阅读说明：本技术 握持机构和组装装置 (Holding mechanism and assembling device ) 是由 安藤聡 于 2019-12-16 设计创作，主要内容包括：握持机构(3)具备支托件(31)、握持轮(32)、第一可活动板(331)、第二可活动板(332)、第一弹簧(341)和第二弹簧(342)。支托件(31)用于收纳握持轮(32)。第一可活动板(331)和第二可活动板(332)用于在支托件(31)中夹着握持轮(32)。第一弹簧(341)用于将第一可活动板(331)朝向握持轮(32)推压。第二弹簧(342)用于将第二可活动板(332)朝向握持轮(32)推压。握持机构(3)将第一部件(4)的被握持部(42)握持在第一可活动板(331)与握持轮(32)之间。(The holding mechanism (3) is provided with a holder (31), a holding wheel (32), a first movable plate (331), a second movable plate (332), a first spring (341), and a second spring (342). The holder (31) is used for accommodating the holding wheel (32). The first movable plate (331) and the second movable plate (332) are used for sandwiching the grip wheel (32) in the holder (31). The first spring (341) is for urging the first movable plate (331) toward the grip wheel (32). The second spring (342) is for urging the second movable plate (332) toward the grip wheel (32). The gripping mechanism (3) grips the gripped portion (42) of the first member (4) between the first movable plate (331) and the gripping wheel (32).)

1. A gripping mechanism is provided with:

a rolling body;

a frame for housing the rolling bodies;

a first movable plate and a second movable plate for sandwiching the rolling bodies in the frame;

a first elastic body for urging the first movable plate toward the rolling body; and

a second elastic body for urging the second movable plate toward the rolling body,

the holding mechanism holds a holding object between the first movable plate and the rolling body.

2. The grip mechanism of claim 1,

the frame having an opening for receiving insertion of the holding object,

the first movable plate and the second movable plate are each rotatably supported by the frame at a peripheral portion of the opening.

3. The grip mechanism of claim 1,

the second movable plate is inclined with respect to the vertical direction, thereby supporting the weight of the rolling bodies.

4. The grip mechanism of claim 1,

the first elastic body has a first spring, the second elastic body has a second spring,

the second spring is stronger than the first spring.

5. The grip mechanism of claim 1,

the frame is provided with a side plate,

the side plate has a cutout portion for allowing the gripping object to pass therethrough and preventing the rolling elements from passing therethrough.

6. An assembling device for a medical instrument, which comprises a base,

comprising the gripping mechanism and the driving mechanism according to claim 1,

the drive mechanism moves the holding mechanism relative to the object to be held.

Technical Field

The invention relates to a holding mechanism and an assembling device.

Background

The assembling device described in patent document 1 includes a chuck mechanism that holds a component and conveys the component. The chuck mechanism is an electric holding mechanism. In addition, a gripping mechanism using air suction or electric suction is also known.

[ patent document ]

Patent document 1: japanese laid-open patent publication No. 7-241733

Disclosure of Invention

The prior art gripping mechanisms utilize power such as air pressure or electrical power and are therefore costly or prone to failure.

Accordingly, the present invention has been made in view of the above problems, and an object thereof is to provide a gripping mechanism which is low in cost and less likely to fail, and an assembly device having the gripping mechanism.

The gripping mechanism of the present invention includes a rolling element, a frame, a first movable plate, a second movable plate, a first elastic body, and a second elastic body. The frame is used for accommodating the rolling bodies. The first movable plate and the second movable plate are for sandwiching the rolling bodies in the frame. The first elastic body is configured to press the first movable plate toward the rolling body. The second elastic body is used for pushing the second movable plate toward the rolling body. The holding mechanism holds a holding object between the first movable plate and the rolling body.

The assembling device of the present invention includes the gripping mechanism and a driving mechanism that moves the gripping mechanism relative to the object to be gripped.

[ Effect of the invention ]

According to the present invention, it is possible to provide a gripping mechanism that is low in cost and less likely to malfunction, and an assembly device having the gripping mechanism. Moreover, even if the position of the object to be gripped is slightly offset with respect to the gripping mechanism, the object to be gripped is gripped between the first movable plate and the rolling bodies.

Drawings

Fig. 1 shows an example of an assembly apparatus according to an embodiment of the present invention.

Fig. 2 is a front view of an example of a holding mechanism according to an embodiment of the present invention.

Fig. 3 is a sectional view III-III of fig. 2.

Fig. 4 is a perspective view of an example of the first member and the second member.

Fig. 5 is a sectional view for explaining the operation of the gripping mechanism.

