JP2528157Y2 - Parallel opening / closing chuck with motion detection mechanism - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parallel opening / closing chuck used by being attached to an arm of an industrial robot or the like. The present invention relates to a parallel opening / closing chuck capable of detecting an operation at a position.

[0002]

2. Description of the Related Art A pair of cylinder holes are provided in parallel with a body.
Piston rods in each of these cylinder holes.
The slidable piston is slidably inserted, and a pair of piston
Attach the fingers to each other the tips of the opposite direction of the head,
The piston rods protrude and retract in opposite directions.
Parallel opening / closing to drive a pair of fingers in parallel
Chuck is already known. This kind of parallel opening and closing cha
A finger is suitable for increasing the stroke of a finger, but a finger having a large stroke is often used when the size of a workpiece to be gripped changes in various ways. In order to confirm that the switch has been gripped or released, the position detection switch such as a magnetic proximity switch must also be adjusted to multiple positions or arbitrarily.
It is necessary to provide it freely . And like this
Position detection switch is provided in multiple positions or freely adjustable
The switch from the mounting position of the switch.
At first glance the position of the finger to be operated is intuitive and
So that it can be easily recognized.
Easy switch movement direction and distance when changing
It is necessary to control the operation of the chuck.
It is extremely effective for facilitation. However,
In the above parallel opening and closing chuck known from
However, there is a lack of such consideration,
Provide a position detection switch to check the operation
Intuitively and indirectly determine the position of the finger that operates the switch.
Position adjustment so that it can be easily recognized.
(For example, Japanese Utility Model Application Laid-Open No. 63-5013)
No. 3).

[0003]

The technical problem of the present invention [invention is to solve the above, in the parallel opening and closing chuck having an increased stroke of the finger, chucking detecting capable Then simultaneously in that in correspondence with a large stroke multiposition,
The finger moves the switch from the mounting position of the position detection switch.
Intuitively and easily recognize where to operate
It is another object of the present invention to provide an improved motion detection mechanism.

[0004]

A parallel opening / closing chuck according to the present invention for solving the above-mentioned problems has a pair of rack holes and a pair of cylinder holes formed in a body in parallel with a pair of rack holes.
The above body, one pair of cylinder bore beneath the body
A pair of racks penetrated and inserted into the rack holes
A piston having a piston rod connected to each of the cylinder holes is fitted into the pinion, and a pair of racks and a pair of piston rods are provided with one finger at an end protruding from one body and the other rack and piston at the other end. the protruding end from the body of the rod, mounting the other fingers, the opposing two outer side surfaces parallel to the cylinder bore of the body
At the lower part, a groove is provided at a position close to each of the pair of cylinder holes along the moving direction of the piston for mounting the position detection switch .
Form the support surface of the switch to reduce the width of the opening.
Connect the switch to the position detection switch
A screw hole is provided for screwing the tip of the set screw for attaching the switch to the bottom of the groove , and a permanent magnet is attached to both pistons.
And the position detection switch is set to the magnetic force of the permanent magnet.
To detect and operate the piston.
It is a sign.

[0005]

The pressure fluid is supplied to and discharged from the cylinder bore defined by the pistons to drive the pair of pistons in opposite directions.
Then, the pair of piston rods are synchronously driven by the engagement of the rack and the pinion, and the pair of fingers move in the opening direction or the closing direction with a relatively large stroke.
Position detection switch for detecting finger movement on body
To install the switch, insert the switch into the groove in the body
Hold it in place and screw a set screw through the opening into the screw hole.
Just enter. As a result, the tip of the set screw is
The switch is pressed against the support surface of the groove
Fixed to D

The above-mentioned parallel opening / closing chuck includes a finger strut.
Due to the relatively large rooke, the fingers
Make sure that the workpiece is grasped or released.
In order to handle the large stroke,
It is necessary to be able to detect the position, but on the outer surface of the body
At a position close to each of the pair of cylinder holes.
A groove for mounting the switch is provided, and the position detection switch is
Because it is inserted into the groove so that the position can be adjusted freely, many position
Piston position can be detected at multiple positions by installing an output switch
Not only the position of each of these position detection switches
Position of the workpiece, and grasp or release the workpiece at any position.
The release can be confirmed and the operation of the finger can be controlled.

In the above parallel opening / closing chuck, a piston
Magnetism of the permanent magnet attached to the cylinder in the groove along the cylinder hole
The position is detected by the position detection switch
Therefore, the piston position can be immediately determined from the finger position.
Switch position to facilitate finger operation
It can correspond to the position. Then, the pair of
The blind hole extends through the bottom of the body and
Under the opposite outer surfaces parallel to the cylinder bore of the body
The fingers in the body and the
Switch along the direction of piston movement
Since the groove for attaching the switch is provided,
Check the mounting position of the switch to check the
Move the finger to the position close to the top and bottom
, A positional relationship is given to each other.
Therefore, the above-mentioned position detection to confirm the operation of the finger
From the mounting position of the output switch,
At a glance, the position of the finger can be intuitively and easily recognized.
In addition, when changing the operating position of the switch,
The direction and distance of movement can be easily recognized,
Operation control becomes easy. Moreover, mounting the position detection switch
Because the position is on the opposite side, it is generally very easy to see
It is located in a position and is easy to confirm by workers.

