JP3293799B2 - Opening and closing chuck - 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 attached to an arm or the like of an industrial robot and used for gripping and transporting an object such as a work. More specifically, the opening and closing stroke of a gripping member is relatively small. The present invention relates to a long and highly rigid opening / closing chuck.

[0002]

2. Description of the Related Art Conventionally, as a chuck used for gripping and transporting an object such as a work, a pair of gripping members which perform a parallel opening / closing operation by the operation of the cylinder mechanism are provided on a chuck body having a built-in cylinder mechanism. A chuck in which a guide member for guiding a linear movement of a pair of gripping members is assembled is widely known. The gripping member of this type of chuck has a configuration in which a gripping portion for gripping an object and a guide portion guided by a guide mechanism of the guide member are provided, and the guide portions of both gripping members are recessed of the guide member. Generally, the guide is guided by a common guide mechanism formed linearly on the opposed wall in the groove. However, in this type of chuck, the opening / closing stroke of each gripping member is lengthened so that various sizes of objects can be gripped,
If the difference between the closed width and the open width between the two gripping members is to be made sufficiently large, the common guide mechanism becomes longer in the moving direction of the gripping members as the stroke of the two gripping members increases. The guide member becomes very large, and as a result, the whole chuck becomes large.

On the other hand, as disclosed in Japanese Utility Model Application Laid-Open No. 6-57580, the guides of a pair of gripping members are assembled in a horizontal groove in a concave groove of a guide member, and both guides are assembled. 2. Description of the Related Art A chuck is known which is guided by a guide member and simultaneously guided by a plurality of rolling rollers interposed in a gap between both guide portions. However, in this known chuck, since a cross roller is interposed between the guide portions of the two gripping members to guide each other, it is difficult not only to increase the stroke of the gripping member, but also to form the groove of the concave groove. Since the width and the like are also restricted, it is also difficult to increase the strength of each gripping member. Further, in this chuck, the guides of the pair of gripping members are arranged in two horizontal rows. Therefore, if the guides have sufficient strength, it is necessary to increase the width of the guides. As a result, the gripping member and the guide member for guiding the gripping member are increased in size as a whole.

[0004]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a parallel opening / closing chuck having a large opening / closing stroke of a gripping member. It is to be. Another technical object of the present invention is to provide an opening / closing chuck that can stably and reliably hold an object.

[0005]

In order to solve the above-mentioned problems, an opening / closing chuck according to the present invention is built in a body, and operates a cylinder mechanism which operates by supplying and discharging compressed fluid, and performs an opening / closing operation by driving the cylinder mechanism. A pair of gripping members,
A guide member attached to the body for guiding linear movement of the pair of gripping members, and a guide portion of one gripping member is provided on an opposing wall in a concave groove of the guide member.
Guide mechanism for guiding both side surfaces of the first and second gripping members
And a second guide mechanism for guiding both side surfaces of the guide portion are arranged in parallel with each other in two rows of an opening side and a back side of the concave groove, and each gripping member grips a gripping object. A grip portion and a guide portion guided by a guide mechanism are provided, and the guide portions of the two grip members have overlapping portions that overlap each other at least at a closed position of the grip member, and are moved to the guide member by steps. It is characterized by being assembled as possible.

In the opening / closing chuck having the above structure, a pair of gripping members are guided by a guide member to move linearly by driving a cylinder mechanism in a body to perform an opening / closing operation. At this time, the pair of gripping members are first and second provided on opposing walls in the concave groove of the guide member.
The first and second guide mechanisms are arranged side by side in parallel with each other in two rows on the opening side and the back side of the concave groove. Since the guide portions overlap each other in the closed position, and are assembled to the guide member so as to be movable in a stepwise manner, the guide member can be enlarged while securing a sufficient opening / closing stroke of the gripping member. Therefore, the size of the entire chuck can be reduced. In addition, the guide portions of the two gripping members have overlapping portions that overlap each other at least at the closed position of the gripping members, and the guide portion has a groove direction length as long as possible in relation to the opening / closing width of the gripping portions. Therefore, each guide portion can ensure a width substantially equal to the groove width of the concave groove and a sufficient length in the concave groove direction regardless of the presence of the other guide portion. It is possible to impart high rigidity to the gripping member, and each guide portion can be stably moved by its length in the concave groove direction, so that the gripping member can stably and reliably grip the object. It is possible.