Fig. 6 is a sectional view for explaining the operation of the gripping mechanism.

Fig. 7 is a front view of a modification of the gripping mechanism.

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to fig. 1 to 6. In fig. 1 and 2, for convenience of explanation, the left-to-right direction is the positive direction of the X axis, the direction from the paper surface to the front of the eyes is the positive direction of the Y axis, and the top-to-bottom direction is the positive direction of the Z axis. In the drawings, the same or corresponding portions are denoted by the same reference numerals, and description thereof will not be repeated.

First, an assembly apparatus 100 according to an embodiment will be described with reference to fig. 1. Fig. 1 shows an example of an assembly apparatus 100 according to the embodiment.

As shown in fig. 1, the assembling apparatus 100 is an apparatus for fitting the first member 4 into the second member 5 to perform assembly. The assembly apparatus 100 includes a robot 1, a misalignment correction device 2, and a gripping mechanism 3.

The gripping mechanism 3 is used to grip the first component 4. The second component 5 is positioned on the positioning mechanism 10.

The positional deviation correcting device 2 is for correcting a positional deviation of the first member 4 held by the holding mechanism 3 with respect to the second member 5. Specifically, the positional displacement correction device 2 detects the direction of the force acting on the first member 4 in the process of fitting the first member 4 to the second member 5, and corrects the positional displacement of the first member 4 in accordance with the direction of the force.

The robot 1 moves the gripping mechanism 3 relative to the first member 4 or moves the gripping mechanism 3 relative to the second member 5. Specifically, the robot 1 moves the holding mechanism 3 to the storage position of the first member 4, holds the first member 4 by the holding mechanism 3, and then moves the first member 4 directly above the second member 5 together with the holding mechanism 3. Then, the robot 1 moves the first member 4 together with the gripping mechanism 3 in the positive direction of the Z axis, thereby fitting the first member 4 into the second member 5. After the fitting is achieved, the robot 1 releases the grip of the first member 4 by the gripping mechanism 3 and moves the gripping mechanism 3 in the negative direction of the Z axis. The robot 1 corresponds to an example of a "drive mechanism".

Next, the gripping mechanism 3 according to the embodiment will be described with reference to fig. 2 and 3. Fig. 2 is a front view of an example of the holding mechanism 3 according to the embodiment. Fig. 3 is a sectional view III-III of fig. 2.

As shown in fig. 2, the gripping mechanism 3 includes a holder 31 and a gripping wheel 32. The longitudinal direction of the carrier 31 and the longitudinal direction of the gripping wheel 32 are both the X-axis direction. The holder 31 corresponds to an example of a "frame". The grip wheel 32 corresponds to an example of "rolling body".

As shown in fig. 3, the grip wheel 32 has a cylindrical core 321 and a coating 322 that coats an outer circumferential surface of the core 321. For example, the core 321 is made of metal such as iron, and the cover 322 is made of elastomer such as polyacetal resin. The density of the core 321 is greater than that of the cladding 322. The covering 322 is capable of compressive deformation. The friction coefficient of the outer circumferential surface of the clad portion 322 is larger than that of the outer circumferential surface of the core portion 321.

As shown in fig. 3, the holder 31 is a frame for accommodating the grip wheel 32, and includes a bottom plate 310, a back plate 311, a top plate 312, an upper front plate 313, a lower front plate 314, and left and right side plates 316. The carrier 31 is made of, for example, a light metal such as aluminum.

The base plate 310 is a rectangular plate extending along the XY plane. The back plate 311 is a rectangular plate starting from the rear edge of the bottom plate 310 and extending along the ZX plane. The top plate 312 is a rectangular plate starting from the upper edge of the back plate 311 and extending along the XY plane. The upper front plate 313 is a rectangular plate that starts from the front edge of the top plate 312 and extends in a direction obliquely downward away from the back plate 311. The lower front plate 314 is a rectangular plate that starts at the lower edge of the upper front plate 313 and extends in a direction that is obliquely downward and close to the back plate 311.

Between the front edge of the bottom plate 310 and the lower edge of the lower front plate 314, an opening 315 is formed.

As shown in fig. 3, the holding mechanism 3 further includes a first movable plate 331, a second movable plate 332, a first spring 341, and a second spring 342. For example, the first movable plate 331 and the second movable plate 332 are also composed of light metal such as aluminum.

The first movable plate 331 is a rectangular plate extending toward the inside of the holder 31 with the front edge of the bottom plate 310 as a starting end. The first movable plate 331 is rotatably supported by the front edge of the base plate 310 in the peripheral portion of the opening 315 by a first hinge 310 a.

