Workpiece gripping device

Patent metadata

Field	Value
Publication number	US-2018333864-A1
Application number	US-201815973897-A
Country	US
Kind code	A1
Filing date	May 8, 2018
Priority date	May 18, 2017
Publication date	Nov 22, 2018
Grant date	—

Abstract

A workpiece gripping device includes a base body and a pair of finger units configured to grip a workpiece. A first finger unit of the pair of finger units includes a scoop member configured to reciprocate in the direction of the arrow Z relative to the base body and rotate on a plane perpendicular to the direction of the arrow Z. A second finger unit of the pair of finger units includes a pressing member configured to reciprocate in the direction of the arrow X and rotate on a plane perpendicular to the direction of the arrow Z.

First claim

What is claimed is:

1 . A workpiece gripping device including a base body and a gripping mechanism disposed on the base body and configured to grip a workpiece;
wherein the gripping mechanism comprises: a first finger unit having a first retaining structure configured to reciprocate in a first axial direction relative to the base body and rotate on a plane perpendicular to the first axial direction; and a second finger unit having a second retaining structure configured to reciprocate in a second axial direction perpendicular to the first axial direction and rotate on a plane perpendicular to the first axial direction.

2 . The workpiece gripping device according to claim 1 , wherein:
the first axial direction is a direction in which the first retaining structure is made to approach toward or separate away from the base body; and the second axial direction is a direction in which the second retaining structure is made to approach toward or separate away from the first finger unit.

3 . The workpiece gripping device according to claim 2 , wherein:
the base body includes a fixed gripping body that projects in a direction perpendicular to the second axial direction; and the second finger unit includes a movable gripping body configured to, by moving along the second axial direction, grip the workpiece between the movable gripping body and the fixed gripping body.

4 . The workpiece gripping device according to claim 3 , wherein:
the fixed gripping body projects from the base body in a direction opposite to a direction in which the first finger unit projects; and the movable gripping body penetrates from the second finger unit through an elongate hole disposed in the base body, and projects in a direction opposite to a direction in which the second finger unit projects.

5 . The workpiece gripping device according to claim 1 , wherein, as viewed in plan, the first and second retaining structures are arranged in a manner so that directions of rotation from a standby position of waiting prior to retaining the workpiece toward a retaining position of retaining the workpiece are mutually opposite to each other.

6 . The workpiece gripping device according to claim 5 , wherein at least one of the first and second retaining structures has a tapered portion on a side in a direction from the standby position toward the retaining position.

7 . The workpiece gripping device according to claim 5 , wherein each of the first and second retaining structures has a claw member projecting from a side in a direction from the standby position toward the retaining position.

8 . The workpiece gripping device according to claim 1 , wherein:
the first finger unit includes a longitudinal actuator connected to the base body and configured to move the first retaining structure along the first axial direction, and a first rotary actuator connected to the longitudinal actuator and configured to rotate the first retaining structure; and the second finger unit includes a lateral actuator connected to the base body and configured to move the second retaining structure along the second axial direction, and a second rotary actuator connected to the lateral actuator and configured to rotate the second retaining structure.

Assignees

• Smc Corp

Inventors

• Hara Koji

Classifications

• B25J15/0253 Primary

  comprising parallel grippers · CPC title

• Y10S901/39

  Jaw structure · CPC title

• B25J15/024

  having fingers directly connected to actuator · CPC title

• B25J15/0052 Primary

  multiple gripper units or multiple end effectors · CPC title

• B25J15/0293

  having fingers directly connected to actuator · CPC title