JP2019098416A - Electric gripping device - Google Patents

Abstract

To provide an electric gripping device which can be directly operated by hands without restriction on an installation place.SOLUTION: A body 11 of an electric gripping device 10 includes first flat surfaces 13 on both end surfaces in a short side direction X, and a second surface 14 retreating than the first surface 13. The electric gripping device 10 includes an operation member 51 which integrally rotates with a feed screw and protrudes in a radial direction than an outer circumferential surface of the feed screw. A part of the operation member 51 is arranged in a state that it is exposed to an external of the body 11 from the second surface 14 and does not protrude to the short side direction X than the first surface 13.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an electric gripping device.

  The electric gripping device grips the workpiece by moving the pair of hand members to the closed position by the rotational driving force of the motor, and releases the gripping of the workpiece by moving the hand member to the open position. For example, the electric gripper disclosed in Patent Document 1 includes a motor, a feed screw portion for transmitting a rotational driving force from the motor to a feed nut, and a gripper connected to the feed nut via a link mechanism to enable gripping of a workpiece. And a unit. In addition, the electric gripper disclosed in Patent Document 1 includes a self-locking mechanism that prevents the feed nut from moving backward due to a reaction force received by the gripper from the workpiece when the gripper grips the workpiece. For example, at the time of emergency stop of the motor or interruption of energization, the feed lock is not retracted by the self-locking mechanism, and the gripping state of the work by the gripper portion is maintained.

  In addition, the electric gripper disclosed in Patent Document 1 includes an operation unit for manually releasing the state in which the work is gripped by the self-locking mechanism. The operation unit is provided on one end surface in the axial direction of the drive shaft of the motor, and is exposed to the outside of the housing from the upper surface or the side surface of the housing. Then, the operation unit is operated by the tool to rotate the drive shaft, whereby the lock by the self-locking mechanism is released.

JP, 2009-125851, A

  By the way, in the electric gripper of Patent Document 1, in order to operate the operation unit, it is necessary to turn the tool above or to the side of the housing where the operation unit is exposed. For this reason, in the electric gripper of Patent Document 1, a space for arranging a tool for operating the operation unit has to be secured above or sideways than the housing, and the installation location of the electric gripper is restricted. It was

  An object of the present invention is to provide an electric gripping device that can be operated directly by hand without any restriction on the installation location.

  The electric gripping device for solving the above problems is screwed to a motor, a feed screw integrally rotating with an output shaft of the motor, and the feed screw, and an axial direction of the output shaft by a rotational movement of the output shaft A feed nut moving to the second feed position, a gripping portion connected to the feed nut, interlocked with the feed nut, opens and closes, and holds the work in the closed position, the feed screw and the feed nut, and the output shaft A body having an axial hole extending in the axial direction, wherein an axial direction in which the central axis of the axial hole extends in the body is an installation surface located at an end face of the body in a direction orthogonal to the axial direction The electric gripping device is installed by bringing the body into contact with the installation location, and in the body, one direction orthogonal to the axial direction in the plan view seen from the axial direction is the short direction, the axial direction And a direction perpendicular to the short side direction is the longitudinal direction, and the first face defining the maximum dimension of the body in the short direction on both end faces in the short direction, and the first face The operation member includes a second surface which is closer to the central axis than the feed screw, and is integrally rotated with the feed screw, and radially protrudes from an outer circumferential surface of the feed screw. The gist is that the second surface is exposed to the outside of the body and does not protrude in the short direction with respect to the first surface.

In the electric gripping device, it is preferable that a part of the operation member is exposed to the outside of the body from both end faces in the short direction of the body.
The electric gripping device for solving the above problems is screwed to a motor, a feed screw integrally rotating with an output shaft of the motor, and the feed screw, and an axial direction of the output shaft by a rotational movement of the output shaft A feed nut moving to the second feed position, a gripping portion connected to the feed nut, interlocked with the feed nut, opens and closes, and holds the work in the closed position, the feed screw and the feed nut, and the output shaft A body having an axial hole extending in the axial direction, wherein an axial direction in which the central axis of the axial hole extends in the body is an installation surface located at an end face of the body in a direction orthogonal to the axial direction The electric gripping device is installed by bringing the body into contact with the installation location, and in the body, one direction orthogonal to the axial direction in the plan view seen from the axial direction is the short direction, the axial direction The motor has a shape in which the direction orthogonal to the short side direction is the longitudinal direction, and the motor has a first surface which defines the maximum dimension of the body in the short side direction on both end faces in the short direction. A first side surface receding closer to the central axis than the first surface along a short direction of the body, integrally rotating with the output shaft of the motor, and further than an outer peripheral surface of the output shaft The operating member includes a radially projecting operation member, and a part of the operation member is exposed from the first side surface of the motor to the outside of the motor and does not protrude in the lateral direction more than the first surface. The point is that they are disposed.

