JP2560911Y2 - Chuck device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chuck device which is attached to, for example, the tip of an arm of a working robot and is used for gripping a workpiece and carrying or assembling the same. Device for improving the arm opening / closing guide part for improving the opening / closing position accuracy of the arm.

[0002]

2. Description of the Related Art A parallel opening / closing chuck device for opening and closing an arm in parallel is known to be able to reliably grip a workpiece by an arm and to accurately position the gripped workpiece. FIG. 12 shows a conventional example of such a chuck device. In this figure, a guide way 31 is fixed between the side walls 30a protruding from the main body of the swing actuator 30 by screws 32 facing each other, and a cross roller bearing 33 is provided between the guide ways 31 and 31. A pair of slide shafts 34, 34 are arranged in series through the intermediary. Arms 35, 35 for gripping the work are projected from these slide shaft surfaces. Slide shaft 34
Is connected to the output shaft of the swing actuator 30 via a cam plate. When the output shaft swings clockwise or counterclockwise, the pair of arms 35, 35 is opened and closed in parallel. 13 by these arms 35, 35.
The work W can be gripped as shown in FIG.

On the other hand, in the chuck device shown in FIG. 14, a cross roller bearing 36 is provided between the guide ways 31, 31.
Slide shafts 37, 37 are arranged in parallel with each other, and a pair of arms 38, 38 for gripping a work is protruded from the slide shafts 37, 37.

Further, a cam provided with two arc-shaped cam grooves with respect to an output shaft of an oscillating actuator, such as a parallel opening / closing chuck disclosed in Japanese Utility Model Laid-Open No. 3-44586, is disclosed. At the same time, a guide holder provided with two linear pin guide grooves is attached to the linear motion guide member of the chuck portion, and the other ends of two pins having one end fixed to the chuck portion. There is also a structure in which the side is fitted into the cam groove via the pin guide groove, and the swing rotation of the actuator is converted into linear motion and transmitted to the chuck portion.

[0005]

In the chuck device shown in FIG. 12, when the gripping force of the work W is strong, a force F1 for rotating the slide shaft 34 acts as shown in FIG. Needs a length L enough to withstand this rotational force F1. As a result, the operation stroke is shortened, and the range of the work size that can be gripped by the arm 35 is limited. This difficulty becomes more pronounced as the gripping force increases. In addition, since an appropriate pressurization is applied by the pressurizing screw 39 to eliminate the play of the slide shaft 31, there is a problem that it takes time for assembly and adjustment.

On the other hand, in the chuck device shown in FIG. 14, the problem that the allowable work size is small can be solved, but the slide shafts 37, 37 are arranged in parallel between the guide raceways 31, 31 via the bearing 36. Because
There is a problem that it is structurally weak. For this reason, when a strong gripping force is required, or when the work W is heavy as shown in FIG. 15 (F3 indicates the weight of the work in the figure), a force F2 for deforming the slide shaft 37 acts and the arm 38. , 38, there is a problem that the accuracy in positioning the work W gripped by the work is impaired. In addition, as in the case of FIG. 12, since an appropriate pressurization is applied by the pressurizing screw 39 to eliminate backlash of the slide shaft 37, there is a problem that it takes time for assembly and adjustment.

In the case of the parallel chuck device disclosed in Japanese Utility Model Laid-Open Publication No. 3-44586, a cam operating portion (power conversion transmitting portion) interposed between a swinging actuator on the driving side and a chuck portion on the driven side. And the sliding part (arm opening / closing guide) are connected by using the adapter and the guide holder, etc., and there is a difficulty in the connection strength between the swing actuator body and the arm opening / closing guide. May not be strong enough, or the power may not be transmitted smoothly due to the accuracy of assembly with the power conversion transmission unit and the arm opening / closing guide unit. Have been.

The present invention has been proposed in order to solve such problems of the prior art, and a chuck device which can obtain a large working stroke, has no rigidity problem, and can obtain high positioning accuracy. The purpose is to provide.

[0009]

In order to achieve the above object, a chuck device according to the present invention comprises a swing actuator 3 for extracting a swing rotational movement from an output shaft 2 and a linearly reciprocating swing swing movement of the output shaft 2. Convert to motion and slide shaft 5,5
Opening / closing guide for guiding the linear motion of the power conversion transmission unit 4 and the slide shafts 5 and 5 by the linear motion guide members 12 and 12 to open and close a pair of arms 6 and 6 provided on the slide shafts 5 and 5. And a pair of claws 23 attached to the arms 6 and 6 for gripping the work. The power conversion transmission unit 4 is formed by forming the end of the main body 3A of the swing actuator 3 into a groove shape and forming a bottom. The camshaft 10 having pins 11 and 11 projecting from the output shaft 2 is connected to the output shaft 2, and the linear motion guide member 12 is composed of a fixed member 13 and a movable member 14 both having a substantially U-shaped cross section. And a track groove 15 extending in the longitudinal direction is provided between the side wall surfaces of the steel balls to form a plurality of steel balls 16.
The fixing member 13 is fixed to the side wall of the end of the main body 3A forming the groove, the slide shaft 5 is fixed to the movable member 14, and the cam plate 10 is fixed to the slide shaft 5. Are configured to be engaged.

