Grip device and method for installing a part using the grip device

Abstract

To provide a gripping device and a method for installing a component using the gripping device which can prevent a fixed state of the component from worsening.SOLUTION: A gripping device comprises a connection mechanism part that connects a support mechanism part to a gripping mechanism part movably. The gripping mechanism part has a fixed arm and a movable arm. When releasing gripping of an object gripped by the fixed arm and the movable arm, the gripping device enables the fixed arm to move by restoring force of the fixed arm with respect to the support mechanism part. This enables restoring force of the arm generated when gripping of a component is released to prevent an adhesive from damaging the component, which can prevent a fixed state of the component from worsening.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a gripping device having two arms and a method for installing a part using the gripping device. [Background technology]

[0002] Conventionally, it is known that a chuck means for gripping a lens between two arms is used to fix a lens to a lens support part via an adhesive. When fixing a lens to a lens support part, the lens gripped by the chuck means is placed above the lens support part via uncured adhesive, and the adhesive is cured (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-077449 ​​A Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional chuck means shown in Patent Document 1, when the lens is released after the adhesive has hardened, the restoring force of the arm that has been bent by the gripping force of the lens is applied to the hardened adhesive, which can cause damage to the hardened adhesive and can cause the lens to become less fixed.

[0005] The present disclosure has been made to solve the problems described above, and aims to provide a gripping device that can prevent the fixed state of a component from deteriorating, and a method for installing a component using the gripping device. [Means for solving the problem]

[0006] The gripping device disclosed herein comprises a support mechanism, a gripping mechanism having a fixed arm and a movable arm, a connecting mechanism connecting the gripping mechanism to the support mechanism in a state in which the fixed arm is movable between a locked position and a retracted position relative to the support mechanism, and a locking mechanism capable of holding the position of the fixed arm relative to the support mechanism in the locked position, wherein the movable arm is positioned on the opposite side of the fixed arm from the retracted side along which the fixed arm moves from the locked position to the retracted position, and the movable arm is movable relative to the fixed arm between an open position and a closed position closer to the fixed arm than the open position, and the gripping mechanism moves the movable arm to the closed position when the fixed arm is held in the locked position by the locking mechanism, and moves the movable arm to the open position when the state in which the fixed arm is held in the locked position by the locking mechanism is released. Effect of the Invention

[0007] According to the gripping device and the component installation method using the gripping device of the present disclosure, it is possible to prevent the fixed state of the component from deteriorating. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing a gripping device according to a first embodiment. [Diagram 2] FIG. 2 is a front view of the gripping device of FIG. [Diagram 3] 2 is a front view showing a state in which the movable arm of the gripping device in FIG. 1 has moved to an open position. FIG. [Figure 4] 2 is a perspective view showing a state in which the gripping device of FIG. 1 is gripping a lens. FIG. [Diagram 5] 2 is a front view showing a state in which the gripping device of FIG. 1 is gripping a lens. FIG. [Figure 6] 4 is a flowchart of an installation method according to the first embodiment. [Figure 7] 2 is a schematic diagram showing a state in which a lens is placed on a base in the holding device of FIG. 1. FIG. [Figure 8]6 is an enlarged view showing the tips of a fixed arm and a movable arm of the gripping device of FIG. 5. [Figure 9] 8 is a schematic diagram showing a fixed arm and a movable arm of the gripping device of FIG. 7 in a deflected state. FIG. [Figure 10] 8 is a schematic diagram showing a state in which a fixed arm of the gripping device of FIG. 7 is bent. FIG. [Figure 11] 4 is a schematic diagram showing a state in which the gripping device according to the first embodiment releases the grip on the lens. FIG. [Figure 12] 13 is a schematic diagram showing a state in which the gripping device of the second embodiment releases the gripped lens. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Embodiment 1 1 is a perspective view showing a gripping device according to embodiment 1. The gripping device 1 is attached to the tip of an arm 100 in a manufacturing device such as an industrial robot.

[0010] The manufacturing apparatus can adjust the position of the gripping device 1 attached to the arm 100 along multiple axes. The position adjustments that the manufacturing apparatus can perform on the gripping device 1 along multiple axes are position adjustment along the x-axis, y-axis, and z-axis, and position adjustment around the x-axis, y-axis, and z-axis. Therefore, the manufacturing apparatus can adjust the gripping device 1 along six axes. The arm 100 can be moved by a control unit (not shown) of the manufacturing apparatus. The x-axis, y-axis, and z-axis are mutually perpendicular.

[0011] The gripping device 1 includes a support mechanism 2, a gripping mechanism 3, a connecting mechanism 4, and a locking mechanism 5. The support mechanism 2 is supported by an arm 100. An air hose 110 is connected to the gripping mechanism 3. The air hose 110 connected to the gripping mechanism 3 is connected to an air supply source (not shown) via an electromagnetic valve (not shown). The electromagnetic valve is controlled by a control unit (not shown) of the manufacturing device.