In the electric gripping device, it is preferable that a part of the operation member is exposed to the outside of the motor from both of the first side surfaces.
Further, the electric gripping device may be provided with a protective member that covers the operation member.

  Further, in the electric gripping device, the protective member is not in contact with a part of the operation member.

  According to the present invention, direct operation can be performed by hand without restriction of the installation location.

The fragmentary sectional view which shows the electric grasping device in an open position. The perspective view which shows an electric gripping device. The line 3-3 in FIG. 2 sectional drawing which shows an electrically-driven holding | grip apparatus. The disassembled perspective view which shows a feed screw and an operation member. The top view which shows a feed screw and an operation member. The fragmentary sectional view which shows the electric gripping device in the closed position. FIG. 10 is a perspective view showing another example of the electric gripping device.

Hereinafter, an embodiment in which the electric gripping device is embodied will be described according to FIGS. 1 to 7.
As shown in FIG. 1 or FIG. 2, the electric gripping device 10 is disposed on the grip portion 21 disposed on one end side in the axial direction of the substantially rectangular block-shaped body 11 and on the other end side of the body 11 in the axial direction. And a motor 31 which is a drive source for opening and closing the grip portion 21. Further, the electric gripping device 10 includes a drive mechanism 41 which is incorporated in the body 11 and driven by the motor 31 to drive the gripping portion 21 and an operation member 51 which manually operates the electric gripping device 10.

  The body 11 is provided with a square hole-like axial hole 12 penetrating the body 11, and the direction in which the central axis L of the axial hole 12 extends is taken as the axial direction Z of the body 11. In a plan view of the body 11 viewed in the axial direction Z, one direction orthogonal to the axial direction Z of the body 11 is taken as a short direction X. Further, in a plan view when the body 11 is viewed from the axial direction Z, a direction orthogonal to the axial direction Z of the body 11 and the short direction X is taken as a longitudinal direction Y.

  The body 11 is provided with a first end face 11a at one end face (lower end face) of the axial direction Z, and a second end face 11b at the other end face (upper end face) of the axial direction Z. The first plate 15 is fixed to the first end face 11 a of the body 11, and the second plate 17 is fixed to the second end face 11 b of the body 11.

  The body 11 is provided with a flat first surface 13 on the front surface, which is one end surface in the lateral direction X, and on the rear surface, which is the other end surface in the lateral direction X. The first surface 13 is provided on both sides of the front and back longitudinal directions Y. The first surface 13 extends in the entire axial direction Z of the body 11. The body 11 also has flat surfaces 19 at both ends in the longitudinal direction Y. The first surface 13 located on both end surfaces in the lateral direction X of the body 11 and the flat surfaces 19 located on both end surfaces in the longitudinal direction Y of the body 11 are used when installing the electric gripping device 10 in other equipment or equipment. It can be an installation surface that contacts other equipment and equipment.

  The body 11 includes a plurality of attachment holes 13 a which penetrate the body 11 in the lateral direction X on the first surface 13. By screwing the screw inserted into the mounting hole 13a to another device or facility, the electric gripping device 10 is fixed to the other device or facility with the first surface 13 as an installation surface. Further, the body 11 is provided with a screw hole 19 a recessed in the flat surface 19. By screwing a screw penetrating another device or facility into the screw hole 19a, the electric gripping device 10 is fixed to the other device or facility with the flat surface 19 as an installation surface.

  The body 11 is provided with a second surface 14 at a position between the first surfaces 13 on both sides in the longitudinal direction Y at both end surfaces in the lateral direction X. The second surface 14 has a shape that curves gently. The second surface 14 is at a position retracted closer to the central axis L of the body 11 than the first surface 13 and does not protrude from the first surface 13 along the lateral direction X of the body 11. The second surface 14 extends in the entire axial direction Z of the body 11.