The second movable plate 332 is a rectangular plate extending toward the inner side of the holder 31 with the lower edge of the lower front plate 314 as a starting end. The second movable plate 332 is rotatably supported by the lower edge of the lower front plate 314 in the peripheral portion of the opening 315 by a second hinge 314 a.

The first movable plate 331 and the second movable plate 332 sandwich the holding wheel 32 in the holder 31. The first spring 341 urges the first movable plate 331 toward the grip wheel 32. The second spring 342 urges the second movable plate 332 toward the grip wheel 32. The second spring 342 is stronger than the first spring 341. That is, the elastic coefficient of the second spring 342 is greater than that of the first spring 341. The first spring 341 corresponds to an example of "first elastic body", and the second spring 342 corresponds to an example of "second elastic body".

Fig. 3 shows an initial state of the gripping mechanism 3. The weight of the holding wheel 32 and the elastic coefficients of the first spring 341 and the second spring 342 are adjusted in advance, so that the first movable plate 331 extends substantially parallel to the back plate 311 in the initial state.

The width of the opening 315 in the Y direction is smaller than the diameter of the gripping wheel 32. Therefore, the grip wheel 32 does not fall through the opening 315. The first movable plate 331 and the second movable plate 332 support the weight of the grip wheel 32. The opening 315 is capable of receiving insertion of a holding object.

The bottom plate 310, the back plate 311, the top plate 312, the upper front plate 313, and the lower front plate 314 each form a substantially pentagonal opening on the left and right sides of the holder 31. Left and right side plates 316 are provided to close these openings. At least one of the side plates 316 has a notch 317 at a position close to the back plate 311, and when the grip is released, the notch 317 allows the object to be gripped to pass through and prevents the grip wheel 32 from passing through.

For example, the side plates 316 are freely openable and closable, and the grip wheels 32 can be moved in and out.

Next, the first member 4 and the second member 5 will be described with reference to fig. 4. Fig. 4 is a perspective view of an example of the first member 4 and the second member 5.

As shown in fig. 4, the first member 4 includes a member main body 41 and a held portion 42. The member body 41 has a substantially rectangular parallelepiped shape. The gripped portion 42 protrudes from the component main body 41, and is thereby easily gripped by the gripping mechanism 3. The held portion 42 is rectangular plate-shaped, and an end face of the held portion 42 is connected to one main surface of the component main body 41.

The second member 5 is a member in which a recess 52 is formed in a substantially rectangular parallelepiped member main body 51, and the recess 52 is used for receiving the member main body 41 of the first member 4.

Next, the operation of the gripping mechanism 3 will be described with reference to fig. 5 and 6. Fig. 5 and 6 are sectional views for explaining the operation of the gripping mechanism 3.

Fig. 5 shows a transitional state of the gripping mechanism 3. In fig. 5, the held portion 42 is inserted into the opening 315 not in close proximity to the first movable plate 331 in the initial state shown in fig. 3, but in a position at a distance from the first movable plate 331 into the opening 315. The inserted position of the held portion 42 is closer to the first movable plate 331 than the center of the holding wheel 32 in the initial state. The first member 4 is restricted from moving by an external device not shown. In the transitional state, the first spring 341 is expanded and the second spring 342 is shortened as compared with the initial state. Changes according to the insertion position of the gripped portion 42. The gripping mechanism 3 grips the gripped portion 42 between the first movable plate 331 and the gripping wheel 32 by the gravity acting on the gripping wheel 32.

Fig. 6 shows a steady state of the gripping mechanism 3. The restriction of the first member 4 by an external device not shown is released. Thus, in the position where the first spring 341 is balanced in interaction with the second spring 342, the first movable plate 331, the second movable plate 332, the grip wheel 32, and the first member 4 are stationary. In the steady state, the first spring 341 is shortened and the second spring 342 is lengthened as compared to the transient state. This is because the second spring 342 is stronger than the first spring 341. As a result, in the steady state as well, the gripping mechanism 3 opposes the gripped part 42 between the first movable plate 331 and the gripping wheel 32 by the gravity acting on the gripping wheel 32

The grip is performed. The second movable plate 332 is always inclined with respect to the Z-axis direction (vertical direction), thereby supporting the weight of the gripping wheel 32.

Moreover, in the stable state, the first movable plate 331 extends almost parallel to the back plate 311, so the contact area of the first movable plate 331 and the held portion 42 is large. As a result, a large gripping force is obtained. Further, due to the compressive deformation of the covering 322, the contact area between the gripping wheel 32 and the gripped part 42 is larger than in the case where the covering 322 is made of a non-elastic body. As a result, a larger grip force is obtained.