In the chuck device according to the present invention, an inner step 19 is provided on the side wall of the end of the main body 3A of the swing actuator 3.
A fixing member 13 of the linear motion guide member 12 is fixed to the inner step 19, and a pin hole is formed in the lower surface of the slide shaft 5 fixed to the fixing member 13 and protruding toward the groove-shaped side of the end of the main body 3A. More desirably, a configuration is provided in which the pin 11 protruding from the cam plate 10 in the axial direction with respect to the pin hole 24 is engaged via a ring bearing 25.

[0011]

According to the structure corresponding to the first aspect, the mechanical strength of the linear motion guide member can be increased, and the slide shaft fixed to the movable member can be stably slid by being guided by the fixed member. Therefore, the opening / closing accuracy of the arm can be increased.

According to a second aspect of the present invention, when the output shaft of the swing actuator swings clockwise or counterclockwise, the arm moves toward and away while maintaining the parallel state, and the object is moved by the arm. Can be gripped and released.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a specific embodiment of the chuck device according to the present invention will be described in detail with reference to the drawings. FIG. 1 shows a use state of the chuck device, and FIG. 2 shows an exploded perspective view of the chuck device. In these figures, the chuck device 1
The power conversion transmission unit 4 converts the oscillating rotation of the output shaft 2 into a linear reciprocating motion, and the oscillating actuator 3 as a driving source capable of extracting the oscillating rotation from the output shaft 2. An arm opening / closing guide portion 7 for guiding the linear movement of the coupled slide shafts 5 and 5 and opening and closing a pair of arms 6 and 6 provided on the slide shafts 5 and 5 is generally configured.

The oscillating actuator 3 supplies and discharges a working fluid from ports 8 and 9 provided on one side of the main body 3A under the control of the switching valve, and the output shaft 2 together with the oscillating vane moves clockwise or counterclockwise. Swinging in the direction. The power conversion transmission unit 4 has a cam plate 10 connected to an output shaft 2 protruding from a groove at the end of the main body of the swing actuator 3.
In this configuration, two pins 11 and 11 are protruded from the outer periphery of the “0” so as to face each other. The arm opening / closing guide section 7 includes a linear motion guide member 12 and a slide shaft 5 attached to the linear motion guide member 12. As shown in FIG. 3, the linear motion guide member 12 has a rectangular parallelepiped shape as a whole, and a movable member 14 having an inverted U-shaped cross section is fitted into a fixed member 13 having a U-shaped cross section so as to face the bottom surfaces. . As shown in FIG. 4, a steel ball 16 with a retainer is fitted in a raceway groove portion 15 formed in the longitudinal direction on the opposed side wall surface portion between the fixed member 13 and the movable member 14. Reference numeral 16a is a retainer. As a result, the fixed member 13 and the movable member 14 can slide relatively stably, and have high rigidity in structure and high sliding accuracy.

This linear motion guide member 12 is
3, screw holes 17, 17 (see FIG. 5)
Screw 1 inserted from the side wall of actuator body 3A
By being fastened to the inner walls 8 and 18, they are fixed to the inner step portions 19 and 19 of the opposed side walls, respectively. Movable member 1
The screws 21 and 21 inserted into the slide shaft 5 are tightened in the screw holes 20 and 20 (see FIG. 6) formed in the slide member 4, so that the slide shaft 5 is fixed in the longitudinal direction of the movable member 14. . On the upper surfaces of the slide shafts 5, 5, arms 6, 6 with the workpiece gripping surfaces facing each other are protrudingly provided. A pair of claws 23 for holding the work W can be attached to the arms 6 and 6 via the attachment holes 22. Pin holes 24, 24 are formed in the lower surfaces of the slide shafts 5, 5 facing the cam plate 10, respectively. The pin holes 24, 24 are formed in the cam plate 10 as shown in FIG. The protruding pins 11, 11 are ring bearings 2.
5 and 25 respectively. FIG. 8 is a plan view of the chuck device 1 having this configuration, and FIG. 9 is a side view of the chuck device 1. Thereby, the swing actuator 3
Of the output shaft 2 is transmitted to the arm opening / closing guide unit 7 via the cam plate 10 of the power conversion transmission unit 4, and the slide shafts 5, 5 are guided by the linear motion guide members 12, 12 to reciprocate straight. As a result of the movement, the pair of arms 6 and 6 open and close while maintaining parallelism, and the claw 2 attached to these arms 6 and 6
The work W can be freely held and released by the work pieces 3 and 23. FIG. 10 shows a state in which the arms 6 and 6 are open,
FIG. 11 shows a state in which the arms 6 and 6 are closed.

