JP2007069335A - Gripping device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gripping device capable of carrying a lengthy columnar work by correcting its inclination in the case of clamping the work unfixed on a placing table, etc. and carrying it to a fixing device such as a chuck, etc. demanding positional precision. <P>SOLUTION: This gripping device is devised to grip the work by a cylindrical body 1 forming a taper surface on an inner peripheral surface, a cylindrical slider 2 forming a taper surface on an inner peripheral surface, an operation plate 4 concentrically arranging a plurality of claw members 5 having inverted taper surfaces engaged with the taper surfaces of the body and the slider, arranging a spring 7 applying its load in a direction where the plurality of claw members are separated and arranged above the body and a spring 6 connecting the slider vertically sliding by sliding on the inner peripheral surface of the body, compressed in a direction to separate the body and the operation plate and inserted in it. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a gripping device suitable for gripping a long cylindrical workpiece.

  Numerous gripping devices have been used as a method of conveying a long cylindrical workpiece. The applicant of the present application is also Japanese Patent Application No. 2005-164892, and a cylindrical body whose lower part is opened, and a taper surface on an inner peripheral surface A cylindrical slider formed with a plurality of claw members having reverse taper surfaces engaged with the taper surface of the slider are concentrically arranged, and a spring is applied in a direction in which the plurality of claw members are separated from each other. A gripping device is proposed in which a plurality of independent claw members grip a long cylindrical workpiece with a hollow portion inside the body.

  With the above gripping device, it is possible to grip a plurality of long cylindrical workpieces with different workpiece dimensions with the same gripping device, etc., especially when clamping a fixed workpiece with a slight inclination, Since the contact position of the taper surface of the claw member can be balanced and clamped according to the vertical or rotational direction according to the workpiece, the workpiece can be clamped while allowing the workpiece to be tilted. The occurrence of breakage can be prevented.

However, when clamping an unfixed work such as a table and transporting it to a fixing device such as a chuck that requires positional accuracy, the tilt at the time of clamping the work is maintained as it is during transport. There is a case where the workpiece and the counterpart fixing device interfere with each other when transported to the counterpart fixing device having a small clearance.
Japanese Patent Application No. 2005-164892

  The present invention can clamp a workpiece that is not fixed, such as a pedestal, and transport it to a fixing device such as a chuck that requires positional accuracy to correct the inclination of the long cylindrical workpiece. An object is to provide a gripping device.

As means for solving the above-described problems, the present invention provides a cylindrical body having a tapered surface on the inner peripheral surface, a cylindrical slider having a tapered surface on the inner peripheral surface, and a taper for the body and the slider. A plurality of claw members having reverse tapered surfaces that engage with the surface are arranged concentrically, and a spring that is loaded in the direction in which the plurality of claw members are separated from each other is arranged. A long cylindrical workpiece is gripped by a hollow portion inside the body.

A cylindrical body having a tapered surface on the inner peripheral surface; a cylindrical slider having a tapered surface formed on the inner peripheral surface; and a plurality of reverse tapered surfaces engaged with the tapered surface of the body and the slider. The claw members are arranged concentrically, and a spring is placed in the direction in which the claw members are separated from each other. The operation plate placed above the body and the inner peripheral surface of the body slide to slide up and down. The slider is connected by a shaft that penetrates the upper surface of the body, and is gripped by a spring that is compressed and inserted in a direction away from the body and the operation plate.

A cylindrical body having a tapered surface on the inner peripheral surface; a cylindrical slider having a tapered surface formed on the inner peripheral surface; and a plurality of reverse tapered surfaces engaged with the tapered surface of the body and the slider. The claw members are arranged concentrically and a spring is placed in the direction in which the plurality of claw members are separated from each other. The cylinder arranged above the body and the inner peripheral surface of the body slide to slide up and down. A slider is connected to a piston and gripped by air pressure.

  By adopting the above configuration, by engaging the tapered surface formed on the body and the slider and the tapered surface formed on the claw member, the claw member is positioned at both ends, so the holding length is long, There is no tilt of the workpiece.

  Further, even if an external force is applied, it is received by the tapered surface, so that the holding force is large and there is no deviation.

  In addition, since multiple independent claw members grip the long cylindrical workpiece in the hollow part inside the body, the overall length is not increased, and the outer shape is small and compact because it is formed as a thin cylindrical part. it can.

  In addition, since the plurality of claw members are arranged radially by fitting with the taper surface of the slider, it has a large amount of movement compared to a collet that grips by elastic deformation of the material, and a plurality of long cylindrical shapes with different workpiece dimensions The workpiece can be gripped by the same gripping device.

In the method of claim 2, since the gripping is performed by the elastic force of the spring, it is possible to prevent the workpiece from dropping due to air breakage in the middle of conveyance, and it is only necessary to use the drive source only when releasing the workpiece. It is also possible to operate the gripping device with a drive source such as a single cylinder or cam.

Further, as in the method of claim 2, the drive source is externally driven and simultaneously driven, or as in the method of claim 3, each cylinder has a drive source and is operated by separate control. It is possible to cope with various device configurations.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in FIG. 1, the gripping device of the present embodiment has a cylindrical slider 1 with a tapered surface on an inner peripheral surface and a cylindrical slider 2 with a tapered surface on the inner peripheral surface. A plurality of claw members 5 having opposite tapered surfaces that are inserted so as to face each other and engage with the tapered surfaces formed on the body 1 and the slider 2 are arranged concentrically.
The plurality of claw members 5 are provided with springs B7 that are loaded in the direction in which adjacent claw members are separated from each other, and slide on the operation plate 4 disposed above the body drawing and the inner peripheral surface of the body 1. A slider 2 that slides up and down is connected by a shaft 3 that penetrates the upper surface of the body.