[0012] The connecting mechanism 4 connects the support mechanism 2 and the gripping mechanism 3 so that the gripping mechanism 3 can be moved relative to the support mechanism 2. The locking mechanism 5 can put the gripping mechanism 3 into two states: a locked state and an unlocked state.

[0013] The locked state is a state in which the locking mechanism 5 is actuated to prevent the gripping mechanism 3 from moving relative to the support mechanism 2. The unlocked state is a state in which the locking mechanism 5 is stopped to allow the gripping mechanism 3 to move relative to the support mechanism 2.

[0014] Fig. 2 is a front view of the gripping device of Fig. 1. Fig. 3 is a front view showing a state when the movable arm of the gripping device of Fig. 1 is moved to an open position. The gripping mechanism 3 has a gripping mechanism main body 30, a fixed arm 31, a movable arm 32, an arm moving mechanism 33, and an arm driving mechanism 34. In Fig. 2, the direction along the horizontal direction is the x-axis, and the direction along the vertical direction is the y-axis. In Fig. 2, the direction perpendicular to the paper surface is the z-axis.

[0015] The gripping mechanism main body 30 is provided with a fixed arm 31, an arm moving mechanism 33, and an arm driving mechanism 34. The fixed arm 31 is fixed to the gripping mechanism main body 30. The movable arm 32 is supported by the gripping mechanism main body 30 via the arm moving mechanism 33.

[0016] Each of the fixed arm 31 and the movable arm 32 is configured with an elongated rod-like member. The movable arm 32 is movable between an open position and a closed position relative to the fixed arm 31. The moving direction of the movable arm 32 is along the x-axis shown in Figures 2 and 3.

[0017] The closed position is a position where the movable arm 32 is closest to the fixed arm 31. The open position is a position where the movable arm 32 is farthest from the fixed arm 31. The closed position is a position closer to the fixed arm 31 than the open position.

[0018] The arm movement mechanism 33 has an arm movement rail 33a and a movement member 33b. The arm movement rail 33a is fixed to the gripping mechanism main body 30. The movement member 33b is fitted into the arm movement rail 33a and supported so as to be movable along the arm movement rail 33a. The movable arm 32 is fixed to the movement member 33b.

[0019] The arm driving mechanism 34 can move the movable arm 32 along the arm movement rail 33a. The arm driving mechanism 34 has an air cylinder 34a, a shaft 34b provided so as to be able to protrude from the air cylinder 34a, and a spring 34c.

[0020] The air cylinder 34a is provided with an air inlet 34d. An air hose 110 is connected to the air inlet 34d. Therefore, air can be supplied to the air cylinder 34a from the air hose 110, which is connected to an air supply source via an electromagnetic valve, via the air inlet 34d.

[0021] When air is supplied to the air cylinder 34a, a shaft 34b provided on the air cylinder 34a protrudes. The air cylinder 34a is disposed in the gripping mechanism main body 30 so that the tip of the shaft 34b protruding from the air cylinder 34a abuts against the movable arm 32.

[0022] One end of the spring 34c is connected to the fixed arm 31. The other end of the spring 34c is connected to the movable arm 32. When the spring 34c is connected to both the fixed arm 31 and the movable arm 32, the spring 34c constantly generates a compressing force. As a result, the movable arm 32 is constantly pulled toward the fixed arm 31.

[0023] That is, the tip of the shaft 34b protruding from the air cylinder 34a pushes the movable arm 32. As a result, the movable arm 32 moves together with the moving member 33b along the arm moving rail 33a in a direction away from the fixed arm 31, and reaches the open position. In Fig. 3, the movable arm 32 is located at the open position.

[0024] When the supply of air from the air hose 110 to the air inlet 34d is stopped, the force that protrudes the shaft 34b from the air cylinder 34a is reduced. In this state, the force of the spring 34c trying to contract pulls the movable arm 32 toward the fixed arm 31 along the arm movement rail 33a. This causes the movable arm 32 to reach the closed position. The movable arm 32 moving to the closed position pushes the shaft 34b into the air cylinder 34a.

[0025] In the first embodiment, the movable arm 32 is moved from the open position to the closed position by the compressing force of the spring 34c. However, for example, an air cylinder other than the air cylinder 34a may be provided, and the movable arm 32 may be moved from the open position to the closed position by air force.

