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US 11,027,383 B2Granted
Workpiece clamping device, and processing system having workpiece clamping device
AssigneeFanuc Corporation
InventorYoshiaki Dohi
Life of this patent
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Abstract
A workpiece clamping device able to perform a set-up changing operation for clamping members depending on the kind of a workpiece to be processed, at a low cost, by a simple method. The workpiece clamping device includes a bracket, a movable part which is movable with respect to the bracket, a clamping member to be attached to and detached from the bracket or the movable part, to clamp a workpiece, and a detachable device for detachably coupling the bracket or the movable part to the clamping member.
Claims7
A processing system comprising:
- a robot including a robot hand having openable and closable fingers;
- a robot controller configured to control the robot;
- and
- a workpiece clamping device comprising:
- a bracket;
- a movable part provided movable in a first direction with respect to the bracket;
- a clamping member detachably attached to the bracket or the movable part so as to clamp a workpiece, the clamping member including holes configured to engage the fingers respectively;
- and
- a detachable device configured to detachably connect the bracket or the movable part and the clamping member to each other,
- wherein the detachable device includes:
- a coupling shaft provided at one of the bracket or the movable part and the clamping member so as to project out therefrom in the first direction;
- a hole formed at the other of the bracket or the movable part and the clamping member so as to receive the coupling shaft slidably in the first direction;
- and
- a claw provided at the coupling shaft so as to be movable between:
- a projection position at which the claw project out from the coupling shaft so as to engage a surface defining the hole;
- and
- a retraction position at which the claw retracts inward of the coupling shaft,
- wherein the robot controller is configured to control the robot so as to:
- arrange the robot hand such that the clamping member stored in a predetermined place is disposed between the opened fingers;
- close the fingers to engage the fingers with the respective holes, thereby gripping the clamping member with the robot hand;
- move the clamping member gripped by the robot hand so as to dispose the clamping member between the bracket and the movable part;
- and
- when the clamping member is held between the bracket and the movable part and the detachable device connects the bracket or the movable part with the clamping member, open the fingers to release the clamping member from the robot hand, and retract the robot hand from the clamping member.
20 more elements
Dependencies are inferred from the claim text.