded hole 84A is formed in each step portion 84. The threaded hole 84A reaches the second opposing surface 42B that is opposed to the first component 40.

[0037] (Clamping screw)

[0038] like Figure 2 and Figure 4 As shown in FIG. 1 , the clamping screw 12 includes a cylindrical screw body 12A and a spherical body 12B rotatably provided at the front end of the screw body 12A. The spherical body 12B protrudes from the front end of the screw body 12A and forms a convex portion 80 that moves along the concave surface 72 while abutting against the concave surface 72 of the first component 40. Thus, a gap 90 is formed between the first component 40 and the second component 42 (see FIG. 1 ). Figure 2 ).

[0039] A male thread 12C is formed on the circumferential surface of the screw body 12A (see Figure 4 ). In addition, a hexagonal hole 12D is formed on the base end surface of the screw body 12A.

[0040] The screw body 12A of the clamping screw 12 is screwed into the threaded hole 84A, and the screwing amount into the threaded hole 84A is adjusted by inserting a hexagonal wrench into the hexagonal hole 12D. Thus, the clamping screw 12 adjusts the protrusion amount of the protrusion 80 formed by the portion protruding from the second opposing surface 42B of the second member 42. In addition, the clamping screw 12 is fixed by installing a fixing nut 92 (see Figure 2 ) and fixed to the second component 42.

[0041] In addition, in this embodiment, eight clamp screws 12 are provided on the second member 42, but the number of the clamp screws 12 is not limited thereto. The number of the clamp screws 12 may be three or more than eight, for example.

[0042] (Connection mechanism)

[0043] like Figure 5 As shown, the connection mechanism 44 includes a connection bolt 100 connecting the first member 40 and the second member 42, and a spring 102 urging one of the first member 40 and the second member 42 toward the other. The connection mechanism 44 allows the second member 42 to tilt relative to the first member 40 by bending the spring 102.

[0044] Specifically, the first member 40 has countersunk holes 104 formed at the four corners of the mounting surface 40C to which the mounting portion 30 is mounted. An insertion hole 106 is formed at the bottom of the countersunk hole 104. The second member 42 has stepped portions 108 recessed toward the four corners of the fixing surface 42A to which the chuck cylinder 50 is fixed. A circular hole 110 is formed at a portion of the second member 42 corresponding to the insertion hole 106 of the first member 40. The circular hole 110 opens at the stepped portion 108.

[0045] A connecting bolt 100 is inserted into each countersunk hole 104 of the first member 40. The connecting bolt 100 is formed of, for example, a reamer bolt. A shaft portion 100A of the connecting bolt 100 is inserted through the insertion hole 106 of the first member 40 and the circular hole 110 of the second member 42. A spring 102 formed of a coil spring is mounted on the shaft portion 100A. A first nut 112 and a second nut 114 are mounted on the ends of the shaft portion 100A.

[0046] The spring 102 is held in a compressed state between the first nut 112 and the step portion 108. The second member 42 is urged toward the first member 40 by the spring 102 while maintaining the gap 90 between the second member 42 and the first member 40. The first nut 112 is fixed by the second nut 114 after adjusting the elastic force of the spring 102.

[0047] Furthermore, the second member 42 and the chuck 46 fixed to the second member 42 can be tilted relative to the first member 40 by the expansion and contraction of the spring 102. In addition, by the inclination of the chuck 46, the member 22 (see Figure 1 )tilt.

[0048] (Function and Effect)

[0049] The main functions and effects of the gripping mechanism 10 configured as described above will be summarized and described.

[0050] (1) The holding mechanism 10 is a mechanism for holding the component 22. The holding mechanism 10 includes: a first component 40 having a concave surface 72 that cuts a portion of a spherical surface or a conical surface into a circular ring shape; and a second component 42 that is arranged opposite to the first component 40 and has a convex portion 80 that moves along the concave surface 72 while abutting against the concave surface 72 of the first component 40. The holding mechanism 10 includes a connecting mechanism 44 that connects the first component 40 and the second component 42 and includes a spring 102 that urges one of the first component 40 and the second component 42 toward the other. The holding mechanism 10 allows the second component 42 to tilt relative to the first component 40 by bending the spring 102.

[0051] According to the present embodiment, the concave surface 72 of the first component 40 that moves while the convex portion 80 of the second component 42 abuts is a shape obtained by cutting a part of a spherical surface or a conical surface into a ring shape. Therefore, compared with a mechanism in which a bowl-shaped support shaft is provided in the first component 40 and a spherical portion opposite to the inner surface of the bowl-shaped support shaft is formed in the second component 42, the gripper structure 10 can be made thinner.

[0052] In addition, the convex portion 80 of the second member 42 moves while abutting against the concave surface 72 of the first member 40. Therefore, compared with the case where the spherical portion formed on the second member 42 is in surface contact with the inner surface of the bowl-shaped support shaft of the first member 40, the gripping mechanism 10 of this embodiment can suppress friction resistance and make the movement of the second member 42 relative to the first member 40 smooth.

[0053] (2) In the gripping mechanism 10 , the protrusion 80 of the second member 42 is formed of the plurality of clamp screws 12 .

[0054] According to this embodiment, the convex portion 80 can be formed in the second member 42 by providing the clamp screw 12 in the second member 42. In addition, since the convex portion 80 of the second member 42 is formed by the clamp screw 12, the contact state of the first member 40 with the concave surface 72 can be adjusted by the screwing amount of the clamp screw 12.

[0055] In addition, in the holding mechanism 10 of this embodiment, the clamping screw 12 is used, in which the ball 12B is rotatably provided at the front end of the screw body 12A. Therefore, the ball 12B of the clamping screw 12 moves along the concave surface 72 while rotating, thereby further reducing the friction resistance generated between the concave surface 72 and the convex portion 80.

[0056] (3) In the gripping mechanism 10 , the concave surface 72 is formed at a position overlapping with the spherical shape 74 centered on the component 22 gripped by the chuck 46 .

[0057] According to the present embodiment, the holding mechanism 10 can tilt the second component 42 relative to the first component 40 with the component 22 held by the chuck 46 as the center. Thus, the component 22 is tilted with the component 22 as the center. Therefore, the holding mechanism 10 of the present embodiment can improve the installation performance when the component 22 held by the chuck 46 is mounted on the shaft of the pulley, for example, compared with the case where the component 22 held by the chuck 46 is tilted with a portion other than the center of the component 22 as the center.

[0058] Although the embodiments of the present invention have been described above, the above embodiments merely represent a part of application examples of the present invention and are not intended to limit the technical scope of the present invention to the specific structures of the above embodiments.

[0059] In the above embodiment, the first member 40 having the concave surface 72 obtained by cutting a part of a spherical surface into an annular shape is used as an example, but the gripping mechanism 10 is not limited to this structure. The first member 40 may be configured as in the following modified example.

[0060] Figure 6 2 is a cross-sectional view showing a main part of a gripping mechanism 10 according to a modified example. The gripping mechanism 10 according to the modified example includes a first member 40 having a concave surface 72 having a shape obtained by cutting a part of a conical surface 120 into an annular shape.

[0061] That is, in the above-mentioned embodiment, if the radius of the spherical shape 74 becomes larger, the concave surface 72 along the spherical surface of the spherical shape 74 approaches the inclined surface. Therefore, even if the concave surface 72 is set as an inclined surface overlapping the conical surface 120 of the conical shape as in this modified example, the holding mechanism 10 of the modified example can also obtain the same effect as described above.

[0062] In addition, in the above embodiment, the case where the mounting portion 30 is provided on the first component 40 and the chuck 46 is provided on the second component 42 is described as an example, but the present embodiment is not limited to this structure. The holding mechanism 10 of the present embodiment may also provide the mounting portion 30 on the second component 42 and the chuck 46 on the first component 40, for example.

[0063] In the above embodiment, the gripping mechanism 10 is described as being mounted on a robot, but the present embodiment is not limited to this structure. The gripping mechanism 10 of the present embodiment can also be applied to a device that moves the chuck 46 using a cylinder, for example.

[0064] In the above embodiment, the convex portion 80 that contacts the concave surface 72 of the first member 40 is formed by a plurality of clamp screws 12, but the present embodiment is not limited to this structure. The gripping mechanism 10 of the present embodiment may also form the convex portion 80 by a protrusion provided on the second member 42, for example.

[0065] Description of Reference Numerals

[0066] 10: Control mechanism

[0067] 12: Clamping screw

[0068] 22: Parts

[0069] 40: First Part

[0070] 42: Second Part

[0071] 44: Linking mechanism

[0072] 46: Chuck

[0073] 72: Concave

[0074] 76: Center of the ball (center)

[0075] 80: convex part

[0076] 102: Spring

Claims

1. A holding mechanism for holding a component, characterized in that: have: A first member having a concave surface formed by cutting a portion of a spherical surface or a conical surface into a torus shape; a second member disposed opposite to the first member and having a convex portion that moves along the concave surface of the first member in a state of abutting against the concave surface; a connecting mechanism that connects the first member and the second member and includes a spring that urges one of the first member and the second member toward the other. By deflecting the spring, the second component is allowed to tilt relative to the first component.

2. The holding mechanism according to claim 1, characterized in that: The protrusion of the second member is formed by a plurality of clamping screws.

3. The holding mechanism according to claim 1 or 2, characterized in that: further comprising a chuck provided on the second member, The concave surface is formed at a position overlapping with a spherical shape centered on the member gripped by the chuck.

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