[0026] The connecting mechanism 4 has a rail 4a and a guide table 4b. The rail 4a is fixed to the support mechanism 2. The guide table 4b is fixed to the gripping mechanism main body 30. The guide table 4b is fitted into the rail 4a and supported so as to be slidable along the longitudinal direction of the rail 4a. The connecting mechanism 4 slidably connects the gripping mechanism 3 to the support mechanism 2. That is, the direction in which the gripping mechanism 3 slides relative to the support mechanism 2 is along the x-axis shown in FIGS. 2 and 3.

[0027] The fixed arm 31 can move between a locked position and a retracted position by the gripping mechanism 3 sliding relative to the support mechanism 2. The locked position is the position of the fixed arm 31 relative to the support mechanism 2 when the gripping mechanism 3 is in a locked state. The retracted position is the position of the fixed arm 31 farthest from the locked position when the gripping mechanism 3 is in an unlocked state.

[0028] The direction of movement of the fixed arm 31 when moving between the locked position and the retracted position is along the x-axis.

[0029] When the side of the fixed arm 31 where it moves from the lock position to the retracted position relative to the support mechanism unit 2 is defined as the retracted side relative to the fixed arm 31, the movable arm 32 is located on the opposite side to the retracted side relative to the fixed arm 31. In other words, the movable arm 32 is located on the opposite side to the retracted side relative to the fixed arm 31 where the fixed arm 31 moves from the lock position to the retracted position.

[0030] The lock mechanism 5 has an electromagnet 5a and a magnetic member 5b. The electromagnet 5a is fixed to the support mechanism 2. Electric power is supplied to the electromagnet 5a from a power source (not shown). The supply of electric power to the electromagnet 5a is controlled by opening and closing a switch (not shown). The switch is controlled by a control unit (not shown) of the manufacturing device.

[0031] The magnetic member 5b is fixed to the gripping mechanism main body 30. When the electromagnet 5a generates a magnetic force by supplying power to the electromagnet 5a, the electromagnet 5a and the magnetic member 5b attract each other. Then, the magnetic member 5b is attracted to the electromagnet 5a. This puts the gripping mechanism 3 in a locked state. When the gripping mechanism 3 is in a locked state, the fixed arm 31 is located at a locked position.

[0032] When the supply of power to the electromagnet 5a is stopped to stop the operation of the locking mechanism 5, the electromagnet 5a and the magnetic member 5b are no longer attracted to each other. As a result, the gripping mechanism 3 is brought into an unlocked state in which it can move relative to the support mechanism 2 via the connecting mechanism 4.

[0033] When the gripping mechanism 3 is in the unlocked state, the gripping mechanism 3 becomes movable relative to the support mechanism 2, and the fixed arm 31 becomes movable relative to the support mechanism 2 between the locked position and the retracted position.

[0034] Fig. 4 is a perspective view showing a state in which the holding device of Fig. 1 is holding a lens. Fig. 5 is a front view showing a state in which the holding device of Fig. 1 is holding a lens. In the first embodiment, an optical component used in a laser light source device is used as the component to be held by the holding device 1.

[0035] In the gripping mechanism 3, the movable arm 32 moves from the open position to the closed position, so that the lens 120 can be gripped between the movable arm 32 and the fixed arm 31. The state in which the lens 120 is gripped between the movable arm 32 and the fixed arm 31 is maintained by the compressing force of the spring 34c.

[0036] A state in which the lens 120 is held between the fixed arm 31 and the movable arm 32 is referred to as a held state. The held state is released by moving the movable arm 32 from the closed position toward the open position relative to the fixed arm.

[0037] Next, a method for installing an object using the gripping device 1 according to the first embodiment will be described. FIG. 6 is a flow chart showing the installation method according to the first embodiment. The object is a component that constitutes an industrial product. When handling optical components such as collimator lenses and mirrors as the components, highly accurate position adjustment is required for installing the components. In the first embodiment, a method for installing a lens 120, which is a component that constitutes a light source device, as the object will be described.

[0038] <Preparation process> A preparation process is performed as step S1. In the preparation process, an operator attaches the gripping device 1 to the arm 100 of the manufacturing device. Then, the operator performs installation work such as attaching the air hose 110 to the air supply port 34d and attaching a power line to the locking mechanism 5.

[0039] Thereafter, the manufacturing apparatus is operated, which prepares for operations such as supplying air to the air hose 110 and supplying power to the locking mechanism 5.

[0040] Laser light source devices such as semiconductor lasers require accurate directionality and parallelism of the emitted laser light. Therefore, in manufacturing the light source devices, it is necessary to position the installation positions of optical components such as lenses and mirrors with high accuracy relative to the emission point of the laser light.

[0041] Adjustment of the relative position between the emission position and the optical component requires position adjustment along each of the x-axis, y-axis, and z-axis, and position adjustment around each of the x-axis, y-axis, and z-axis. Note that the necessary adjustment axes may differ depending on the type of optical component.