  The body 11 includes a recess 11 f that is recessed from the second end surface 11 b. The recess 11 f is formed by recessing the periphery of the shaft hole 12 at the second end face 11 b. As shown in FIG. 3, the recess 11 f is a circle centered on the central axis L of the shaft hole 12 and is a second end face 11 b along a circle larger than a virtual circle C passing through the arc of the second surface 14. It is formed by denting. The diameter N of the virtual circle C is shorter than a straight line M connecting the first surfaces 13 at both ends in the lateral direction X of the body 11. The straight line M has the largest dimension along the lateral direction X of the body 11. For this reason, the first surfaces 13 on both sides in the lateral direction X are surfaces that define the maximum dimension of the body 11 in the lateral direction X.

  As shown in FIG. 1 or FIG. 2, the electric gripping device 10 is provided with an operation window 16 in a gap partitioned by a part of the recess 11 f recessed in the second end face 11 b and the second plate 17. The operation window 16 communicates with the shaft hole 12 via the recess 11 f.

  The motor 31 includes the first side surfaces 32 a at both ends along the lateral direction X of the body 11 and the second side surfaces 32 b at both ends along the longitudinal direction Y of the body 11. The first side surface 32 a is at a position receded closer to the central axis L than the first surface 13 of the body 11 along the lateral direction X of the body 11, and protrudes from the first surface 13 along the lateral direction X Not. The motor 31 is, for example, a stepping motor or a servomotor. The motor 31 is disposed vertically to the second plate 17 in a state where the output shaft 33 is inserted into the body 11. The output shaft 33 of the motor 31 penetrates the second plate 17 and is inserted into the shaft hole 12 of the body 11.

  A cover 32c is provided so as to protrude from the second side surface 32b of the motor 31, and the wiring 36 connected to the motor 31 is drawn out in a state of being covered by the cover 32c. The wiring 36 is connected to a drive source or the like (not shown).

  As shown in FIG. 1, the drive mechanism 41 incorporated in the body 11 of the electric gripping device 10 includes a feed screw 42 connected to the output shaft 33 of the motor 31. The feed screw 42 is inserted into the shaft hole 12. The feed screw 42 is cylindrical with a bottom. The outer diameter of the feed screw 42 is smaller than the hole diameter of the shaft hole 12. One end of the feed screw 42 in the axial direction is coaxially fitted to the output shaft 33 and fixed to the output shaft 33 by a set screw 46. The feed screw 42 rotates integrally with the output shaft 33 of the motor 31. A male screw 42a is formed on the outer peripheral surface of the feed screw on the other end side than the axial direction one end side.

  As shown in FIG. 4, the feed screw 42 is provided with a positioning protrusion 44 on the end face on one end side in the axial direction. The positioning convex portion 44 linearly extends in the radial direction of the feed screw 42, and includes a pair of linear portions 44a parallel to each other, and an arc portion 44b connecting ends of the pair of linear portions 44a. The feed screw 42 is provided with an abutment surface 45 radially outward of the linear portions 44 a of the positioning convex portion 44. The contact surface 45 is a flat surface located on the other axial end side of the feed screw 42 than the positioning convex portion 44 and at a position lower than the positioning convex portion 44. The feed screw 42 is provided with screw holes 45 a recessed from the respective contact surfaces 45. An operating member 51 is fixed to one axial end of the feed screw 42.

  The operation member 51 has a disk shape. The operation member 51 is provided with a knurled 51a on the entire outer peripheral edge. The operation member 51 is provided with a circular insertion hole 52 at the center, and the output shaft 33 of the motor 31 is inserted through the insertion hole 52. The operation member 51 is concentric with the shaft hole 12 and the output shaft 33. The operation member 51 includes an oval positioning recess 53 that is recessed from one side in the thickness direction. The insertion hole 52 is located at the center of the positioning recess 53 in the longitudinal direction. The positioning recess 53 includes a pair of opposing linear portions 53 a and an arc portion 53 b connecting the pair of linear portions 53 a. The operation member 51 is provided with a through hole 54 at a position sandwiching both linear portions 53 a of the positioning recess 53 in the radial direction.