[0008]

FIG. 1 shows an embodiment of the present invention. A body 1 of a parallel opening / closing chuck has a pair of rack holes 2 and 2 at the upper side.
A pair of cylinder holes 3 and 3 are provided below and in parallel with each other in the axial direction of the body 1. The racks 2a and 2b disposed opposite the rack holes 2 and 2 are common to them.
The pinion shaft 5 is rotatably supported by recesses 7, 7 formed in the body 1 and a pinion cover 6 attached to the body 1.
a. 2b is guided in the axial direction by bearings 8, 8 mounted on both ends of the rack holes 2, 2 in the axial direction.

The cylinder bores 3 and 3 are provided on both sides thereof with an enlarged diameter.
The rod covers 10, 10 are fitted to the portions, and the piston rods 11a, 11b inserted into these cylinder holes 3, 3 are fitted.
The slide in the axial direction is guided by a bearing 12 mounted on the rod cover 10. Further, the piston 13 sliding in these cylinders holes Pisutonro thereof by a clip 14 which is fitted into the groove of the piston rod
It is attached to the head.

A finger 1 for gripping a work (not shown)
6a and 16b are disposed on both sides of the body 1 in the axial direction, and the finger 16a is attached to one end of the rack 2a and the piston rod 11a at the diagonal position with nuts 17 and 17 and the other rack 2b and the piston rod. 11b are provided with through holes 18, 18 into which play is inserted. The finger 16b is attached to one end of the rack 2b and one end of the piston rod 11b by nuts 17, 17, and
a and the through holes 18, 1 into which the piston rod 11a is loosely inserted.
8 is provided. Further, an adjust bolt 20 for adjusting the stroke of the fingers 16a, 16b is screwed into the finger 16b in contact with a stopper 19 (see FIG. 5) attached to the body 1. In the drawing, reference numeral 22 denotes a damper provided on the rod cover 10, and 23 denotes a port for supplying and discharging pressure fluid to one or both of the cylinder holes 3, 3 defined by the piston.

In order to detect the operation of the chuck by detecting the position of the piston 13 , a flat hole is formed in the cylinder hole 3 of the body 1.
A position detection switch 26 is provided at a position below each of the pair of cylinder holes 3 below the opposing outer surfaces.
And setting only the grooves 25, 25 along the movement direction of the piston 13 for attaching. The switch mounting groove 25 of the body 1 is opened to the outside by a narrow opening 28, whereby the supporting surfaces 25 a, 25 a of the switch 26 are formed on the opening side edge of the groove 25. .

FIG. 6 shows the position detection switch 26 as a structure.
4 shows an example of a magnetic proximity switch to be formed. Case 31 of the proximity switch is a recessed groove 25 substantially similar, concave groove
And a contact surface 32, 32 that contacts the support surface 25a, 25a in the longitudinal direction. The case 31 made of a non-magnetic material includes a switch accommodating portion 31a in which a reed switch 33 is inserted, and a solid portion 31b on the tip side thereof.
1b, the tip of the set screw 35 for mounting the switch is
A screw hole 34 to be screwed in for press-contact is provided, and a lead wire 36 is connected to the reed switch 33. This location check
Outgoing switch 26 is a permanent magnet attached to both pistons 13.
27, and as a result, the piston 13 is detected.
It works.

The parallel opening / closing chuck having the above-described structure is provided with a cylinder hole 3 defined by a piston 13 through a port 23.
Supply and discharge the pressurized fluid to the pair of pistons in opposite directions
When the racks 2a, 2b and the pinion 4 are engaged, the piston rods 11a and 11b move in the opposite directions in synchronization with each other, so that the fingers 16a and 16b are moved.
It moves in the opening or closing direction with a relatively large stroke . In this case, since both ends of the racks 2a and 2b are guided by the bearing 8 and both ends of the piston rods 11a and 11b are guided by the bearing 12, their axial lengths are increased and the strokes of the fingers 16a and 16b are increased. Even if is increased, the twisting does not act, and the life of the parallel opening / closing chuck can be extended.

Further, the fingers 16a and 16b are connected to the rack and the piston rods 2a and 11a at the diagonal positions, respectively.
a and 2b, 11b, so that the fingers 16
The driving forces acting on a and 16b are not biased to one side, and the fingers 16a and 16b move while maintaining a parallel state.

The body 1 has a position for detecting the operation of the finger.
To attach the position detection switch 26, the groove 2
5, the switch 26 is inserted and held at a predetermined position, and the set screw 35 is screwed into the screw hole 34 through the opening 28. As a result, the tip of the set screw 35 presses against the bottom surface of the groove 25, and the contact surfaces 32, 32 are pressed against the support surfaces 25a, 25a, so that the switch 26 is fixed to the body 1.
When the fastening of the set screw 35 is released, the switch 26 can be moved along the groove 25 to adjust the mounting position.

The parallel opening / closing chuck includes a finger strut.
Due to the relatively large rooke, the fingers
Make sure that the workpiece is grasped or released.
In order to handle the large stroke,
Although it is necessary to be able to detect the position, as described above,
On the outer surface of the die 1, each of the pair of cylinder holes 3
A plurality of recessed grooves 2 for mounting a switch
5 and 25, and the position detection switch 26 is
It is inserted in the position adjustment freely, so many position detection
If the piston position can be detected at multiple positions by installing a switch
Instead of mounting the position detection switches.
Adjust freely to grasp or release the workpiece at any position.
Confirmation and finger operation control can be performed.

In the above parallel opening / closing chuck,
The magnetism of the permanent magnet 27 attached to the
The position is detected by a position detection switch 26 provided in a concave groove 25 along the
So that the fingers 16a, 16b
The position of the piston 13 is immediately known from the position, and the switch
Easily change the mounting position of the fingers 16a and 16b
Can correspond to the operation position. And the above one
The pair of cylinder holes 3 penetrate it below the body 1,
Accordingly, the body 1 is opposed to the cylinder hole 3 in parallel.
Below the outer surfaces, i.e. the fingers 1 on the body 1
6a, 16b and the position close to the work to be gripped by it,
Groove for switch installation along the direction of movement of piston 13
25, the operation of the fingers 16a, 16b
Position of the switch 26 for confirming
Positions of the fingers 16a and 16b for operating the switch 26
Between the grooves at the position vertically close to each other
Is provided. Therefore,
Position detection for confirming the operation of the fingers 16a, 16b.
Operate the switch 26 from the mounting position of the output switch 26.
Glance at the positions of the fingers 16a and 16b
And can be easily recognized, and furthermore, the operating position of the switch 26.
Is changed, the moving direction and the moving distance of the switch 26 are changed.
Release can be easily recognized, and chuck operation control becomes easy.
You. Moreover, the mounting position of the position detection switch is
Because of this, it is generally located
Confirmation by the parties is easy.

[0018]

As described in detail above, according to the present invention, in a parallel opening / closing chuck having a large finger stroke, it is possible to detect the operation of the chuck at multiple positions corresponding to the large stroke . position
Finger operates the switch from the mounting position of the detection switch
Intuitive and easy recognition of the position to be made
Become.

[Brief description of the drawings]

FIG. 1 is a vertical front view of an embodiment of the present invention.

FIG. 2 is a cross-sectional view of the main part.

FIG. 3 is a vertical sectional side view in which a piston and the like are omitted.

FIG. 4 is a side view.

FIG. 5 is a plan view.

FIG. 6 is a longitudinal sectional view showing an example of a magnetic proximity switch.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Body 2 Rack hole 2a, 2b Rack 3 Cylinder hole 4 Pinion 11a, 11b Piston rod 13 Piston 16a, 16b Finger 25 Concave groove 26 Position detection switch 27 Permanent magnet 34 Screw hole 35 Set screw

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Susumu Takada 4-2-2 Kinudai, Yawahara-mura, Tsukuba-gun, Ibaraki Pref. U) Japanese Utility Model Showa 62-6508 (JP, U)

Claims (1)

(57) [Scope of request for utility model registration] A pair of rack holes and a pair of cylinder holes are formed in the body in parallel , and a pair of rack holes are formed above the body.
A pair of cylinder holes are provided below the body, and a pair of racks inserted into the rack holes are engaged with a common pinion.
Then, a piston having a piston rod connected thereto is fitted into the cylinder hole, and one finger is attached to a protruding end of each of the pair of racks and the pair of piston rods from one body, and the other rack and the body of the piston rod are connected to each other. Attach the other finger to the protruding end from the bottom of the opposite outer surfaces parallel to the cylinder bore of the body.
In the above, a groove is provided at a position close to each of the pair of cylinder holes along the moving direction of the piston for mounting the position detection switch, and the switch is provided at the edge of the groove.
The opening width is reduced by forming the support surface of the
A switch is attached to the position detection switch
When a screw hole is inserted to press the tip of the mounting set screw against the groove bottom, and permanent magnets are attached to both pistons,
In both cases, the position detection switch is operated by the magnetism of the permanent magnet.
A parallel opening / closing chuck having an operation detection mechanism, wherein the operation is performed by detecting a piston .