[0042] For example, when adjusting the position of a condenser lens, which is an optical component, relative to a light source, there is no need to adjust the position around an axis parallel to the optical axis of the condenser lens. Therefore, for example, position adjustments along the x-axis, y-axis, and z-axis, and position adjustments around the x-axis and y-axis are required.

[0043] <Locking process> In step S2, a locking step is performed. The locking step in step S2 is performed after the preparation step in step S1. In the locking step, the locking mechanism 5 is actuated to hold the position of the fixed arm 31 relative to the support mechanism 2 in a locked position by the locking mechanism 5.

[0044] The manufacturing device turns on the power supply switch to the electromagnet 5a to supply power to the electromagnet 5a. This causes the gripping mechanism 3 to enter a locked state. In the locked state, the support mechanism 2 and the gripping mechanism 3 cannot move relative to each other, and the relative positional relationship between the support mechanism 2 and the gripping mechanism 3 is fixed.

[0045] As a result, the position of the fixed arm 31 relative to the support mechanism 2 is held in the locked position by the lock mechanism 5. Therefore, the manufacturing apparatus can accurately position the tip of the fixed arm 31 of the gripping mechanism 3.

[0046] <Gripping process> As step S3, a gripping process is performed. The gripping process of step S3 is performed after the locking process in step S2. The gripping process is a process in which the gripping device 1 grips the lens 120. A plurality of lenses 120 are arranged in a stocker (not shown). The manufacturing device opens a solenoid valve to supply air to the air cylinder 34a in order to position the movable arm 32 at the open position.

[0047] The manufacturing device operates the arm 100 to position the gripping device 1 with respect to one of the multiple lenses 120. The manufacturing device operates the arm 100 to move the arm 100 to a position where the gripping device 1 can grip the lens 120. That is, the manufacturing device operates the arm 100 so that the lens 120 is present between the fixed arm 31 and the movable arm 32. Furthermore, the manufacturing device operates the arm 100 so that the fixed arm 31 comes into contact with one side surface of the lens 120.

[0048] After the positioning of the gripping device 1 is completed by operating the arm 100, the manufacturing apparatus stops the supply of air to the gripping device 1 and moves the movable arm 32 toward the closed position. This causes the gripping mechanism unit 3 to grip the lens 120 between the fixed arm 31 and the movable arm 32. The lens 120 is gripped between the fixed arm 31 and the movable arm 32. When the movable arm 32 is moved toward the closed position, the gripping mechanism unit 3 holds the fixed arm 31 in the locked position by the locking mechanism unit 5.

[0049] <Placement process> As step S4, a placement step is performed. The placement step of step S4 is performed after the holding step in step S3. The placement step is a step for placing the lens 120 held by the holding device 1 at a target position on the base 135. Here, the target position is a position where the lens 120 is to be placed.

[0050] Fig. 7 is a schematic diagram showing a state in which a lens is placed on a base in the gripping device of Fig. 1. The base 135 is placed in a housing of a light source device (not shown). In manufacturing the light source device, it is necessary to accurately place an optical component such as the lens 120 at a target position on the base 135. In Fig. 7, the surface of the base 135 on which the lens 120 is placed is parallel to the x-z plane.

[0051] The arrangement of the optical components requires position adjustments on multiple axes, and each position adjustment must be performed with a precision of less than a micron. For this reason, it is difficult to position the optical components by mechanical fitting. Therefore, adhesive 130 is used to fix the optical components to base 135.

[0052] In the present embodiment 1 as well, adhesive 130 is used to fix lens 120. Uncured adhesive 130 is applied in advance to the target position on base 135 where lens 120 is to be fixed. Adhesive 130 is an ultraviolet-curable adhesive.

[0053] After the gripping step, in a state where the lens 120 is gripped between the fixed arm 31 and the movable arm 32, the manufacturing apparatus operates the arm 100 to position the gripping device 1 so that the lens 120 is disposed at a target position. In positioning the gripping device 1, position adjustments are performed for the position along each of the x-axis, y-axis, and z-axis, and for the position around each of the x-axis and y-axis.

[0054] When the lens 120 is placed at the target position, the uncured adhesive 130 is interposed between the base 135 and the lens 120 .

[0055] The portions of the lens 120 that are in contact with the fixed arm 31 and the movable arm 32 are portions that are not bonded by the adhesive 130, such as the side surfaces of the lens 120, and are portions that are not related to optical adjustment.

[0056] <Fixed process> As step S5, a fixing step is performed. The fixing step of step S5 is performed after the placement step in step S4. The fixing step is a step for fixing the lens 120 held by the holding device 1 onto the base 135.