  As shown in FIG. 5, a positioning convex portion 44 of the feed screw 42 is inserted into the positioning concave portion 53 of the operation member 51. The linear portion 53 a of the positioning concave portion 53 and the linear portion 44 a of the positioning convex portion 44 are in contact with each other. The screw 55 inserted into the through hole 54 of the operation member 51 is screwed into the screw hole 45 a of the feed screw 42. Movement of the operation member 51 in the radial and axial directions of the feed screw 42 is restricted by the screwing of the screw 55 into the screw hole 45a, and the operation member 51 is fixed to rotate integrally with the feed screw There is. The operation member 51 protrudes in the radial direction more than the outer peripheral surface of the feed screw 42. Thus, the operating member 51 has a diameter larger than that of the feed screw 42.

  As shown in FIG. 3, the operation member 51 is accommodated in the recess 11 f of the body 11. The outer diameter of the operation member 51 is slightly longer than the diameter N of the imaginary circle C along the outer shape of the recess 11 f and shorter than the straight line M connecting the first surfaces 13 of the body 11. A part of the operating member 51 in the circumferential direction protrudes from the operation window 16 to the outside of the body 11. Then, by operating a part of the operation member 51 protruding from the operation window 16 and rotating the operation member 51, the feed screw 42 integral with the operation member 51 can be rotated.

  As shown in FIG. 2, the electric gripping device 10 includes a protection member 18 that covers the operation member 51 protruding from the operation window 16 from the outside of the body 11 to protect the operation member 51. The protective member 18 is made of rubber or resin such as transparent color. The protection member 18 protects the operation member 51 without exposing the operation member 51 to the outside of the body 11 when the operation member 51 is not in use. The protective member 18 is provided with hooking portions 18 a on both end sides in the longitudinal direction. On the other hand, the body 11 is provided with a groove 11 g partitioned by the first surface 13 and the second surface 14 adjacent in the longitudinal direction Y. The protective member 18 is assembled to the body 11 by hooking the hook 18a in the groove 11g.

  The protection member 18 includes a recess 18 b extending in the longitudinal direction of the protection member 18. When the protective member 18 is assembled to the body 11, the operation member 51 is accommodated in the recess 18 b and is not in contact with the protective member 18. Therefore, even if the operation member 51 is rotated by the drive of the motor 31, the operation member 51 does not contact the protective member 18.

  As shown in FIG. 1, the drive mechanism 41 includes a feed nut 43 screwed to an external thread 42 a of the feed screw 42. The feed nut 43 is inserted into the shaft hole 12. As shown in FIG. 3, the feed nut 43 has a substantially square cylindrical shape. The feed nut 43 is provided with a female screw 43a on the inner circumferential surface. The female screw 43 a of the feed nut 43 is screwed into the male screw 42 a of the feed screw 42.

  In the feed nut 43, each of the four outer side surfaces is in surface contact with the four inner side surfaces defining the axial hole 12 in the body 11. The surface contact between the feed nut 43 and the body 11 at four points regulates the rotation of the feed nut 43.

  The feed nut 43 is arranged so as to be movable (slidable) only along the axial direction Z of the body 11 by restricting its rotation by surface contact with the inner surface of the body 11 defining the axial hole 12. ing. The feed nut 43 moves in the axial direction of the output shaft 33 by the rotational movement of the output shaft 33. The inner surface of the body 11 is provided with a groove extending in the axial direction Z of the body 11, and the feed nut 43 is provided with a guide or the like engaged with the groove to restrict the rotation of the feed nut 43. , And may be movable only in the axial direction Z of the body 11.

  As shown in FIG. 1, the feed nut 43 integrally includes an engagement pin 47 on the first plate 15 side. The engagement pin 47 extends in the lateral direction X of the body 11. The electric gripping device 10 includes a lever receiving portion 11 c penetrating the body 11 in the longitudinal direction Y, and the drive mechanism 41 includes a pair of levers 61 partially received in the lever receiving portion 11 c of the body 11. Each lever 61 is substantially L-shaped. Further, the drive mechanism 41 includes a support shaft 62 supported by the inner side surface of the body 11 facing the lever accommodating portion 11c. Each lever 61 has an L-shaped bending portion rotatably supported by a support shaft 62. Further, each lever 61 is provided with a U-shaped engagement groove 61a at the proximal end. The engagement groove 61 a of each lever 61 is engaged with an engagement pin 47 integral with the feed nut 43. Then, in conjunction with the movement of the feed nut 43, each lever 61 pivots about the pivot 62 as a pivot.