Between the body 1 and the operation plate 4, a spring A6 compressed in a direction in which the body 1 and the operation plate 4 are separated from each other is inserted.

Next, the operation will be described.

Since the spring A6 is disposed between the body 1 and the operation plate 4, the slider 2 connected to the operation plate 4 by the shaft 3 exerts a force to move upward.

Therefore, the second taper surface 9 of the three claw members 5 and the first taper surface 8 formed on the inner peripheral surface of the slider 2 and the third taper surface 10 formed on the inner peripheral surface of the body 1 respectively. With the fourth taper surface 11, the three claw members 5 move in the center direction while compressing the spring B7.

Next, as shown in FIG. 4, when an external load such as a pusher not explicitly shown in the drawing is applied to the operation plate 4, the slider 2 connected to the operation plate 4 by the shaft 3 moves downward. The second taper surface 9 and the fourth taper surface 9 of the three claw members 5 are respectively fitted to the first taper surface 8 formed on the inner peripheral surface of the slider 2 and the third taper surface 10 formed on the inner peripheral surface of the body 1. The three claw members 5 are moved in the opening direction by the force of the spring B7 by the tapered surface 11.

When the workpiece 12 is inserted into the hollow portion of the gripping device in this state and the pusher is raised, the operation plate 4 is raised by the force of the spring A 6, and the claw member 5 fitted to the taper surface 8 of the slider 2 moves in the direction of the workpiece 9. Move to and hold.

At this time, the workpiece 12 is gripped as shown in FIG. 5, but the force of the spring A6 is always applied to the workpiece 12 by gripping before the closed state shown in FIG. Can be clamped.

As another embodiment, as shown in FIG. 6, a cylindrical body 1 having a tapered surface on the inner peripheral surface, a cylindrical slider 2 having a tapered surface on the inner peripheral surface, the body 1 and the slider A plurality of claw members 5 having reverse tapered surfaces engaged with the two tapered surfaces are arranged concentrically.

A spring A6 that is loaded in the direction in which the plurality of claw members 5 are separated from each other is disposed, and a cylinder 13 disposed above the body 1 and a slider 2 that slides up and down on the inner peripheral surface of the body are attached to the piston 14. The slider 13 is moved up and down by connecting, forming a pressure chamber with the cylinder 13 and the piston 14, and operating the piston 14 up and down by air pressure.

About operation | movement, since it changed into the cylinder 15 and the piston 16 instead of the operation plate 4, the shaft 3, and the spring A6, it abbreviate | omits.

Note that the cylinder may be a single acting type in addition to the backward acting type.

As for the shape of the tapered surface, any shape that satisfies the gist such as a conical shape as well as a conical shape is effective.

The gripping device is a gripping device suitable for gripping a long cylindrical workpiece, but it is also effective to use it as a fixing device for a jig or the like in addition to transporting.

Sectional drawing which shows the closed state of a present Example AA sectional view of FIG. Top view showing the closed state of this embodiment Sectional drawing which shows the open state of a present Example Sectional drawing which shows the holding | grip state of a present Example Sectional drawing which shows the holding state of 2nd Example Sectional drawing which shows the workpiece holding state of a prior art example Sectional drawing which shows the inclination of the workpiece | work of a prior art example

Explanation of symbols

1 Body 2 Slider 3 Shaft 4 Operation Plate 5 Claw Member 6 Spring A
7 Spring B
8 First Tapered Surface 9 Second Tapered Surface 10 Third Tapered Surface 11 Fourth Tapered Surface 12 Work 13 Cylinder 14 Piston

Claims (3)

The present invention has a cylindrical body having a tapered surface on the inner peripheral surface, a cylindrical slider having a tapered surface formed on the inner peripheral surface, and a reverse tapered surface that engages the body and the tapered surface of the slider. A plurality of claw members are arranged concentrically, and a spring is placed in the direction in which the plurality of claw members are separated from each other. A gripping device characterized by gripping by a part. A plurality of claw members having a cylindrical body having a tapered surface on the inner peripheral surface, a cylindrical slider having a tapered surface formed on the inner peripheral surface, and a reverse tapered surface that engages the tapered surface of the body and the slider Are arranged concentrically, and a spring is placed in the direction in which a plurality of claw members are separated from each other, and an operation plate disposed above the body and a slider that slides up and down by sliding with the inner peripheral surface of the body Are connected by a shaft penetrating the upper surface of the body, and gripped by a spring that is compressed and inserted in a direction in which the body and the operation plate are separated from each other. A plurality of pawl members having a cylindrical body having a tapered surface on the inner peripheral surface, a cylindrical slider having a tapered surface formed on the inner peripheral surface, and a reverse tapered surface that engages the tapered surface of the body and the slider Are arranged concentrically, and a spring is placed in a direction in which a plurality of claw members separate from each other. A cylinder arranged above the body and a slider that slides up and down by sliding with the inner peripheral surface of the body A gripping device connected to a piston and gripped by air pressure.