[0057] After the lens 120 is placed at the target position, the adhesive 130 is irradiated with ultraviolet light from an ultraviolet irradiation source (not shown) to harden the adhesive 130. In this way, the lens 120 is fixed onto the base 135.

[0058] <Unlocking process> An unlocking step is performed as step S6. The unlocking step of step S6 is performed after the fixing step of step S5. The unlocking step is a step for releasing the locked state of the gripping mechanism 3 by the locking mechanism 5. After the adhesive 130 hardens, the gripping mechanism 3 is set to an unlocked state. That is, the coupling mechanism 4 allows the gripping mechanism 3 and the support mechanism 2 to move relative to each other. As a result, the state in which the fixed arm 31 is held in the locked position is released.

[0059] <Grip release process> As step S7, a grip releasing step is performed. The grip releasing step of step S7 is performed after the lock releasing step of step S6. The grip releasing step is a step for releasing the grip of the lens 120 by the gripping device 1.

[0060] By supplying air to the gripping device 1 from the air hose 110, the movable arm 32 moves to the open position. This releases the state in which the lens 120 is gripped between the fixed arm 31 and the movable arm 32. When the movable arm 32 is moved toward the open position, the gripping mechanism 3 releases the fixed arm 31 from the state in which it is held in the locked position by the locking mechanism 5. Thereafter, the arm 100 is operated to move the gripping device 1 to another location. This completes the installation of the lens 120.

[0061] Here, the forces acting on the lens 120 in the gripping release process will be described. Figure 8 is an enlarged view showing the tips of the fixed arm and the movable arm of the gripping device of Figure 5.

[0062] Light source devices have become smaller in recent years. Lens 120, which is an optical component, must be fixed inside a small box-shaped housing. For this reason, fixed arm 31 and movable arm 32 in the first embodiment are each made of a thin rod-shaped member.

[0063] The fixed arm 31 and the movable arm 32 apply a force to the lens 120 as the movable arm 32 tries to move toward the closed position due to the spring 34c. As a result, the fixed arm 31 receives a reaction force F31 from the contact point of the lens 120. In addition, the movable arm 32 receives a reaction force F32 from the contact point of the lens 120.

[0064] When the lens 120 is being gripped, the fixed arm 31 and the movable arm 32 are bent by reaction forces F31 and F32. Fig. 9 is a schematic diagram showing the bent state of the fixed arm and the movable arm of the gripping device in Fig. 8. Fig. 10 is a schematic diagram showing the bent state of the fixed arm of the gripping device in Fig. 8. In Figs. 9 and 10, the outlines of the fixed arm 31 and the movable arm 32 in an unflexed state are shown by dashed lines.

[0065] 9 and 10, bending occurs in the fixed arm 31 and the movable arm 32 that grip the lens 120. Since the fixed arm 31 and the movable arm 32 in the first embodiment are each made of a thin rod-shaped member, they are prone to bending.

[0066] The fixed arm 31 and the movable arm 32 holding the lens 120 are bent toward their respective tips so as to move away from each other. As a result, a force that tries to return the fixed arm 31 and the movable arm 32 to their original shape, that is, a restoring force, is generated in each of them.

[0067] In the gripping state, the restoring forces of the fixed arm 31 and the movable arm 32 are applied to the lens 120. After the lens 120 is fixed from this state, the gripping device 1 releases the gripping state.

[0068] 11 is a schematic diagram showing a state when the gripping device releases the lens according to embodiment 1. By moving movable arm 32 to the release position, movable arm 32 moves away from lens 120, and gripping of lens 120 is released.

[0069] The moment the movable arm 32 separates from the lens 120, the bending of the movable arm 32 is released and the restoring force of the movable arm 32 disappears. On the other hand, the fixed arm 31 continues to be in contact with the side surface of the lens 120. In other words, the fixed arm 31 is in a bent state. Therefore, a restoring force A is generated in the fixed arm 31. The lens 120 opposes the restoring force A of the fixed arm 31.

[0070] The gripping state by the gripping device 1 is released when the gripping mechanism 3 is in an unlocked state. Therefore, the operation of the locking mechanism 5 is stopped. Even after the gripping state is released, the reaction force B of the lens 120 based on the restoring force A is applied to the fixed arm 31. Therefore, the reaction force B causes the gripping mechanism 3 in the unlocked state to move in the direction C relative to the support mechanism 2. In other words, the fixed arm 31 moves from the locked position toward the retracted position relative to the support mechanism 2.

[0071] As a result, the fixed arm 31 moves away from the lens 120. Therefore, the bending of the fixed arm 31 is released, and the restoring force A and the reaction force B disappear.