In the chuck device 1 configured as described above, since the slide shaft 5 is attached to the linear motion guide member 12 which is strong in strength and high in slide precision, when the gripping force is strong or the work W is heavy, Further, even when the claw 23 attached to the arm 6 is long, no force for deforming the slide shaft 5 acts at all, and the arms 6, 6
The workpiece W gripped by the claws 23 can be positioned with high accuracy. Such a chuck device 1 is used by being mounted on a vertical driving cylinder 27 attached to a horizontal driving slider 26 to which a mounting plate 28 is fixed as shown in FIG.

[0017]

As described above, according to the present invention, the rotary motion taken out from the output shaft of the swing actuator is converted into linear motion by the power conversion transmitting portion having the cam plate provided with a pin and transmitted to the slide shaft. The slide shaft is slidably guided along a linear motion guide member of an arm opening / closing guide portion directly fixed to the end of the swing actuator main body, and the arm opening / closing guide portion includes a pair of slide shafts with an arm. The linear motion is guided by a linear motion guide member through a raceway groove portion on which a hard sphere is arranged. Therefore, the linear movement guide member is firmly fixed to the end of the actuator body, and the slide shaft is engaged with the pin protruding in the axial direction from the cam plate, so that the linear movement is smoothly transmitted to the arm opening / closing guide portion. The shaft is operated safely and accurately along the linear motion guide member, and its operation stroke can be made large, and the length of the slide shaft required to suppress the rotational force generated when gripping the work can be made long enough. It can solve the problem of rigidity. This can be useful if you need a strong gripping force,
When the work is heavy, even when the claw attached to the arm is long, the slide shaft is not deformed, and the positioning of the work and the like can be achieved with high positional accuracy. Further, since the linear motion guide member has a small slide resistance, a smooth operation can be ensured even when a small gripping force is required. In addition, there is no need for a means such as a pressurized screw that suppresses the backlash of the arm as in the past, so that there is no need for time for adjustment, and there is no variation by the adjustment operator, and products can be supplied stably. There are advantages. Also, when assembling, the slide shaft with the arm is screwed to the linear motion guide member, and this linear motion guide member is screwed to the main body of the swing actuator, so that the arm opening and closing guide portion of the chuck device can be easily assembled. Therefore, the time required for assembling the chuck device can be reduced, and the cost of the chuck device can be reduced.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a use state of a chuck device according to the present invention.

FIG. 2 is an exploded perspective view of the chuck device.

FIG. 3 is a perspective view of a linear motion guide member used in the chuck device.

FIG. 4 is a sectional view taken along line AA of FIG. 3;

FIG. 5 is a plan view of the linear motion guide member.

FIG. 6 is a rear view of the linear motion guide member.

FIG. 7 is an exploded perspective view showing a swing actuator unit and a slide shaft unit.

FIG. 8 is a plan view of the chuck device.

FIG. 9 is a side view of the chuck device.

FIG. 10 is a perspective view of the chuck device in a state where an arm is opened.

FIG. 11 is a perspective view of the chuck device showing a state where an arm is closed.

FIG. 12 is a plan view showing a conventional chuck device.

FIG. 13 is a view for explaining a problem of a conventional chuck device.

FIG. 14 is a plan view showing another conventional chuck device.

FIG. 15 is a view for explaining a problem of the conventional chuck device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Chuck device 2 Output shaft 3 Oscillating actuator 4 Power conversion transmission part 5 Slide shaft 6 Arm 7 Arm opening / closing guide part 8, 9 Port 10 Cam plate 11 Pin 12 Linear motion guide member 13 Fixed member 14 Movable member 15 Track groove 16 Holding Steel ball with container 17, 20 Screw hole 23 Claw 24 Pin hole 25 Ring bearing

Claims (2)

(57) [Scope of request for utility model registration] An oscillating actuator for extracting an oscillating rotational motion from an output shaft; a power conversion transmitting unit for converting the oscillating rotational motion of the output shaft into a linear reciprocating motion and transmitting the reciprocating motion to a slide shaft;
A linear movement guide member for guiding the linear movement of the slide shaft, an arm opening / closing guide portion for opening and closing a pair of arms provided on the slide shaft, and a pair of claws attached to the arm to grip a work; The conversion transmitting unit is configured such that the body end of the swing actuator is formed in a groove shape, and the output shaft projects from the bottom,
A cam plate provided with a pin is connected to the output shaft, and the linear motion guide member fits a fixed member and a movable member, both of which have a substantially U-shaped cross section, in a longitudinal direction between the side wall surfaces thereof. A slidable structure having a plurality of steel balls interposed by providing a raceway groove portion extending to the movable member, wherein the fixed member is fixed to a side wall portion of the main body end forming a groove, and the movable member has A chuck device wherein a slide shaft is fixed and a pin of the cam plate is engaged with the slide shaft. 2. An inner step portion is provided on a side wall of an end portion of the main body of the swing actuator, and a fixing member of the linear motion guide member is fixed to the inner step portion, and is fixed to the fixing member. A pin hole is provided in the lower surface of the slide shaft protruding toward the groove-shaped side of the portion, and the pin projected from the cam plate in the axial direction is engaged with the pin hole via a ring bearing. The chuck device according to claim 1, wherein: