Workpiece holder, chuck device, and method for manufacturing workpiece holder

Abstract

A workpiece holder (10) of a chuck device (12) is provided with: a U-shaped frame section (40) having a first side section (44) and a second side section (46) which are disposed parallel to each other so as to be separated from each other, and a connecting section (48) which connects the first side section and the second side section; the holding piece is fixed to the first side portion and the second side portion in a state of extending across an opening between the first side portion and the second side portion, and the width (L1) of the first side portion is 1 / 4 or less of the interval (L2) between the first side portion and the second side portion.

Description

Technical Field

[0001] The present invention relates to a workpiece holder, a chuck device, and a method for manufacturing a workpiece holder. Background Art

[0002] For example, Japanese Unexamined Patent Application Publication No. 2015-166121 discloses a chuck device in which a workpiece holder for holding a workpiece is attached to each of finger members that move in one direction in a manner of approaching and separating from each other. The workpiece holder includes a film-like member that contacts the workpiece and a support mechanism that supports the film-like member. The support mechanism is assembled from a plurality of components such as a base portion, a moving frame member, an elastic mechanism including a coil spring, and a rod member.

[0003] The above-described workpiece holder has a complicated structure, and the manufacturing cost is liable to increase, and it cannot hold a plurality of workpieces having different outer shapes. Summary of the Invention

[0004] An object of the present invention is to solve the above-described technical problems.

[0005] A workpiece holder according to a first aspect of the present invention is attached to each of a pair of finger members that move in one direction in a manner of approaching and separating from each other, and holds a workpiece, and includes: a U-shaped frame portion; and a holding piece that is fixed to the frame portion and has flexibility. The frame portion has: a first side portion and a second side portion that are arranged in parallel in a state of being separated from each other; and a connecting portion that connects the first side portion and the second side portion. The holding piece is fixed to the first side portion and the second side portion in a state of extending so as to straddle an opening between the first side portion and the second side portion, and a width of the first side portion is 1 / 4 or less of a distance between the first side portion and the second side portion.

[0006] A chuck device according to a second aspect of the present invention includes: a pair of finger members that move in one direction in a manner of approaching and separating from each other; a drive portion that causes the pair of finger members to move; and a pair of workpiece holders that are attached to each of the pair of finger members and hold a workpiece, and each of the pair of workpiece holders is the above-described workpiece holder.

[0007] A third aspect of the present invention is a method for manufacturing a workpiece holder that is attached to each of a pair of finger members that move in one direction so as to approach and separate from each other and holds a workpiece. The workpiece holder includes a U-shaped frame portion and a holding piece that is fixed to the frame portion and is flexible. The frame portion has a first side portion and a second side portion that are arranged in parallel in a separated state from each other, and a connecting portion that connects the first side portion and the second side portion. The holding piece is fixed to the first side portion and the second side portion in a state of extending across an opening between the first side portion and the second side portion. The width of the first side portion is 1 / 4 or less of the interval between the first side portion and the second side portion. The frame portion has a support plate portion that has a shape along the shape of the frame portion and a covering portion that covers the support plate portion. In the method for manufacturing the workpiece holder, a rubber sheet is attached to the support plate portion while the portion of the support plate portion that forms the first side portion is supported on both sides by a pair of convex portions provided in a mold.

[0008] According to the present invention, since the holding piece is fixed to the first side portion and the second side portion in a state of extending across the opening between the first side portion and the second side portion, the structure of the workpiece holder can be simplified. In addition, the flexible holding piece elastically deforms along the outer shape of the workpiece by being pressed against the workpiece, so that a plurality of workpieces having different outer shapes can be held by one type of workpiece holder. Furthermore, since the width of the first side portion is 1 / 4 or less of the interval between the first side portion and the second side portion, interference between the first side portion and peripheral components of the workpiece to be held can be prevented when holding the workpiece.

[0009] The above objects, features, and advantages can be easily understood from the description of the following embodiments that can be described with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a plan explanatory view of a chuck device according to an embodiment of the present invention.

[0011] Figure 2 is an exploded perspective view of a part of the chuck device with Figure 1 omitted.

[0012] Figure 3 is Figure 2 a plan explanatory view of the workpiece holder of

[0013] Figure 4 is a cross-sectional view taken along line IV-IV of Figure 3

[0014] ​Figure 5 is Figure 1 The first operation explanatory view of the chuck device.

[0015] Figure 6 is Figure 1 The second operation explanatory view of the chuck device.

[0016] Figure 7 is along Figure 6 The sectional view along line VII-VII of.

[0017] Figure 8 is Figure 1 The third operation explanatory view of the chuck device.

[0018] Figure 9 is the plan explanatory view of the workpiece holder according to the first modification example.

[0019] Figure 10 is along Figure 9 The sectional view along line X-X of.

[0020] Figure 11A is the explanatory view of an example of holding a workpiece using the workpiece holder according to the comparative example. Figure 11B is the explanatory view of an example of holding a workpiece using the workpiece holder according to the first modification example.

[0021] Figure 12 is the plan explanatory view of the workpiece holder according to the second modification example.

[0022] Figure 13 is along Figure 12 The sectional view along line XIII-XIII of.