[0072] The gripping device 1 according to the first embodiment includes a support mechanism 2, a gripping mechanism 3 having a fixed arm 31 and a movable arm 32, and a connecting mechanism 4 connecting the gripping mechanism 3 to the support mechanism 2 in a state in which the fixed arm 31 is movable between a locked position and a retracted position relative to the support mechanism 2. The gripping device 1 also includes a locking mechanism 5 capable of holding the position of the fixed arm 31 relative to the support mechanism 2 in a locked position. The movable arm 32 is located on the opposite side of the fixed arm 31 from the retracted side where the fixed arm 31 moves from the locked position to the retracted position. The movable arm 32 is movable relative to the fixed arm 31 between an open position and a closed position closer to the fixed arm 31 than the open position. The gripping mechanism 3 moves the movable arm 32 to the closed position when the fixed arm 31 is held in the locked position by the locking mechanism 5, and moves the movable arm 32 to the open position when the state in which the fixed arm 31 is held in the locked position by the locking mechanism 5 is released. Therefore, when the grip of the component is released, the fixed arm 31 moves toward the retracted position due to the restoring force of the fixed arm 31. This makes it possible to prevent the hardened adhesive 130 from being damaged when the grip of the component is released. This makes it possible to prevent the fixed state of the component from deteriorating. Furthermore, when gripping a component, the position of the fixed arm 31 relative to the support mechanism 2 can be fixed. This makes it possible to accurately position the tip of the fixed arm 31.

[0073] According to the gripping device 1 of the first embodiment, the connecting mechanism 4 slidably connects the gripping mechanism 3 to the support mechanism 2. The fixed arm 31 moves between the locked position and the retracted position as the gripping mechanism 3 slides relative to the support mechanism 2. Therefore, when the grip of the part is released, the gripping mechanism 3 moves toward the retracted position while sliding relative to the support mechanism 2 due to the restoring force of the fixed arm 31. This makes it possible to make it difficult for the hardened adhesive 130 to be damaged when the grip of the part is released. Therefore, it is possible to suppress the fixed state of the part from being deteriorated.

[0074] According to the gripping device 1 of the first embodiment, the locking mechanism 5 has an electromagnet 5a and a magnetic member 5b. The support mechanism 2 is provided with the electromagnet 5a, and the gripping mechanism 3 is provided with the magnetic member 5b. The locking mechanism 5 holds the fixed arm 31 in the locked position by attracting the magnetic member 5b to the electromagnet 5a. Therefore, the locking mechanism 5 using the electromagnet 5a and the magnetic member 5b has no mechanically moving parts. This can reduce phenomena such as wear and mechanical damage of the components in the locking mechanism 5. Furthermore, it can reduce phenomena such as wear and mechanical damage of the components in the locking mechanism 5, and the opportunity for stopping the gripping device 1 for maintenance and inspection.

[0075] The installation method using the gripping device 1 according to the first embodiment includes a locking step of holding the position of the fixed arm 31 relative to the support mechanism 2 at a locked position by the locking mechanism 5, and a gripping step of gripping a part between the fixed arm 31 and the movable arm 32 by moving the movable arm 32 to a closed position after the locking step. The installation method also includes a placement step of placing the part in a target position in a state in which the part is gripped between the fixed arm 31 and the movable arm 32 after the gripping step, and a fixing step of fixing the part in the target position after the placement step. The installation method also includes an unlocking step of releasing the state in which the position of the fixed arm 31 is held at the locked position by the locking mechanism 5 after the fixing step, and a gripping releasing step of releasing the state in which the part is gripped between the fixed arm 31 and the movable arm 32 by moving the movable arm 32 to an open position after the locking step. Therefore, by making the fixed arm 31 movable relative to the support mechanism 2 when releasing the grip of the part, it is possible to make it difficult for the restoring force A of the fixed arm 31 to be applied to the part. This makes it possible to prevent the hardened adhesive 130 from being damaged. This makes it possible to prevent the fixed state of the component from being deteriorated. In addition, the locking process and the gripping process are performed before the placement process. This makes it possible to accurately position the tip of the fixing arm 31 when gripping the component, placing the component in the target position, and fixing the component.

[0076] In the first embodiment, the rail 4a is fixed to the support mechanism 2, and the guide table 4b is fixed to the gripping mechanism 3. However, this is not limited to this. For example, the rail 4a may be fixed to the gripping mechanism 3, and the guide table 4b may be fixed to the support mechanism 2.

[0077] Embodiment 2 12 is a schematic diagram showing a state when the gripping device releases the gripping of the lens in the gripping device 1 of the embodiment 2. The gripping device 1 of the embodiment 2 has a different aspect of the connecting mechanism 4 compared to the gripping device 1 of the embodiment 1.