  The first plate 15 fixed to the first end face 11 a of the body 11 includes a guide recess 15 a extending in the entire longitudinal direction of the first plate 15. The first plate 15 is provided with a guide groove 15b on each of the inner surfaces opposed in the lateral direction. The guide groove 15 b extends in the entire longitudinal direction of the first plate 15.

  The gripping portion 21 provided in the electric gripping device 10 includes a pair of hand members 25 partially accommodated in the guide recess 15 a of the first plate 15. Each hand member 25 is substantially T-shaped, and includes a rectangular parallelepiped main body portion 25a whose longitudinal direction extends in the longitudinal direction of the first plate 15, and an attaching portion 25b which protrudes from the main body portion 25a. A finger (not shown) is attached to the hand member 25.

  The hand member 25 includes an accommodation groove 25 c facing the guide groove 15 b of the guide recess 15 a of the first plate 15 in the main body 25 a. A rolling element (not shown) such as a ball or a roller is accommodated between the accommodation groove 25 c of each hand member 25 and the guide groove 15 b of the first plate 15. Each hand member 25 can move linearly along the guide recess 15a by rolling of a rolling element.

  Through holes 15 d are formed at corresponding positions of the first plate 15 with the tip side of each lever 61, and the tip side of the lever 61 protrudes through the through holes 15 d. Each lever 61 has an engaging element 64 at its tip. The engaging element 64 of the lever 61 is inserted into the housing recess 25 e provided in the main body 25 a of the hand member 25. The hand member 25 is connected to the tip of the lever 61 by the engagement between the engaging element 64 and the housing recess 25e.

  In the electric gripping device 10 configured as described above, the output shaft 33 is rotated by the drive of the motor 31, and when the feed screw 42 is rotated, the feed nut 43 is moved in the axial direction. Then, in conjunction with the movement of the feed nut 43, the levers 61 rotate, and the engaging elements 64 of the respective levers 61 move along the longitudinal direction Y of the body 11. Then, the force from the lever 61 rotated with the movement of the feed nut 43 is transmitted from the engaging element 64 to the hand member 25. Each hand member 25 linearly moves along the guide groove 15 b to open and close the pair of hand members 25.

  As shown in FIG. 6, when the feed nut 43 moves toward the second plate 17 and the pair of hand members 25 are placed close to each other, the work W is gripped by the finger. On the other hand, as shown in FIG. 1, when the feed nut 43 moves toward the first plate 15 and the pair of hand members 25 are arranged at the open position apart from each other, the gripping state of the work W by the fingers It is released.

  As shown in FIG. 2, in the electric gripping device 10 configured as described above, one end face (rear face) of both end faces in the transverse direction X of the body 11 is opposed to the installation location T, and the first end face of the one end face The surface 13 is fixed in surface contact with the installation point T. The electric gripping device 10 is installed at the installation point T with the other end face of the body 11 facing in front. Thus, the operation member 51 of the electric gripping device 10 is exposed to the outside of the body 11 through the operation window 16 provided on the front of the body 11.

  The electric gripping device 10 can hold the gripping state of the work W even if the motor 31 is de-energized or the motor 31 is stopped in a state in which the work W is gripped. , A so-called self-locking mechanism. In the present embodiment, the self-locking mechanism suppresses the movement (descent) of the feed nut 43 in a state in which the workpiece W is gripped by the gripping portion 21, the male screw 42 a of the feed screw 42 and the female screw 43 a of the feed nut 43. It defines the relationship with Since the self-locking mechanism is a well-known technique, the detailed description is omitted, but the relationship between the male screw 42a and the female screw 43a is such that the tangential force and the frictional force at the meshing portion of the male screw 42a and the female screw 43a satisfy the desired relationship. It is prescribed.

  Therefore, in the electric gripping device 10, when the work W is gripped by the gripping portion 21 by providing the self-locking mechanism, the energization of the motor 31 is interrupted, or the motor 31 is stopped in an emergency, etc. Even in this case, the gripping state of the work W can be maintained. That is, the movement of the feed nut 43 and the displacement of the hand member 25 to the open position caused by the movement of the feed nut 43 can be suppressed by the self-locking function.

  On the other hand, when the energization of the motor 31 is shut off or when the motor 31 is emergency stopped, the gripping state of the workpiece W by the gripping portion 21 can be released by manually operating the operation member 51.

A method of releasing the gripping state of the workpiece W will be described as the operation of the electric gripping device 10.
As shown in FIG. 6, the closed state of the pair of hand members 25 is maintained by the self-locking mechanism, and the work W is released from the front of the electric gripping device 10 when the gripping state is released. The operating member 51 is directly operated by hand, and when gripping the work W, the operating member 51 is rotated in the opposite direction to the direction in which the output shaft 33 rotates. Then, as the feed screw 42 rotates, the feed nut 43 descends, and the pair of levers 61 rotate to move the pair of hand members 25 in the opening direction. As a result, the holding of the work W by the holding unit 21 is released.

  On the other hand, as shown in FIG. 1, when the energization of the motor 31 is cut off or the motor 31 is stopped in an emergency state without holding the work W, the holding portion 21 is opened by the self-locking mechanism. The state is maintained.

  In order to release the open state of the gripping portion 21, the operating member 51 exposed to the front of the electric gripping device 10 is directly operated by hand, and when gripping the work W, the operation is performed in the direction in which the output shaft 33 rotates. The member 51 is rotated. Then, as the feed screw 42 rotates, the feed nut 43 ascends, the pair of levers 61 rotate, and the pair of hand members 25 move in the closing direction.

According to the above embodiment, the following effects can be obtained.
(1) The electric gripping device 10 includes the operation member 51 that enables the feed screw 42 and the feed nut 43 to be directly operated by hand. The operation member 51 is exposed to the outside of the body 11 from the end surface of the body 11 of the electric gripping device 10 in the lateral direction X. Even if the first surface 13 at one end face of the short side direction X is brought into contact with the installation location T to install the electric gripping device 10, the other end face of the short direction X becomes the front of the electric holding device 10. Then, a part of the operation member 51 is exposed in the front, and the operation member 51 can be directly operated from the front of the electric gripping device 10 by hand. Therefore, it is not necessary to turn the tool over or sideways of the electric gripping device 10 in order to operate the operation member 51. Then, it is not necessary to secure a space for disposing a tool for operating the operation unit above or to the side of the electric gripping device 10, and the restriction of the installation place of the electric gripping device 10 is eliminated.

  (2) The outer diameter of the operation member 51 is set shorter than a straight line M connecting the first surfaces 13 which define the maximum dimension in the transverse direction X of the body 11, and a part of the operation member 51 is the second surface Although it protrudes from 14, it does not protrude from the first surface 13 of the body 11. For this reason, even if a part of the operation member 51 protrudes from the second surface 14, the installation of the electric gripping device 10 with the first surface 13 in contact with the facility is not hindered.

  (3) The body 11 has the second surface 14, and the second surface 14 is at a position retracted closer to the central axis L of the body 11 than a part of the operation member 51 protruding from the operation window 16. For this reason, the operation member 51 is made to project from the second surface 14, and the second surface 14 does not get in the way, and the operation member 51 is easy to operate by hand.

  (4) The operation member 51 is integrated with the feed screw 42 in order to rotate the feed screw 42. The operation member 51 has a diameter larger than that of the feed screw 42 and is further enlarged until it is exposed from the end surface in the short direction X of the body 11. Therefore, the feed screw 42 can be easily rotated as compared with the case where the feed screw 42 is directly operated and rotated by hand, and the operation member 51 can be directly operated by hand without using a tool.

  (5) A part of the operation member 51 is exposed from both ends in the short direction X of the body 11. Therefore, even if the electric gripping device 10 is installed with one end face in the lateral direction X in contact with the facility, the operation member 51 can be exposed outside the body 11 from the other end face in the lateral direction X . Therefore, for example, as in the case where the operation member 51 is exposed only from one end face in the short side direction X of the body 11, it is considered to install any end face of both end faces in the short side direction X in equipment Therefore, the electric gripping device 10 can be installed.

  (6) The feed nut 43 can be moved by directly operating the operation member 51 by hand. By directly operating the operation member 51 by hand, the force applied to the operation member 51 can be directly controlled, and the application of an excessive operation force to the feed screw 42 can be suppressed.

  (7) The operation member 51 is integrated with the feed screw 42. For example, as in the case where the operating member 51 is an operating shaft provided in the direction opposite to the direction in which the output shaft 33 of the motor 31 protrudes, the motor 31 does not need to have a special specification. That is, the electric gripping device 10 can enable manual operation with the operation member 51 even if it is a mass production type motor 31 that is not a special specification.

  (8) The electric gripping device 10 includes the protection member 18 which covers a part of the operation member 51 from the outside of the body 11. The protective member 18 can avoid contact with the outside of the operation member 51 except when operating the operation member 51 by hand. For this reason, it can avoid that the operation member 51 rotates by the contact which is not intended.

  (9) The protective member 18 can be integrated with the body 11 by hooking the hook portion 18 a in the groove 11 g of the body 11. For this reason, it can suppress that the protection member 18 falls off the body 11 easily, and the state which protected a part of operation member 51 by the protection member 18 can be maintained.

The present embodiment may be modified as follows.
As shown in FIG. 7, the operation member 51 is fixed to the output shaft 33 of the motor 31 so that the operation member 51 can rotate integrally with the output shaft 33. Then, a part of the operation member 51 may be exposed from the first side surface 32 a and the second side surface 32 b.

  A portion of the operation member 51 exposed from the first side surface 32 a protrudes from the first side surface 32 a along the lateral direction X of the body 11, while the center of the body 11 than the first surface 13 of the body 11 It is at a position retracted to the axis L.

  When configured in this manner, the operation member 51 is exposed to the outside of the motor 31 from the first side surface 32 a located on the end surface side of the body 11 having the first surface 13 of the body 11 in the motor 31. Since the first surface 13 of the body 11 is on both end surfaces in the transverse direction X of the body 11, the electric gripping device 10 is installed with the first surface 13 on one end surface of the transverse direction X contacting the installation location T However, the other end face in the short direction X is the front of the electric gripping device 10. Then, a part of the operation member 51 is exposed from the first side surface 32a of the motor 31 on the front side, and the operation member 51 can be directly operated by hand from the front of the electric gripping device 10. Therefore, it is not necessary to turn the tool over or sideways of the electric gripping device 10 in order to operate the operation member 51. For this reason, it is not necessary to secure a space for arranging a tool for operating the operation member 51 above or to the side of the electric gripping device 10, and the restriction of the installation place of the electric gripping device 10 is eliminated.

  Further, the first side surface 32 a of the motor 31 does not protrude from the first surface 13 of the body 11. For this reason, even if a part of the operation member 51 protrudes from the motor 31, the installation of the electric gripping device 10 with the first surface 13 in contact with the facility is not hindered.

  The operating member 51 may not be disc-shaped. As long as a part of the operation member 51 always protrudes from the operation window 16, the operation member 51 may be C-shaped in which a notch extending in the radial direction is present in a part of the circumferential direction.

The motorized gripping device 10 may be installed with the flat surface 19 at one end in the longitudinal direction Y of the body 11 in contact with the installation point T.
When configured in this way, the electric gripping device 10 is installed with the other end face in the longitudinal direction Y facing the front, and a part of the operation member 51 is the short direction of the body 11 in a front view of the electric gripping device 10 It is exposed to the outside of the body 11 from both end faces of X. Then, by pinching the operation member 51 from the front of the electric gripping device 10, the operation member 51 can be directly operated by hand. Therefore, it is not necessary to turn the tool over or sideways of the electric gripping device 10 in order to operate the operation member 51. Then, it is not necessary to secure a space for disposing a tool for operating the operation unit above or to the side of the electric gripping device 10, and the restriction of the installation place of the electric gripping device 10 is eliminated.

  As shown in FIG. 7, when a part of the operation member 51 is exposed from the motor 31, a part of the operation member 51 is a longitudinal direction of the body 11 in a front view of the electric gripping device 10. It is exposed to the outside of the motor 31 from the second side surface 32 b on the Y end surface side. Therefore, the operation member 51 can be directly operated from the front of the electric gripping device 10 by hand.

In addition, a protection member 18 may be provided to protect a part of the operation member 51 exposed from the motor 31.
The operation member 51 may be exposed only from one end face of the body 11 in the lateral direction X.

When configured in this manner, the electric gripping device 10 is installed by bringing the first surface 13 at one end face of one side surface X in which the operation member 51 does not protrude into contact with the installation location T.
In the electric gripping device 10, the mechanism for opening and closing the pair of hand members 25 may be changed as appropriate.

  The motorized gripping device 10 may not have a self-locking mechanism. In such a configuration, the feed nut 43 may move relative to the feed screw 42 when the motor 31 is de-energized or when the motor 31 is stopped abnormally. However, when it is necessary to move the pair of hand members 25 in the stopped position, the operation member 51 can be operated to move the hand members 25.

The operating member 51 may be formed integrally with one end side of the feed screw 42 in the axial direction, instead of being formed separately from the feed screw 42.
The protective member 18 for closing the operation window 16 may not be present.

  If the body 11 has a first surface 13 and a second surface 14 at both ends in the lateral direction X and an end surface at both ends in the longitudinal direction Y, a shape other than the substantially rectangular block shape, for example, It may be a hexagonal column.

The second surface 14 of the body 11 may be a flat surface that is not curved.
Next, technical ideas that can be grasped from the above embodiment and another example will be additionally described below.
(1) The electric gripping device in which a part of the operation member protrudes from the exposed surface along the short side direction.

  L: central axis, T: installation location, X: short direction, Y: longitudinal direction, Z: axial direction, W: work, 10: electric gripping device, 11: body, 11g: groove, 12: axial hole, 13 ... 1st surface, 14 ... 2nd surface, 18 ... protection member, 21 ... gripping part, 31 ... motor, 32a ... 1st side surface, 33 ... output shaft, 42 ... feed screw, 43 ... feed nut, 51 ... operation member .

Claims (6)

Motor,
A feed screw that rotates integrally with the output shaft of the motor;
A feed nut screwed to the feed screw and moved in the axial direction of the output shaft by rotational movement of the output shaft;
A gripping portion connected to the feed nut, opening and closing in conjunction with the feed nut, and gripping a workpiece at a closed position;
A body that accommodates the feed screw and the feed nut and includes an axial hole extending in the axial direction of the output shaft;
The electric gripping device is installed with an installation surface located at an end face of the body in a direction perpendicular to the axial direction in contact with an installation location, assuming that the direction in which the central axis of the axial hole extends in the body is the axial direction. ,
The body has a shape in which one direction orthogonal to the axial direction in a plan view seen from the axial direction is a lateral direction, and a direction orthogonal to the axial direction and the lateral direction is a longitudinal direction, Each of the end surfaces in the lateral direction has a first surface defining the maximum dimension of the body in the lateral direction, and a second surface receding closer to the central axis than the first surface,
The feed screw includes an operation member that rotates integrally with the feed screw and protrudes radially beyond the outer circumferential surface of the feed screw.
A part of the operation member is exposed to the outside of the body from the second surface, and is disposed so as not to protrude in the shorter direction than the first surface. .   The electric gripping device according to claim 1, wherein a part of the operation member is exposed to the outside of the body from both end surfaces in the short direction of the body. Motor,
A feed screw that rotates integrally with the output shaft of the motor;
A feed nut screwed to the feed screw and moved in the axial direction of the output shaft by rotational movement of the output shaft;
A gripping portion connected to the feed nut, opening and closing in conjunction with the feed nut, and gripping a workpiece at a closed position;
A body that accommodates the feed screw and the feed nut and includes an axial hole extending in the axial direction of the output shaft;
The electric gripping device is installed with an installation surface located at an end face of the body in a direction perpendicular to the axial direction in contact with an installation location, assuming that the direction in which the central axis of the axial hole extends in the body is the axial direction. ,
The body has a shape in which one direction orthogonal to the axial direction in a plan view seen from the axial direction is a lateral direction, and a direction orthogonal to the axial direction and the lateral direction is a longitudinal direction, At both end surfaces in the lateral direction, there is provided a first surface which defines the maximum dimension of the body in the lateral direction,
The motor has a first side surface receding closer to the central axis than the first surface along a lateral direction of the body,
It has an operation member that rotates integrally with the output shaft of the motor and protrudes in the radial direction from the outer peripheral surface of the output shaft,
A part of the operation member is exposed to the outside of the motor from the first side surface of the motor, and is disposed so as not to protrude in the lateral direction more than the first surface. Electric gripping device.   The electric gripping device according to claim 3, wherein a part of the operation member is exposed to the outside of the motor from both first side surfaces.   The electric gripping device according to any one of claims 1 to 4, further comprising a protection member that covers the operation member.   The electric gripping device according to claim 5, wherein the protective member is in non-contact with a part of the operation member.