JP2009248192A - Electric gripper device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To properly form a hollow section usable for the applications such as the extrusion of a work, detection of holding, and wiring without affecting the original functions and structures. <P>SOLUTION: A center through section 4 extends from the center front side to which a plurality of holding members 2 are moved closest to the rear surface of a body 1. A center hole 10a is formed in a cam member 10. The cam member 10 is rotatably supported while allowing the center hole 10a to coaxially communicate with the center through-hole 4. A cylindrical body 4a extending through the center hole 10a of the cam member 10 is rotatably installed in the center through-hole 4. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a motor-driven electric gripper device for gripping and positioning a workpiece, measuring length, and the like in automatic product assembly, component conveyance, inspection processes, and the like.

  The present applicant has already provided, for example, those described in Patent Document 1 (Japanese Patent Laid-Open No. 2005-59118) and Patent Document 2 (Japanese Patent Laid-Open No. 2006-31216) as this type of electric gripper device. .

  These electric gripper devices include a cam member built in the main body and rotated forward and backward by a motor, and a plurality of gripping members that linearly slide along the outer rail of the main body. A structure in which a plurality of cam grooves for slidably fitting each cam follower of a member are formed in a spiral shape, and a plurality of gripping members slide toward and away from each other along a rail by forward and reverse rotation of the cam member by a motor It has become.

  In such an electric gripper device, after a workpiece is gripped by a plurality of gripping members, the workpiece may remain between the gripping members even if the gripping members are separated to release the gripping. In such a case, it is convenient if the workpiece can be pushed out from between the gripping members.

Patent Document 3 (Japanese Patent Application Laid-Open No. 11-254370) discloses a fluid pressure chuck that grips a workpiece using fluid pressure, but discloses the following technique intended to push out the workpiece.
That is, in this fluid pressure chuck, a plurality of cylinders are arranged radially around a center block on the base, and a plurality of gripping members (master jaws) are slid toward or away from the center of the center block by the cylinders. A through-hole is provided in the center of the base and center block, and the chuck body is made hollow by sandwiching the hollow ring between the base and center block, and the hollow part pushes out the workpiece. It can be used for work pushers or to detect work gripping.

In Patent Document 4 (Japanese Utility Model Publication No. 6-42092), a common chuck body of two chucks can be turned by a turning shaft, a gear on the turning shaft side, a gear on a pneumatic oscillation motor side, Is disclosed. A chuck composite unit is disclosed in which two pneumatic chucks are engaged with each other in a body to which the pneumatic swing motor is attached, and two chucks can be turned by the pneumatic swing motor. In this unit, the swivel shaft is made hollow so that a pipe for driving the opening and closing of the chuck can be inserted therethrough.
JP 2005-59118 A JP 2006-310216 A JP-A-11-254370 Japanese Utility Model Publication No. 6-42092

  The problem of the present invention is that the electric gripper device disclosed in Patent Document 1 and Patent Document 2 is used as described in Patent Document 3 and Patent Document 4, that is, workpiece extrusion, grip detection, and wiring. A hollow portion that can be used for such purposes as described above can be appropriately formed without hindering the original function and structure.

The present invention includes a cam member built in the main body and rotated forward and backward by a motor, and a plurality of gripping members that linearly slide along the outer rail of the main body, and each of the plurality of gripping members is provided on the cam member. In the electric gripper device in which a plurality of cam grooves for slidably fitting the cam followers are formed in a spiral shape, and the plurality of gripping members slide toward and away from each other along the rail by forward and reverse rotation of the cam member by the motor The structure is as follows.
The main body is formed with a central penetrating portion penetrating from the front side of the central portion where the plurality of gripping members are closest to the back side.
On the other hand, a central hole is formed in the cam member, and the cam member is rotatably supported with the central hole in communication with the central through portion of the main body.

In the invention according to claim 2, which is an embodiment of the present invention, a cylindrical body penetrating the central hole of the cam member is rotatably installed in the central through portion of the main body.
In the invention which concerns on Claim 3, the motor which rotates a cam member is installed in the position which avoided the central penetration part of the main body in the main body back side opposite to a rail.

According to the present invention, since the central penetrating portion that penetrates from the front side of the central portion to which the plurality of gripping members are closest to the back side is formed in the main body, the central penetrating portion is used for workpiece extrusion, grip detection, wiring, etc. Can be used for
A central hole is formed in the cam member, and the cam member is rotatably supported with the central hole in communication with the central through portion of the main body. Therefore, the cam member needs to be arranged avoiding the central through portion of the main body. The center of the cam member can be made coincident with the central portion, and the entire apparatus can be simplified and downsized even if the main body has a central through portion.

  According to the second aspect of the present invention, since the cylindrical body passing through the central hole of the cam member is rotatably installed in the central through portion of the main body, the central through portion is used for workpiece extrusion, grip detection, wiring, and the like. Even if it uses it, a cam member and its peripheral part can be protected by a cylindrical body.

  According to the third aspect of the invention, the motor for rotating the cam member is installed at a position on the back side of the main body opposite to the rail so as to avoid the central through portion of the main body, so that the workpiece is pushed out from the back side of the main body. Sometimes the motor does not get in the way and is convenient.

  Next, preferred embodiments of the present invention will be described in detail with reference to the drawings.

  As shown in FIGS. 1 and 2, the electric gripper device according to the present embodiment has a rail base 1A and a base plate 1B that are vertically stacked to form a main body 1, and four rail bases 1A on the rail base 1A. On the other hand, a motor housing 3 containing a motor (not shown) is attached to the back plate 1B side as a back side, and a cam mechanism which will be described later is built in the main body 1 by forward and reverse rotation of the motor. The four gripping members 2 are simultaneously moved toward and away from each other.