[0078] The connecting mechanism 4 has a connecting shaft 4c and a rotation support member 4d. The rotation support member 4d has a hole into which the connecting shaft 4c is inserted. The connecting shaft 4c is fixed to the support mechanism 2. The rotation support member 4d is fixed to the gripping mechanism main body 30. The connecting shaft 4c is inserted into the hole of the rotation support member 4d. In this way, the connecting mechanism 4 connects the support mechanism 2 and the gripping mechanism 3. The axis of the connecting shaft 4c is along the z-axis shown in FIG.

[0079] The connecting mechanism 4 connects the gripping mechanism 3 to the support mechanism 2 so as to be rotatable about the axis of the connecting shaft 4c. Therefore, the fixed arm 31 can move between the locked position and the retracted position by the gripping mechanism 3 rotating about the connecting shaft 4c. The rest of the configuration of the gripping device 1 is similar to that of the gripping device 1 of the first embodiment, so a description thereof will be omitted.

[0080] Next, a method for installing an object using the gripping device 1 according to embodiment 2 will be described. Movement to the fixed arm 31 in the grip release step will be described. Other configurations of the installation method are the same as those of the method for installing an object using the gripping device 1 according to embodiment 1, so descriptions will be omitted.

[0081] In the gripping process, the gripping device 1 grips the lens 120. Therefore, the fixed arm 31 and the movable arm 32 are each bent, and a restoring force is generated in each of the fixed arm 31 and the movable arm 32. In the gripping release process, the movable arm 32 is moved to the open position, and the gripping state of the gripping mechanism unit 3 is released.

[0082] Even when the movable arm 32 is separated from the lens 120, the fixed arm 31 continues to be in contact with the side surface of the lens 120. In other words, the fixed arm 31 is in a bent state, and a restoring force A is generated in the fixed arm 31. The lens 120 opposes the restoring force A of the fixed arm 31. A reaction force B from the lens 120 based on the restoring force A is applied to the fixed arm 31.

[0083] The gripping mechanism 3 is in an unlocked state before the gripping state of the gripping device 1 is released. The gripping mechanism 3 in the unlocked state is moved by the reaction force B at the moment the gripping state is released.

[0084] The reaction force B causes the fixed arm 31 to move in the direction D about the axis of the connecting shaft 4c and away from the movable arm 32. As a result, the fixed arm 31 moves from the locked position toward the retracted position relative to the support mechanism 2.

[0085] As a result, the fixed arm 31 moves away from the lens 120. Therefore, the bending of the fixed arm 31 is released, and the restoring force A and the reaction force B disappear.

[0086] According to the gripping device 1 of the second embodiment, the connecting mechanism 4 has a connecting shaft 4c that connects the gripping mechanism 3 to the support mechanism 2, and the fixed arm 31 moves between the locked position and the retracted position by the gripping mechanism 3 rotating about the connecting shaft 4c. Therefore, when the grip of the part is released, the gripping mechanism 3 moves toward the retracted position while rotating relative to the support mechanism 2 due to the restoring force of the fixed arm 31. This makes it possible to make it difficult for the hardened adhesive 130 to be damaged when the grip of the part is released. Therefore, it is possible to suppress the fixing state of the part from being deteriorated.

[0087] In the second embodiment, the connecting shaft 4c is fixed to the support mechanism 2, and the rotation support member 4d is fixed to the gripping mechanism 3. However, this is not limited to this. For example, the connecting shaft 4c may be fixed to the gripping mechanism 3, and the rotation support member 4d may be fixed to the support mechanism 2.

[0088] In addition, in the first and second embodiments, the electromagnet 5a is fixed to the support mechanism 2, and the magnetic member 5b is fixed to the gripping mechanism 3. However, this is not limited to this. For example, the electromagnet 5a may be fixed to the gripping mechanism 3, and the magnetic member 5b may be fixed to the support mechanism 2.

[0089] In the first and second embodiments, the locking mechanism 5 is composed of an electromagnet 5a and a magnetic member 5b. However, this is not limited to this. For example, the locking mechanism 5 may be composed of a rod-shaped member that can be moved forward and backward by an air valve, and a member having a hole into which the rod-shaped member is inserted. Furthermore, the locking mechanism 5 may be composed of a known configuration. The locking mechanism 5 may be any mechanism that can make the gripping mechanism 3 movable or immovable relative to the support mechanism 2.

[0090] In the first and second embodiments, the arm drive mechanism 34 moves the movable arm 32 by the shaft 34b protruding from the air cylinder 34a and the movement of the spring 34c in the contracting direction. However, this is not limited to this. For example, the movable arm 32 may be moved by a motor. Furthermore, the movable arm may be moved by using a well-known configuration as a drive mechanism.