[0023] Figure 14A and Figure 14B is the explanatory view showing the state in which the support plate portion is provided in the mold. Detailed implementation mode

[0024] As Figure 1 , Figures 5 - 8 shown, the chuck device 12 according to an embodiment of the present invention is configured as a robot hand that holds and conveys a workpiece W, for example. However, the use of the chuck device 12 is not particularly limited.

[0025] In Figure 1 , the chuck device 12 includes a chuck body 14, a pair of connecting members 16, a pair of workpiece holders 10, and a cover 17. First, use Figure 1 , Figure 2 to explain the chuck body 14 and the pair of connecting members 16. The chuck body 14 is configured as an air chuck, for example. The chuck body 14 has a drive portion 18, a guide portion 20, and a pair of finger members 22 (moving bodies).

[0026] The drive unit 18 is an actuator for moving a pair of finger members 22. The drive unit 18 is configured as a cylinder. The main body 24 of the drive unit 18 extends in one direction. The guide unit 20 is a linear guide for guiding the pair of finger members 22 in the longitudinal direction (one direction) of the main body 24. The guide unit 20 has a rail portion 26 provided on the outer surface of the main body 24.

[0027] The pair of finger members 22 move in one direction (the longitudinal direction of the main body 24) so as to approach and separate from each other. Each finger member 22 is formed, for example, in a flat plate shape. A recess 28 into which the rail portion 26 is inserted is formed on the surface of the finger member 22 facing the drive unit 18. A plurality of first mounting holes 30 for mounting various fittings are formed on the surface of the finger member 22 facing the direction opposite to the drive unit 18. Each first mounting hole 30 is a threaded hole.

[0028] The shape, size, etc. of the finger member 22 can be appropriately set. The chuck body 14 is not limited to an air chuck. The drive unit 18 of the chuck body 14 can also be an electric actuator, a hydraulic actuator, or the like.

[0029] The connecting member 16 is an intermediate fitting for mounting the workpiece holder 10 to the finger member 22. In the chuck device 12, when the workpiece holder 10 can be directly mounted to the finger member 22, the connecting member 16 is not required. A pair of connecting members 16 are respectively mounted to the pair of finger members 22.

[0030] The connecting member 16 is a relatively thick plate-like member. A plurality of through holes 32 penetrating in the thickness direction are formed in the connecting member 16. The connecting member 16 is mounted to the finger member 22 by passing a plurality of first threaded members 34 through the plurality of through holes 32 and respectively fastening them to the plurality of first mounting holes 30. A plurality of (two in the example of Figure 2 ) second mounting holes 36 for mounting the workpiece holder 10 are formed on the side surface of the connecting member 16. The second mounting holes 36 are threaded holes.

[0031] As Figures 2 - 4 shown, the workpiece holder 10 is integrally formed in a thin plate shape. The maximum thickness of the workpiece holder 10 is preferably 10 mm or less, more preferably 5 mm or less.

[0032] In Figure 3In this case, the workpiece holder 10 is formed by fixing a resin sheet portion 41 to a U-shaped support plate portion 58. The workpiece holder 10 is integrally formed by insert molding, for example. The sheet portion 41 includes a covering portion 60 and a holding sheet 42. The covering portion 60 is fixed to the support plate portion 58, and the holding sheet 42 closes the opening of the support plate portion 58 and is flexible. The support plate portion 58 and the covering portion 60 form a frame portion 40 that covers the outer periphery of the holding sheet 42 in a U-shape. The frame portion 40 has a first side portion 44 and a second side portion 46 that are arranged in parallel in a separated state, and a connecting portion 48 that connects the first side portion 44 and the second side portion 46.

[0033] The holding sheet 42 is fixed to the first side portion 44, the second side portion 46, and the connecting portion 48 in a state of extending across the opening between the first side portion 44 and the second side portion 46. In other words, the holding sheet 42 closes the entire opening between the first side portion 44 and the second side portion 46. That is, the holding sheet 42 has a quadrilateral shape. However, the holding sheet 42 may not close the entire opening between the first side portion 44 and the second side portion 46. For example, there may be a gap between the holding sheet 42 and the connecting portion 48. The thickness of the holding sheet 42 is thinner than the thickness of the frame portion 40 (see Figure 4 ). The holding sheet 42 elastically deforms along the shape of the workpiece W when the workpiece W is held by the workpiece holder 10 (see Figure 6 and Figure 8 ).

[0034] The length of the first side portion 44 along the extending direction is the same as the length of the second side portion 46 along the extending direction. However, the length of the first side portion 44 along the extending direction may also be longer or shorter than the length of the second side portion 46 along the extending direction.

[0035] The width L1 of the first side portion 44 is 1 / 4 or less of the interval L2 between the first side portion 44 and the second side portion 46. The interval L2 is the same as the width of the holding sheet 42. The second side portion 46 is wider than the width of the first side portion 44. The width L3 of the second side portion 46 is, for example, 1.2 times or more the width L1 of the first side portion 44. The width L3 is narrower than the interval L2. The width L1, the interval L2, and the width L3 can be appropriately changed according to the size of the workpiece holder 10. The width L1 may also be 1 / 5 or less of the interval L2. The width L3 may also be 2 times or more the width L1. In addition, the width referred to here is the length in the arrangement direction of the first side portion 44 and the second side portion 46.

[0036] The frame portion 40 has a first mounting portion 50 and a second mounting portion 52. The first mounting portion 50 and the second mounting portion 52 can be respectively mounted on one of a pair of finger members 22 (see Figure 2)。The second side portion 46 has a first mounting portion 50. The first mounting portion 50 is located at an end of the second side portion 46 opposite to the holding piece 42. The first mounting portion 50 includes a plurality of (two in the example of Figure 3 ) first insertion through-holes 54 arranged at intervals.

[0037] The connecting portion 48 has a second mounting portion 52. The second mounting portion 52 is located at an end of the connecting portion 48 opposite to the holding piece 42. The second mounting portion 52 includes a plurality of (two in the example of Figure 3 ) second insertion through-holes 56 arranged at intervals. In addition, the number, position, size, and shape of each of the first insertion through-holes 54 and the second insertion through-holes 56 can be appropriately set.

[0038] The support plate portion 58 has a shape along the shape of the frame portion 40. The support plate portion 58 is formed into a flat plate shape from a metal material. Examples of the metal material constituting the support plate portion 58 can include stainless steel and aluminum alloy, etc., but are not limited thereto. The support plate portion 58 can also be integrally formed from a hard resin material.

[0039] Each corner portion 62 of the support plate portion 58 has a rounded corner. In addition, the support plate portion 58 has a first end portion 64 and a second end portion 66. The first end portion 64 is located at an end of the first side portion 44 opposite to the connecting portion 48. The second end portion 66 is located at an end of the second side portion 46 opposite to the connecting portion 48. The first end portion 64 and the second end portion 66 protrude in an arc shape (semicircular shape) toward the direction opposite to the connecting portion 48. The support plate portion 58 has the above-mentioned first mounting portion 50 and second mounting portion 52. The first mounting portion 50 and the second mounting portion 52 are connected to each other at the corner portion 62 of the support plate portion 58.

[0040] The sheet portion 41 including the covering portion 60 and the holding piece 42 is integrally formed from a material containing rubber. The sheet portion 41 is constituted by, for example, a material based on rubber and added with reinforcing fibers (such as carbon fiber or nylon fiber). Examples of the rubber used for the sheet portion 41 can include ethylene propylene diene monomer rubber (EPDM), silicone rubber, nitrile butadiene rubber (NBR), and polyurethane rubber, etc., but are not limited thereto.

[0041] A plurality of holes 68 are formed through the support plate portion 58. The plurality of holes 68 are arranged at intervals along the outer periphery of the holding piece 42. In other words, the plurality of holes 68 are arranged to surround three sides of the quadrilateral-shaped holding piece 42 from the outside. Each hole 68 is a circular hole. The shape, size, number, and arrangement of the plurality of holes 68 can be appropriately set.

[0042] The covering portion 60 (material containing rubber) enters the plurality of holes 68 (refer to Figure 4) Thus, the covering portion 60 is more firmly fixed to the support plate portion 58. The covering portion 60 is formed, for example, by rubber coating in which a rubber sheet is attached to the support plate portion 58 with an adhesive. In addition, the covering portion 60 may be integrally formed with the support plate portion 58 by insert molding.

[0043] The covering portion 60 covers most of the support plate portion 58. The covering portion 60 covers the entire portion of the support plate portion 58 except for the first mounting portion 50 and the second mounting portion 52. The covering portion 60 covers a plurality of corner portions 62 of the support plate portion 58. In addition, the covering portion 60 does not cover the corner portion 62 located at the boundary portion between the first mounting portion 50 and the second mounting portion 52. The portion of the covering portion 60 that covers the corner portion 62 of the support plate portion 58 has a rounded corner. The portions of the covering portion 60 that cover the first end portion 64 and the second end portion 66 of the support plate portion 58 have rounded corners. Additionally, the portion of the covering portion 60 that covers the side surface of the support plate portion 58 has a rounded corner (see Figure 4 ).

[0044] As Figure 2 shown, the workpiece holder 10 is mounted on the connecting member 16 by passing a plurality of second threaded members 70 through a plurality of first insertion holes 54 and fastening them to a plurality of second mounting holes 36 respectively. Figure 2 An example of mounting the first mounting portion 50 on the connecting member 16 is shown, but the workpiece holder 10 can also mount the second mounting portion 52 on the connecting member 16. When the workpiece holder 10 mounts the first mounting portion 50 on the connecting member 16 and when it mounts the second mounting portion 52 on the connecting member 16, the orientation of the workpiece holder 10 can be tilted by 90 degrees.

[0045] As Figure 1 shown, the cover 17 covers the pair of finger members 22, the drive portion 18, and the pair of workpiece holders 10. The cover 17 has flexibility. The cover 17 is, for example, clamped to the robot arm 100 on which the chuck body 14 is mounted. The cover 17 can be attached to and detached from the robot arm 100. The cover 17 can be a disposable item or a reusable item.

[0046] The cover 17 is transparent or translucent. That is, the cover 17 has transparency that allows the interior of the cover 17 to be visually confirmed from the outside. However, the cover 17 can also be opaque. The cover 17 is made of a resin material such as polyethylene or polypropylene, for example.

