Workpiece gripping device

Patent metadata

Field	Value
Publication number	US-11235474-B2
Application number	US-201816614117-A
Country	US
Kind code	B2
Filing date	Apr 11, 2018
Priority date	May 18, 2017
Publication date	Feb 1, 2022
Grant date	Feb 1, 2022

Abstract

A workpiece gripping device includes a gripping body part that includes a slit into which a plate-shaped part of a workpiece can be inserted; and a positioning mechanism that includes an engagement part that is structured to be engaged with the plate-shaped part of the workpiece in the slit of the gripping body part, in order to position the workpiece.

First claim

The invention claimed is:

1. A workpiece gripping device attached to a robot and used for gripping a workpiece, the workpiece including a plate-shaped part in at least a part thereof, the device comprising:
a gripping body part including a slit into which the plate-shaped part of the workpiece is configured to be inserted; and
a positioning mechanism including an engagement part configured to be engaged with the plate-shaped part of the workpiece in the slit of the gripping body part, in order to position the workpiece,
wherein the positioning mechanism includes a positioning pin configured to move in a thickness direction of the slit, and a positioning actuator configured to drive the positioning pin.

2. The workpiece gripping device according to claim 1 , wherein:
the positioning actuator includes an output part configured to operate in the thickness direction of the slit; and
the positioning pin is inserted into a pin insertion hole provided in the gripping body part, and is fixed to a tip end part of the output part.

3. The workpiece gripping device according to claim 1 , further comprising a stabilizer configured to suppress a movement of the workpiece inserted into the slit,
wherein the stabilizer includes a contact part configured to contact an edge part of the workpiece, and an actuator configured to move the contact part.

4. The workpiece gripping device according to claim 3 , wherein the contact part is arranged in the slit.

5. The workpiece gripping device according to claim 3 , wherein:
the positioning mechanism includes a positioning pin configured to move in a thickness direction of the slit; and
the contact part is arranged on an inner side of the slit relative to the positioning pin.

6. The workpiece gripping device according to claim 1 , wherein:
the gripping body part includes a base part and two arm parts that extend from the base part and face each other, and the gripping body part has an elongate-bar shape as a whole; and
the slit is formed between the two arm parts.

7. The workpiece gripping device according to claim 6 , wherein a tip end of at least one of the two arm parts has a wedge shape.

8. A workpiece gripping device attached to a robot and used for gripping a workpiece, the workpiece including a plate-shaped part in at least a part thereof, the device comprising:
a gripping body part including a slit into which the plate-shaped part of the workpiece is configured to be inserted;
a positioning mechanism including an engagement part configured to be engaged with the plate-shaped part of the workpiece in the slit of the gripping body part, in order to position the workpiece; and
a pressing member projecting into the slit,
wherein the gripping body part includes first and second arm parts that face each other, the slit being formed between the first arm part and the second arm part;
the pressing member projects from the first arm part toward the second arm part in the slit, and
wherein the pressing member is configured to press the workpiece inserted into the slit, in a thickness direction of the workpiece to clip the workpiece between the pressing member and the second arm part.

9. The workpiece gripping device according to claim 8 , wherein the pressing member is arranged on an inner side of the slit relative to the engagement part of the positioning mechanism.

10. The workpiece gripping device according to claim 8 , wherein the pressing member is a ball plunger that includes a ball and a spring configured to elastically energize the ball.

11. The workpiece gripping device according to claim 8 , wherein the pressing member is inserted into a hole part provided in the gripping body part.

12. The workpiece gripping device according to claim 8 , further comprising a stabilizer configured to suppress a movement of the workpiece inserted into the slit, wherein:
the stabilizer includes a contact part configured to contact an edge part of the workpiece, and an actuator configured to move the contact part; and
the pressing member comprises at least two pressing members and the two pressing members are arranged to be separated from each other so that the contact part is configured to be inserted therebetween.

Assignees

• Smc Corp

Inventors

• Seo Takeshi

Classifications

• B25J15/009 Primary

  with pins for accurately positioning the object on the gripping head · CPC title

• B66C1/48

  to vertical edge portions of sheets, tubes, or like thin or thin-walled articles (internally-expanding grippers B66C1/54) · CPC title

• B25J15/00 Primary

  Gripping heads {and other end effectors (grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used for mounting electrical components H05K13/04; gripping means used in the manufacture of semiconductors H10P72/7602)} · CPC title