  The main body 1 is formed with a circular central through portion 4 penetrating both the front and back sides from the center of the rail base 1A to the base plate 1B, and the four gripping members 2 are rail bases around the central through portion 4. It is mounted on 1A as follows.

  As shown in FIGS. 3 and 4, the rail base 1 </ b> A includes a plane supporting rail 5 having a right angle> and a rail supporting wall 5 having a right angle opposite to the plane. Are centered on the circular front side opening of the central penetrating portion 4 and projectingly formed on both sides of the center penetrating portion 4 in a facing relationship.

  For each of the rail support walls 5 on both sides, one square bar-like rail 6 is attached to each of the two perpendicular side surfaces, and each of the four gripping members 2 is a slider attached to the vertical surface thereof. Seven guide grooves 8 are slidably fitted to each of the four rails 6 in total, and are attached to the rails. At this time, the upper and lower V-shaped protrusions 8 a of the guide groove 8 are slidably fitted to the upper and lower V-shaped grooves 6 a of the rail 6 so as not to be detached from the rail 6.

5 and 6 show a mechanism incorporated in the main body 1.
In the main body 1, a vacant chamber 9 centered on the central through-hole 4 is formed. In the vacant chamber 9, a circular cam member 10 and a gear 11 that is integrated with the upper and lower portions are provided as bearings. 12 is rotatably supported.

  The cam member 10 is formed with a circular central hole 10a at the center thereof, and the gear 11 is also formed with a circular central hole 11a at the center thereof. A vertically long cylindrical body 4a penetrating these central holes 10a and 11b is rotatably installed in the central through portion 4 of the main body 1.

  As shown in FIG. 6, the cam member 10 has four cam grooves 10b that rotate from one end to the other end along the Archimedes spiral centered on the rotation center of the cam member 10 as in the conventional case. It is formed away from the center.

  On the other hand, on the rail base 1A, as shown in FIG. 4, four linear guide grooves 13 parallel to each of the four rails 6 are formed, and each of the four gripping members 2 has a pin-like shape. A cam follower 14 is planted. Each of the cam followers 14 is slidably inserted into each of the four linear guide grooves 13, and the tip portion is slidably fitted into each of the four cam grooves 10 b of the cam member 10. Yes.

  The motor housing 3 housing the motor is attached to the base plate 1B while avoiding the circular back side opening of the central through portion 4 of the main body 1, and as shown in FIG. 5, a drive gear 15 rotated by the motor therein. Meshes with the gear 11 in the empty chamber 9.

  Therefore, when the cam member 10 is rotated forward by the motor, each cam follower 14 slides from a position far from the center of the cam groove 10b to a direction closer to the cam groove 10b. Since it slides linearly so as to approach each other along the guide groove 13, the four gripping members 2 approach each other along each rail 6.

  As shown in FIG. 3, even if the four gripping members 2 are closest to each other and come into contact with each other, the circular front side opening of the central penetrating portion 4 does not reach the workpiece. If it remains, the workpiece can be easily pushed out from between the four gripping members 2 by inserting, for example, a workpiece push rod through the center through portion 4 from the back side. Since the cylindrical body 4a is rotatably installed in the central through portion 4, the cam member 10, the gear 11, and the bearing 12 can be protected by the cylindrical body 4a. Further, when the electrical wiring is inserted into the central through portion 4, the electrical wiring can be protected by the rotating cylindrical body 4a.

  On the other hand, when the cam member 10 is reversely rotated by the motor, each cam follower 14 slides away from a position close to the center of the cam groove 10b with respect to each cam groove 10b. A linear slide is performed along the grooves 13 so as to be separated from each other, and the four gripping members 2 are separated from each other along the rails 6.

  In the above embodiment, the workpiece is held by the four holding members 2. However, the number of the holding members 2 may be two or three, and may be plural.

It is a perspective view of the electric gripper device which is an example of the present invention. It is the side view. It is a top view in the state where four grasping members approached most. It is a top view in the state where four grip members separated. It is a longitudinal cross-sectional view in alignment with the AA of FIG. It is a cross-sectional view.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Main body 1A Rail base 1B Base plate 2 Holding member 3 Motor housing 4 Central penetration part 4a Cylindrical body 5 Rail support wall 6 Rail 6a V-shaped groove 7 Slider 8 Guide groove 8a V-shaped protrusion 9 Void 10 Cam member 10a Central hole 10b Cam groove 11 Gear 11a Center hole 12 Bearing 13 Linear guide groove 14 Cam follower 15 Drive gear

Claims (3)

  A cam member that is built in the main body and rotated forward and backward by a motor; and a plurality of gripping members that slide linearly along a rail outside the main body; and each cam follower of the plurality of gripping members is provided on the cam member. In the electric gripper device in which a plurality of cam grooves for slidably fitting are formed in a spiral shape, and a plurality of gripping members slide toward and away from each other along a rail by forward and reverse rotation of the cam member by a motor. A central through portion that penetrates from the front side of the central portion to which the plurality of gripping members are closest to the back side is formed in the main body, and a central hole is formed in the cam member. An electric gripper device characterized in that it is rotatably supported by being in communication with the central penetrating portion.   The electric gripper device according to claim 1, wherein a cylindrical body penetrating the central hole of the cam member is rotatably installed in the central through portion of the main body.   3. The electric gripper device according to claim 1, wherein the motor for rotating the cam member is installed at a position on the back side of the main body opposite to the rail so as to avoid the central through portion of the main body.

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