[0091] In addition, in the first and second embodiments, the movable arm 32 is fixed to a moving member 33b that moves on the arm movement rail 33a. Therefore, the movable arm 32 can move along the arm movement rail 33a. However, this is not limited to this. For example, the end of the movable arm 32 may be rotatably fixed to the gripping mechanism unit 3. Furthermore, a well-known moving mechanism may be adopted for the movable arm 32. That is, it is only necessary that the tip of the movable arm 32 and the tip of the fixed arm 31 can grip the object by the movement of the movable arm 32. Therefore, the movement form of the movable arm 32 can be selected appropriately.

[0092] In addition, in the first and second embodiments, the fixed arm 31 and the movable arm 32 are configured from elongated rod-shaped members. However, this is not limited to this. For example, the fixed arm 31 and the movable arm 32 may be configured from rod-shaped members that are not elongated.

[0093] Furthermore, in the first and second embodiments, the gripping device 1 attached to the arm 100 can adjust its position along each of the x-axis, y-axis, and z-axis, and its position around each of the x-axis, y-axis, and z-axis. However, this is not limited to this. For example, the position of the gripping device 1 may be adjusted about an appropriate axis. Furthermore, the position of the gripping device 1 may not be adjustable. In that case, the object to be gripped and the location where the object to be gripped is placed may be adjustable in position relative to the gripping device 1.

[0094] In the first and second embodiments, the lens 120 is attached to the base 135 using the ultraviolet-curing adhesive 130. However, the present invention is not limited to this. Any adhesive may be used as the adhesive 130.

[0095] In addition, in the first and second embodiments, the shaft 34b and the movable arm 32 are not connected to each other. However, this is not limited to this. The shaft 34b and the movable arm 32 may be connected to each other. [Explanation of symbols]

[0096] 1 gripping device, 2 support mechanism, 3 gripping mechanism, 4 connecting mechanism, 4a rail, 4b guide table, 4c connecting shaft, 4d rotation support member, 5 lock mechanism, 5a electromagnet, 5b magnetic member, 30 gripping mechanism body, 31 fixed arm, 32 movable arm, 33 arm movement mechanism, 33a arm movement rail, 33b moving member, 34 arm drive mechanism, 34a air cylinder, 34b shaft, 34c spring, 34d air intake, 100 arm, 110 air hose, 120 lens, 130 adhesive, 135 base.

Claims

1. A support mechanism; a gripping mechanism including a gripping mechanism body, a fixed arm fixed to the gripping mechanism body, and a movable arm movably supported on the gripping mechanism body; The fixed arm is movable between a lock position and a retracted position relative to the support mechanism. a connecting mechanism that connects the gripping mechanism to the support mechanism in a state in which the gripping mechanism is supported by the support mechanism; a lock mechanism capable of holding the position of the fixed arm relative to the support mechanism at the lock position; Equipped with the connecting mechanism connects the support mechanism and the gripping mechanism body so that the gripping mechanism body is movable relative to the support mechanism, the movable arm is located with respect to the fixed arm on an opposite side to a retracted side along which the fixed arm moves from the lock position to the retracted position, The movable arm is movable relative to the fixed arm between an open position and a closed position closer to the fixed arm than the open position, the gripping mechanism moves the movable arm to the closed position when the fixed arm is held at the locked position by the locking mechanism, and moves the movable arm to the open position when the state in which the fixed arm is held at the locked position by the locking mechanism is released. gripping device.

2. the coupling mechanism slidably couples the gripping mechanism to the support mechanism, the fixed arm moves between the lock position and the retracted position by the gripping mechanism sliding relative to the support mechanism. The gripping device according to claim 1 .

3. the connecting mechanism has a connecting shaft that connects the gripping mechanism to the support mechanism, The fixed arm moves between the lock position and the retracted position by the gripping mechanism rotating about the connecting shaft. The gripping device according to claim 1 .

4. The lock mechanism includes an electromagnet and a magnetic member. the electromagnet is provided on one of the support mechanism and the gripping mechanism, and the magnetic member is provided on the other of the support mechanism and the gripping mechanism; the locking mechanism holds the position of the fixed arm at the locking position by causing the electromagnet to attract the magnetic member. A gripping device according to any one of claims 1 to 3.

5. a locking step of holding the position of the fixed arm relative to the support mechanism in the gripping device according to any one of claims 1 to 4 at the locked position by the lock mechanism; a gripping step of gripping a part between the fixed arm and the movable arm by moving the movable arm to the closed position after the locking step; a placement step of placing the component at a target position in a state where the component is held between the fixed arm and the movable arm after the holding step; a fixing step of fixing the component at the target position after the placing step; an unlocking step of releasing a state in which the position of the fixing arm is held at the locked position by the locking mechanism after the fixing step; a gripping release step of releasing the state in which the part is gripped between the fixed arm and the movable arm by moving the movable arm to the open position after the lock release step; An installation method comprising:

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