According to the embodiment, even if the insertion position of the gripped part 42 in the transition state is different from the insertion position shown in fig. 5, in the stable state, the gripped part 42 is always gripped between the first movable plate 331 and the gripping wheel 32 at the same position. Also, even if the thickness of the held portion 42 in the Y-axis direction is different, the held portion 42 is always held between the first movable plate 331 and the holding wheel 32 at the same position in the stable state.

The operation of the assembly apparatus 100 will be described below with reference to fig. 1 to 6.

In the first step, as shown in fig. 1, the robot 1 moves the gripping mechanism 3 to the storage position of the first member 4. Then, the robot 1 adjusts the posture of the holding mechanism 3 so that the held portion 42 and the back plate 311 are parallel to each other, and moves the holding mechanism 3 relative to the first member 4 in the positive direction of the Z axis. As shown in fig. 5, the gripped portion 42 enters the carrier 31 through the opening 315, and ascends in the carrier 31 while pushing away the gripping wheel 32. When the upper end of the gripped portion 42 reaches a position higher than the center of the gripping wheel 32, the movement of the gripping mechanism 3 is stopped. The held portion 42 is held between the first movable plate 331 and the holding wheel 32.

In the second step, the robot 1 moves the gripping mechanism 3 in the negative direction of the Z axis. As a result, the restriction on the first member 4 is released, and the steady state of the gripping mechanism 3 shown in fig. 6 is achieved. The robot 1 further moves the gripping mechanism 3 to transport the first member 4 to a position directly above the second member 5 as shown in fig. 1. The held portion 42 is held between the first movable plate 331 and the holding wheel 32, and this state is maintained.

In the third step, the robot 1 moves the gripping mechanism 3 in the positive direction of the Z axis. As a result, the first member 4 is fitted into the second member 5. In addition, if the held portion 42 slides between the first movable plate 331 and the holding wheel 32 at the time of fitting, an auxiliary device for pressing the first member 4 in the positive direction of the Z axis may be added. In any case, the stable state shown in fig. 6 is maintained at least until the fitting.

In the fourth step, the robot 1 moves the gripping mechanism 3 in the positive direction of the X axis. The gripped portion 42 slides between the first movable plate 331 and the gripping wheel 32, and further passes through the notch portion 317. As a result, the gripping of the first member 4 by the gripping mechanism 3 is released. The first member 4 is fitted into the second member 5, and this state is maintained.

In the fifth step, the robot 1 moves the gripping mechanism 3 in the negative direction of the Z axis, and returns the gripping mechanism 3 to the original position to prepare for the next operation.

Next, a modified example of the gripping mechanism 3 will be described with reference to fig. 7. Fig. 7 is a front view of a modification of the gripping mechanism 3.

The holding mechanism 3 of fig. 7 is different from the holding mechanism 3 of fig. 2 in that the number of holding wheels 32a received in the holder 31 is plural. When the weights of the plurality of gripping wheels 32a are different from each other, a plurality of gripping forces can be used separately. Also, in the plurality of gripping wheels 32a, the friction coefficients of the outer peripheral surfaces may be different from each other.

At least one set of the first movable plate 331, the second movable plate 332, the first spring 341, and the second spring 342 is provided with respect to the plurality of grip wheels 32 a.

According to the embodiment, as shown in fig. 2 and 7, the grip mechanism 3 requiring no power is configured by using one grip wheel 32 or a plurality of grip wheels 32 a. As a result, the gripping mechanism 3 is realized at low cost and is less likely to fail. Further, as shown in fig. 5 and 6, even if the position of the gripped portion 42 with respect to the gripping mechanism 3 is slightly offset, the gripped portion 42 is gripped between the first movable plate 331 and the gripping wheel 32.

The above embodiments are descriptions of preferred embodiments of the present invention, and various technical preferences may be technically limited, but the technical scope of the present invention is not limited to the above embodiments unless the present invention is particularly limited. That is, the components in the above-described embodiment may be replaced with components in the related art as appropriate, or may be variously modified by combining with other known components. The description of the above embodiments is not intended to limit the contents of the inventions described in the scope of the claims.

(1) In the embodiment, as shown in fig. 3, the first elastic body has a first spring 341, and the second elastic body has a second spring 342, but is not limited thereto. At least one of the first and second elastic bodies may have rubber, for example.

(2) In the embodiment, as shown in fig. 3, the grip wheel 32 has a core 321 made of metal and a coating 322 having elasticity, but is not limited thereto. For example, the gripping wheel 32 may be formed entirely of metal.

[ industrial availability ]

The present invention can be applied to the technical field of holding mechanisms and assembling devices.