[0047] In the present embodiment, as Figures 5 - 8 shown, the chuck device 12 is used, for example, to individually grip and convey a plurality of workpieces W arranged densely. In this case, the gaps around the workpieces W become narrower. Specifically, the chuck device 12 can grip and convey the first workpiece W1 having a different outer shape with one type of workpiece holder 10 (see Figure 5) and the second workpiece W2 (refer to Figure 8 ).

[0048] exist Figure 5 and Figure 6 In the embodiment, the first workpiece W1 is, for example, a cylindrical plastic bottle filled with a liquid for beverage. Figure 8 In the embodiment, the second workpiece W2 is a cubic container filled with a liquid for beverage. The outer shape of the first workpiece W1 is greatly different from the outer shape of the second workpiece W2.

[0049] like Figure 5 As shown, when the first workpiece W1 is conveyed, the chuck device 12 is moved so that the first workpiece W1 is located between the holding pieces 42 of a pair of workpiece holders 10. At this time, since the workpiece holders 10 are formed thin, the workpiece holders 10 can be easily inserted into the gap between the first workpieces W1 adjacent to each other.

[0050] Then, if Figure 6 As shown in FIG. 1 , the pair of fingers 22 are moved toward each other by the driving unit 18, thereby pressing the holding pieces 42 of the pair of workpiece holders 10 against the first workpiece W1 from both sides through the cover 17. At this time, since the width of the first side portion 44 is narrow, Figure 7 As shown, the first side portion 44 can be prevented from contacting peripheral components of the first workpiece W1 to be grasped. The peripheral components of the first workpiece W1 are, for example, first workpieces W1 adjacent to the first workpiece W1 to be grasped in a direction opposite to the second side portion 46 .

[0051] exist Figure 6 In this embodiment, the holding piece 42 is elastically deformed along the outer shape of the first workpiece W1 by being pressed against the first workpiece W1 via the cover 17. Thus, the first workpiece W1 can be conveyed in a stable posture by the pair of workpiece holders 10.

[0052] In addition, when the second workpiece W2 is transported, the chuck device 12 is operated in the same manner as the method of transporting the first workpiece W1 described above. Figure 8 As shown, the pair of finger-shaped members 22 are moved toward each other by the driving unit 18, thereby pressing the holding pieces 42 of the pair of workpiece holders 10 toward the second workpiece W2 from both sides through the cover 17. At this time, since the width of the first side portion 44 is narrow, it is possible to prevent the first side portion 44 from contacting the peripheral parts of the second workpiece W2 to be held. The peripheral parts of the second workpiece W2 are, for example, the second workpiece W2 that is adjacent to the second workpiece W2 to be held in the direction opposite to the second side portion 46.

[0053] The holding piece 42 is deformed along the outer shape of the second workpiece W2 (a shape different from the outer shape of the first workpiece W1) by being pressed against the second workpiece W2 via the cover 17. Thus, the second workpiece W2 can be conveyed in a stable posture by the pair of workpiece holders 10.

[0054] Thus, in the present embodiment, it is not necessary to replace the workpiece holder 10 when conveying the first workpiece W1 and when conveying the second workpiece W2. In other words, it is not necessary to prepare two types of workpiece holders, a dedicated workpiece holder for conveying the first workpiece W1 and a dedicated workpiece holder for conveying the second workpiece W2. Thus, the number of components can be reduced, and the time required for conveyance preparation (installation and removal of the workpiece holder 10) can be shortened.

[0055] Furthermore, since the pair of fingers 22, the drive unit 18, and the pair of workpiece holders 10 are covered by the cover 17, the device can be used with confidence even in an environment requiring waterproofing and dustproofing of food or the like.

[0056] In addition, in the present embodiment, when the workpiece W is gripped by the workpiece holder 10, the workpiece holder 10 contacts the cover 17. However, since the covering portion 60 is provided on most of the support plate portion 58 (the entire portion except the first mounting portion 50 and the second mounting portion 52), direct contact between the cover 17 and the hard support plate portion 58 is suppressed. That is, the possibility of the cover 17 contacting the elastic covering portion 60 is high. In particular, since the covering portion 60 covers the corner 62 of the support plate portion 58, the contact between the cover 17 and the corner 62 of the support plate portion 58 is suppressed. Therefore, the cover 17 can be suppressed from contacting with the support plate portion 58 and breaking. Furthermore, since the portion of the covering portion 60 that covers the corner 62 of the support plate portion 58 has a rounded corner (the corner 62 is not a right angle or an acute angle), the breakage of the cover 17 can be further suppressed.

[0057] This embodiment has the following effects.

[0058] According to the present embodiment, the holding piece 42 is fixed to the first side portion 44 and the second side portion 46 in a state extending across the opening between the first side portion 44 and the second side portion 46, so that the structure of the workpiece holder 10 can be simplified. In addition, the holding piece 42 having flexibility is elastically deformed along the outer shape of the workpiece W by being pressed against the workpiece W, so that a plurality of workpieces W having different outer shapes can be clamped by one workpiece holder 10. Furthermore, since the width L1 of the first side portion 44 is less than 1 / 4 of the interval L2 between the first side portion 44 and the second side portion 46, when the workpiece W is clamped, interference between the first side portion 44 and the peripheral components of the workpiece W to be gripped can be suppressed.

[0059] (First Modification)

[0060] Next, the workpiece holder 10A according to the first modification will be described. In this modification, the same reference numerals are assigned to the same structures as those of the above-described workpiece holder 10, and the detailed description of the structures is omitted.

[0061] As Figure 9 and Figure 10 shown, in the workpiece holder 10A, a reinforcing portion 80 having a wall thickness thicker than that of the holding piece 42 is provided at an end portion of the holding piece 42 opposite to the connecting portion 48. The reinforcing portion 80 is integrally formed with the holding piece 42. That is, the reinforcing portion 80 is formed of the same material as the holding piece 42. As Figure 9 shown, the reinforcing portion 80 extends linearly from the first side portion 44 to the second side portion 46. Both end portions of the reinforcing portion 80 are connected to the covering portion 60 at the first side portion 44 and the second side portion 46.

[0062] The width L4 of the reinforcing portion 80 along the length direction of the first side portion 44 is narrower than the width L1 of the first side portion 44 (refer to Figure 3 ). The reinforcing portion 80 bulges out toward both sides in the thickness direction of the holding piece 42 with respect to the holding piece 42 (refer to Figure 10 ). That is, a pair of steps 82 are formed between the holding piece 42 and the reinforcing portion 80. The thickness of the reinforcing portion 80 is substantially the same as the thickness of the portion of the frame portion 40 covered by the covering portion 60.

[0063] Next, with reference to Figure 11A and Figure 11B the effects of the workpiece holder 10A will be described. Figure 11A is an explanatory view of an example in which a pair of workpiece holders 102 according to a comparative example hold the workpiece W3, Figure 11B is an explanatory view of an example in which a pair of workpiece holders 10A according to this modification hold the workpiece W3. In addition, in Figure 11A and Figure 11B the illustration of the cover 17 is omitted.

[0064] As Figure 11A shown, the reinforcing portion 80 is not provided in the workpiece holder 102 according to the comparative example. The workpiece holder 102 has the same structure as the workpiece holder 10A according to this modification except that the reinforcing portion 80 is not provided. The workpiece W3 has a size that does not protrude from the holding piece 42 when held by the pair of workpiece holders 102. The workpiece W3 is, for example, a sphere.

[0065] In the case of the comparative example, when the holding pieces 42 of a pair of workpiece holders 102 are pressed against the workpiece W3 from both sides, the holding pieces 42 are deformed (elastically deformed) along the outer shape of the workpiece W3. At this time, the end portion (first piece end portion 42a) of the holding piece 42 on the side opposite to the connecting portion 48 is deformed so as to extend more outward (in the direction in which the pair of workpiece holders 102 are separated from each other) than the end portion (second piece end portion 42b) of the holding piece 42 adjacent to the connecting portion 48.

[0066] In this modification, as Figure 11B shown, a reinforcing portion 80 having a wall thickness thicker than that of the holding piece 42 is provided at the end portion of the holding piece 42 on the side opposite to the connecting portion 48. Therefore, the reinforcing portion 80 is more difficult to deform than the first piece end portion 42a of the workpiece holder 102 according to the comparative example. Therefore, when the holding pieces 42 of a pair of workpiece holders 10A are pressed against the workpiece W3 from both sides, the outward expansion of the reinforcing portion 80 is suppressed. As a result, the contact area between the workpiece W3 and the holding piece 42 is larger than that of the workpiece holder 102 according to the comparative example, and thus the holding force (the force required to remove the workpiece W3 from the holding piece 42) increases. In addition, since a step 82 is provided between the holding piece 42 and the reinforcing portion 80, the fall of the workpiece W3 can be suppressed by the step 82.

[0067] (Second modification)

[0068] Next, the workpiece holder 10B according to the second modification will be described. In this modification, the same reference numerals are given to the same structures as those of the above-described workpiece holder 10, and the detailed description of the structures is omitted.

[0069] As Figure 12 and Figure 13 shown, the difference between the workpiece holder 10B and the above-described workpiece holder 10 is that a pair of first hole portions 90 and a pair of second hole portions 92 are formed in the covering portion 60.

[0070] As Figure 13 shown, the pair of first hole portions 90 are located in the first side portion 44 so as to sandwich the support plate portion 58 in the thickness direction of the support plate portion 58. The first hole portions 90 penetrate the covering portion 60 in the thickness direction. The first hole portions 90 are circular holes. The shape of the first hole portions 90 is not particularly limited, and may be a polygonal shape.

[0071] In the first side portion 44, the support plate portion 58 is exposed to the outside through the first hole portions 90. The pair of first hole portions 90 are arranged at positions overlapping each other when viewed from the thickness direction of the support plate portion 58. As Figure 12 shown, the first hole portions 90 are located at positions closer to the side opposite to the connecting portion 48 than the center in the length direction of the first side portion 44. The first hole portions 90 are located near the first end portion 64 of the support plate portion 58.

[0072] As Figure 13 shown, a pair of second hole portions 92 are located at the second side portion 46 in such a manner as to sandwich the support plate portion 58 in the thickness direction of the support plate portion 58. The second hole portions 92 penetrate through the covering portion 60 in the thickness direction. The second hole portions 92 have the same shape as the first hole portions 90.

[0073] In the second side portion 46, the support plate portion 58 is exposed to the outside via the second hole portions 92. The pair of second hole portions 92 are arranged at positions overlapping each other when viewed from the thickness direction of the support plate portion 58. As Figure 12 shown, the second hole portions 92 are located at positions closer to the side opposite to the connecting portion 48 than the center in the longitudinal direction of the second side portion 46. The second hole portions 92 are located near the second end portion 66 of the support plate portion 58.

[0074] However, as Figure 14A shown, when attaching the rubber sheet to the support plate portion 58 (during rubber coating), in a state where the support plate portion 58 is disposed in the mold 110, the first end portion 64 and the second end portion 66 of the support plate portion 58 are likely to move in the thickness direction of the support plate portion 58 (be likely to flex) within the cavity 112 of the mold 110. In this way, when attaching the rubber sheet to the support plate portion 58, the thickness of the covering portion 60 is likely to change on both sides in the thickness direction of the support plate portion 58. That is, it is not easy to make the thickness of the covering portion 60 the set thickness (target thickness) on both sides in the thickness direction of the support plate portion 58. In the case of using such a mold 110, the first hole portions 90 and the second hole portions 92 are not formed in the above-mentioned covering portion 60.

[0075] In order to suppress the movement of the first end portion 64 and the second end portion 66 of the support plate portion 58, as Figure 14B shown, a mold 110a can be used. The mold 110a has a pair of first convex portions (convex portions) 114 and a pair of second convex portions 116. In a state where the support plate portion 58 is disposed in the mold 110a, the pair of first convex portions 114 support the portion (e.g., near the first end portion 64) of the support plate portion 58 that forms the first side portion 44 from both sides. Thereby, when attaching the rubber sheet to the support plate portion 58, the movement of the first end portion 64 is suppressed by the pair of first convex portions 114. The first convex portions 114 are inserted through the hole portions formed in the rubber sheet (the portions of the covering portion 60 that become the first hole portions 90).

[0076] With the support plate portion 58 disposed in the mold 110a, a pair of second convex portions 116 support, from both sides, the portion of the support plate portion 58 that forms the second side portion 46 (e.g., near the second end portion 66). Thus, when the rubber sheet is attached to the support plate portion 58, the movement (flexure) of the second end portion 66 is suppressed by the pair of second convex portions 116. The second convex portions 116 are inserted through holes formed in the rubber sheet (the portion of the covering portion 60 that becomes the second hole portion 92).

[0077] According to such a method of manufacturing the workpiece holder 10B, it is possible to suppress the deviation of the thickness of the covering portion 60 from the set thickness (target thickness) on both sides in the thickness direction of the support plate portion 58.

[0078] Regarding the above-described embodiment, the following supplementary notes are also disclosed.

[0079] (Supplementary Note 1)

[0080] The first aspect of the present invention is a workpiece holder that is mounted on each of a pair of finger members 22 that move in one direction so as to approach and separate from each other, and holds a workpiece W, and includes: a U-shaped frame portion 40; and a holding sheet 42 that is fixed to the frame portion and has flexibility. The frame portion has: a first side portion 44 and a second side portion 46 that are arranged in parallel in a separated state from each other; and a connecting portion 48 that connects the first side portion and the second side portion. The holding sheet is fixed to the first side portion and the second side portion in a state of extending so as to straddle an opening between the first side portion and the second side portion, and the width L1 of the first side portion is 1 / 4 or less of the interval L2 between the first side portion and the second side portion.

[0081] According to such a structure, it is possible to simplify the structure of the workpiece holder and to hold a plurality of workpieces having different outer shapes with one workpiece holder. In addition, it is possible to suppress interference between the first side portion and components around the workpiece (e.g., other workpieces, etc.) when holding the workpiece.

[0082] (Supplementary Note 2)

[0083] In the workpiece holder described in Supplementary Note 1, it may be that the holding sheet closes the entire opening.

[0084] According to such a structure, it is possible to increase the ratio of the holding sheet to the workpiece holder.

[0085] (Supplementary Note 3)

[0086] In the workpiece holder described in Appendix 1 or 2, it is also possible that the width of the second side portion is wider than that of the first side portion, and an installation portion 50 is provided on the second side portion, and this installation portion can be installed on one of the pair of finger-like members.

[0087] With such a structure, it is possible to narrow the width of the first side portion and increase the rigidity of the second side portion provided with the installation portion.

[0088] (Appendix 4)

[0089] In the workpiece holder described in any one of Appendices 1 to 3, it is also possible that an installation portion 52 is provided at the connecting portion, and this installation portion can be installed on one of the pair of finger-like members.

[0090] With such a structure, it is possible to narrow the width of the first side portion and install the workpiece holder on the finger-like member through the installation portion.

[0091] (Appendix 5)

[0092] In the workpiece holder described in any one of Appendices 1 to 4, it is also possible that the frame portion has: a support plate portion 58, which is in the shape along the shape of the frame portion; and a covering portion 60, which covers the support plate portion, and the holding piece and the covering portion are integrally formed of a material containing rubber.

[0093] With such a structure, it is possible to firmly fix the holding piece to the support plate portion through the covering portion.

[0094] (Appendix 6)

[0095] In the workpiece holder described in Appendix 5, it is also possible that the covering portion covers the corner portion 62 of the support plate portion.

[0096] With such a structure, even when the frame portion comes into contact with the peripheral components of the workpiece to be held during the holding of the workpiece, the covering portion functions as a buffer member (buffer pad member), so that damage to the peripheral components and the workpiece holder can be suppressed.

[0097] (Appendix 7)

[0098] In the workpiece holder described in Appendix 6, it is also possible that the portion of the covering portion covering the corner portion of the support plate portion has a rounded corner.

[0099] With such a structure, damage to the peripheral components and the workpiece holder can be further suppressed.

[0100] (Appendix 8)

[0101] In the workpiece holder described in any one of Appendices 5 to 7, the support plate portion may be made of a metal material.

[0102] With such a structure, the rigidity of the frame portion can be simply improved.

[0103] (Appendix 9)

[0104] In the workpiece holder described in any one of Appendices 1 to 8, the thickness of the holding piece may be thinner than the thickness of the frame portion.

[0105] With such a structure, when the holding piece is pressed against the outer surface of the workpiece, the holding piece can be easily elastically deformed.

[0106] (Appendix 10)

[0107] In the workpiece holder described in any one of Appendices 1 to 9, at the end of the holding piece opposite to the connecting portion, a reinforcing portion 80 having a wall thickness thicker than that of the holding piece may be provided.

[0108] With such a structure, when a workpiece of a size protruding from the holding piece is clamped by a pair of workpiece holders, the end of the holding piece opposite to the connecting portion (reinforcing portion) is difficult to expand outward. As a result, the contact area of the holding piece with respect to the workpiece becomes larger, so the holding force of the workpiece can be increased. In addition, since a step can be formed between the holding piece and the reinforcing portion, the workpiece can be hooked on the step. Thereby, the dropping of the workpiece can be suppressed.

[0109] (Appendix 11)

[0110] In the workpiece holder described in Appendix 10, the reinforcing portion may extend from the first side portion to the second side portion.

[0111] With such a structure, when holding the workpiece, it is possible to make the reinforcing portion more difficult to expand outward.

[0112] (Appendix 12)

[0113] In the workpiece holder described in any one of Appendices 5 to 8, a pair of hole portions 90 may be formed in the covering portion. The pair of hole portions are located at the first side portion so as to sandwich the support plate portion in the thickness direction of the support plate portion, and penetrate the covering portion in the thickness direction.

[0114] A workpiece holder with such a structure can be manufactured by a mold having a pair of convex portions that support a portion forming the first side portion in the support plate portion. In this mold, when a rubber sheet is attached to the support plate portion, movement (flexure) of the first side portion can be suppressed by the pair of convex portions. Further, the convex portions of the mold are inserted through holes (holes formed in the covering portion) formed in the rubber sheet. In the workpiece holder manufactured in this way, in the first side portion, deviation of the thickness of the covering portion at both sides in the thickness direction of the support plate portion with respect to the set thickness can be suppressed.

[0115] (Supplementary Note 13)

[0116] In the workpiece holder described in Supplementary Note 12, the pair of holes may be a pair of first holes, and a pair of second holes 92 are formed in the covering portion. The pair of second holes are located in the second side portion so as to sandwich the support plate portion in the thickness direction of the support plate portion, and penetrate the covering portion in the thickness direction.

[0117] According to such a structure, in the second side portion, deviation of the thickness of the covering portion at both sides in the thickness direction of the support plate portion with respect to the set thickness can be suppressed.

[0118] (Supplementary Note 14)

[0119] In the workpiece holder described in Supplementary Note 12, the pair of holes may be located at a position closer to the side opposite to the connecting portion than the center in the length direction of the first side portion.

[0120] According to such a structure, in the first side portion, deviation of the thickness of the covering portion at both sides in the thickness direction of the support plate portion with respect to the set thickness can be further suppressed.

[0121] (Supplementary Note 15)

[0122] In the workpiece holder described in Supplementary Note 13, the pair of second holes may be located at a position closer to the side opposite to the connecting portion than the center in the length direction of the second side portion.

[0123] According to such a structure, in the second side portion, deviation of the thickness of the covering portion at both sides in the thickness direction of the support plate portion with respect to the set thickness can be further suppressed.

[0124] (Supplementary Note 16)

[0125] A second aspect of the present invention is a chuck device. The chuck device 12 includes: a pair of finger members that move in one direction so as to approach and separate from each other; a drive unit 18 that causes the pair of finger members to move; and a pair of workpiece holders that are attached to each of the pair of finger members and hold a workpiece. The pair of workpiece holders are respectively the workpiece holders described in any one of Supplementary Notes 1 to 15.

[0126] (Supplementary Note 17)

[0127] In the chuck device described in Supplementary Note 16, it may be configured to include a cover 17 that covers the pair of finger members, the drive unit, and the pair of workpiece holders and has flexibility.

[0128] With such a configuration, it can be used with confidence even in an environment where waterproofing and dustproofing of food or the like are required.

[0129] (Supplementary Note 18)

[0130] A third aspect of the present invention is a method for manufacturing a workpiece holder. The workpiece holder is attached to each of a pair of finger members that move in one direction so as to approach and separate from each other and holds a workpiece. The workpiece holder includes: a U-shaped frame portion; and a holding piece that is fixed to the frame portion and has flexibility. The frame portion has: a first side portion and a second side portion that are arranged in parallel in a separated state from each other; and a connecting portion that connects the first side portion and the second side portion. The holding piece is fixed to the first side portion and the second side portion in a state of extending so as to straddle an opening between the first side portion and the second side portion. The width of the first side portion is 1 / 4 or less of the interval between the first side portion and the second side portion. The frame portion has: a support plate portion that has a shape along the shape of the frame portion; and a covering portion that covers the support plate portion. In the method for manufacturing the workpiece holder, a rubber sheet is attached to the support plate portion while the support plate portion is supported on both sides of a portion forming the first side portion by a pair of convex portions 114 provided on a mold 110a.

[0131] Furthermore, the present invention is not limited to the above-disclosed content, and various structures can be adopted as long as they do not deviate from the gist of the present invention.

Claims

1. A workpiece holder that is attached to each of a pair of finger members (22) that move in one direction in a manner of approaching and separating from each other, and holds a workpiece (W), characterized in that, Comprising: A U-shaped frame portion (40); and A holding piece (42) which is fixed to the frame portion and is flexible, The frame portion has: A first side portion (44) and a second side portion (46) which are arranged in parallel in a separated state from each other; and A connecting portion (48) which connects the first side portion and the second side portion, The holding piece is fixed to the first side portion and the second side portion in a state of extending across the opening between the first side portion and the second side portion, The width (L1) of the first side portion is 1 / 4 or less of the interval (L2) between the first side portion and the second side portion.

2. The workpiece holder according to claim 1, wherein: The holding piece closes the entire opening.

3. The workpiece holder according to claim 1, wherein: The second side portion is wider than the width of the first side portion, An installation portion (50) is provided on the second side portion, and the installation portion can be installed on one of the pair of finger-like members.

4. The workpiece holder according to claim 1, wherein: An installation portion (52) is provided on the connecting portion, and the installation portion can be installed on one of the pair of finger-like members.

5. The workpiece holder according to claim 1, wherein: The frame portion has: A support plate portion (58) which has a shape along the shape of the frame portion; and A covering portion (60) which covers the support plate portion, The holding piece and the covering portion are integrally formed of a material containing rubber.

6. The workpiece holder according to claim 5, wherein: The covering portion covers the corner portion (62) of the support plate portion.

7. The workpiece holder according to claim 6, wherein: The portion of the covering portion covering the corner portion of the support plate portion has a rounded corner.

8. The workpiece holder according to claim 5, wherein: The support plate portion is made of a metal material.

9. The workpiece holder according to claim 1, wherein: The thickness of the holding piece is thinner than the thickness of the frame portion.

10. The workpiece holder according to claim 1, wherein: At the end of the holding piece on the side opposite to the connecting portion, a reinforcing portion (80) having a wall thickness thicker than that of the holding piece is provided.

11. The workpiece holder according to claim 10, wherein: The reinforcing portion extends from the first side portion to the second side portion.

12. The workpiece holder according to claim 5, wherein: A pair of hole portions are formed in the covering portion, and the pair of hole portions are located on the first side portion in a manner of sandwiching the support plate portion in the thickness direction of the support plate portion and penetrate the covering portion in the thickness direction.

13. The workpiece holder according to claim 12, wherein: The pair of hole portions are a pair of first hole portions, A pair of second hole portions (92) are formed in the covering portion. The pair of second hole portions are located on the second side portions in such a manner as to sandwich the support plate portion in the thickness direction of the support plate portion, and penetrate the covering portion in the thickness direction.

14. The workpiece holder according to claim 12, wherein the pair of hole portions are located at a position closer to the side opposite to the connecting portion than the center in the longitudinal direction of the first side portion.

15. The workpiece holder according to claim 13, wherein the pair of second hole portions are located at a position closer to the side opposite to the connecting portion than the center in the longitudinal direction of the second side portion.

16. A chuck device, the chuck device (12) comprising: a pair of finger members that move in one direction in a manner of approaching and separating from each other; a drive portion (18) for moving the pair of finger members; and a pair of workpiece holders that are attached to each of the pair of finger members and hold a workpiece, wherein the pair of workpiece holders are respectively the workpiece holders according to any one of claims 1 to 15.

17. The chuck device according to claim 16, wherein a cover (17) is provided, which covers the pair of finger members, the drive portion, and the pair of workpiece holders and has flexibility.

18. A method for manufacturing a workpiece holder, the workpiece holder being attached to each of a pair of finger members that move in one direction in a manner of approaching and separating from each other and holding a workpiece, wherein the workpiece holder includes: a U-shaped frame portion; and a holding piece that is fixed to the frame portion and has flexibility, the frame portion has: a first side portion and a second side portion that are arranged in parallel in a separated state from each other; and a connecting portion that connects the first side portion and the second side portion, the holding piece is fixed to the first side portion and the second side portion in a state of extending across an opening between the first side portion and the second side portion, the width of the first side portion is 1 / 4 or less of the interval between the first side portion and the second side portion, the frame portion has: a support plate portion having a shape along the shape of the frame portion; and a covering portion that covers the support plate portion, in the method for manufacturing the workpiece holder, a rubber sheet is attached to the support plate portion while the portion of the support plate portion forming the first side portion is supported on both sides by a pair of convex portions (114) provided on a mold (110a).

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