In the present invention, the position where the tip of the guide portion in one gripping member abuts on the other gripping member can be the closed position. It can be constituted by a linear guide interposed between the wall and the guide portion of the gripping member. Further, the protrusion protrudes to the position of the guide mechanism on the back side by the gripping member guided by the guide mechanism on the opening side of the concave groove, and receives the transmission of the driving force for opening and closing by the lever having the same structure as the other gripping member. It can be configured as provided with a part, whereby the components are shared and the structure is simplified.

[0008]

1 and 2 show one embodiment of an opening / closing chuck according to the present invention. The opening / closing chuck of this embodiment is built in a body 1 and operates by supplying and discharging compressed fluid. A mechanism 2, a pair of gripping members 3 and 4 that perform opening and closing operations by driving the cylinder mechanism 2, and a guide member 5 attached to the body 1 and guiding the linear movement of the pair of gripping members 3 and 4. And

The cylinder mechanism 2 includes a cylinder hole 11 formed in the body 1 at a predetermined depth downward from the upper end thereof, a cap 12 for airtightly closing the upper end of the cylinder hole 11, A piston 13 slidably inserted into the cylinder hole 11, a rod 14 provided on the piston 13, and a cylinder hole 1
1 has compressed fluid supply / discharge ports 15 and 16 that individually communicate with the head side and the rod side of the piston 13 in the piston 1. Cylinder hole 1 through ports 15 and 16
When the compressed fluid is supplied and discharged to the head side and the rod side of the piston 13 in the piston 1, the piston 13 and the rod 14 are reciprocated in the cylinder hole 11. A permanent magnet 23 for position detection is attached to the piston 13, and the operating position of the piston 13 is detected by a magnetic sensor (not shown) housed in a groove 24 on the outer surface of the body 1. I can do it.

A recess 10 is formed in the lower part of the body 1 so as to cross the body 1 in the left and right directions in FIG. 1. A pair of substantially L-shaped levers 1 for converting the above operation into the opening and closing operation of the pair of gripping members 3 and 4
7, 17 are provided. The lever 17 has a middle portion rotatably supported on the body by a pin 18, and a rod 1 is inserted into a concave notch 17 a provided at the base end of the lever 17.
The driving ball 14a at the tip of the lever 4 is fitted and locked, and the ball 14 at the tip of the lever 17 is engaged with the engaging holes 19, 20 of the gripping members 3, 4 by the upward or downward movement of the rod 14.
b rotates by a certain angle.

The guide member 5 is attached to the body 1 at a position covering the recess 10 so as to cover the recess 10. The guide member 5 linearly moves the gripping members 3 and 4 in a direction perpendicular to the axis of the rod 14, and has a groove 6 formed so as to cross the center of the lower surface thereof. The pair of gripping members 3 and 4 are disposed therein, and a first guide mechanism 8 that guides the gripping member 3 and a first guide mechanism 8 that guides the gripping member 4 are provided on opposing walls 7 and 7 of the concave groove 6. 2 are arranged in parallel with each other in two rows on the opening side and the back side of the concave groove 6.
4 can be assembled in a different way. Guide holes 21 and 21 are formed in the guide member 5 at positions corresponding to the levers 17 and 17, respectively, and the distal end ball portions 17 b and 17 b of the levers 17 and 17 are formed through the guide holes 21 and 21. Are led out into the concave grooves 6 and are engaged with the corresponding engaging holes 19 and 20 of the gripping members 3 and 4, respectively.

As shown in FIG. 3, the first and second guide mechanisms 8 and 9 have opposed walls formed on the wall surfaces of the opposed walls 7 and 7 of the concave groove 6 in a direction along the concave groove 6. Side guide grooves 8a, 9a
And gripping member-side guide grooves 8b, 9b formed on both side surfaces of the guide portions 3b, 4b of the gripping members 3, 4 described later, and the opposing wall-side guide grooves 8a, 9a and the gripping member-side guide grooves 8b, 8b.
9b, a plurality of rolling elements 22 (see FIGS. 1 and 2) interposed therebetween. The rotation of the rolling elements 22 allows the gripping members 3, 4 to slide freely in the groove 6. ing. In order to prevent the rolling elements 22 from coming out of the respective guide grooves, both ends of the guide portions 3b, 4b of the gripping members 3, 4 in the longitudinal direction are provided with plates 25, which cover the ends of the corresponding guide grooves, respectively. 26 are respectively attached. Among these, the plate 26 attached to the outer end side of the guide portions 3b, 4b
Are formed so as to cover both end portions of the opposing wall side guide grooves 8a and 9a.

The gripping members 3 and 4 include gripping portions 3a and 4a for gripping an object to be gripped and a first member of the guide member 5 described above.
Or a substantially L-shaped member integrally provided with guide portions 3b and 4b whose movement is guided by the second guide mechanisms 8 and 9;
It is formed wide enough to be supported between the opposing walls 7, 7 of the concave groove 6 during the movement.

Further, among the gripping members 3 and 4, the groove 6
The gripping member 3 guided by the first guide mechanism 8 on the opening side of the opening is formed with a protruding portion 3c that protrudes to the position of the second guiding mechanism 9 on the back side. An engagement hole 19 with which the tip ball portion 17a is engaged is provided. As a result, the engaging hole 19 can be positioned at substantially the same height as the engaging hole 20 of the other gripping member 4, so that transmission of the driving force for opening and closing by the lever 17 having the same shape as the gripping member 4 is performed. It is possible to use common parts and simplify the structure.

The guide portions 3b, 4b have overlapping portions that overlap with each other at least at the closed position of the grip members 3, 4, and are as long as possible in relation to the opening / closing width of the grip portions 3a, 4a. The guide portions 3b and 4b have a length in the groove direction, so that the guide portions 3b and 4b are not in contact with each other even if the groove length in the groove direction is long. You can move in any direction.

In the gripping members 3 and 4, the position where the tip of the guide portion of one gripping member abuts on the other gripping member is the closed position of the minimum gripping interval. In this embodiment, when the gripping members 3 and 4 are closed,
Of the guide portion 4b of the gripping member 3 first strikes the protrusion portion 3c, so that the protrusion portion 3c and the guide portion 4b
Is a closed position of the gripping members 3 and 4.

In the opening / closing chuck having the above structure, the pair of gripping members 3, 4 are guided by the guide member 5 to move linearly by driving the cylinder mechanism 2 in the body 1 to perform the opening / closing operation. At this time, the pair of gripping members 3, 4 are separately guided by the first and second guide mechanisms 8, 9, respectively. The first and second guide mechanisms 8 and 9 are arranged in parallel with each other in two rows, that is, the opening side and the back side of the concave groove 6 of the guide member 5. The guide members 3b and 4b are overlapped with each other in the closed position, and the guide members 3b and 4b are assembled to the guide member 5 so as to be able to move in steps without contact with each other. , 4 while ensuring a sufficient opening / closing stroke, the size of the guide member 5 can be suppressed, and the entire chuck can be reduced in size. Moreover, the guide portions 3b, 4b of the two gripping members 3, 4
Since each of the guide portions has an overlapping portion that overlaps at least at the closed position of the gripping member and has a length in the groove direction that is as long as possible in relation to the opening and closing width of the gripping portions 3a and 4a, 3b, 4b can ensure a width substantially equal to the groove width of the groove 6 and a sufficient length in the groove direction irrespective of the presence of the other guide portions 4b, 3b.
It is possible to impart high rigidity to the holding members 3 and 4 without increasing the size of the guide member 5. Further, since the guide portions 4b, 3b can move stably by increasing the length in the groove direction as much as possible, the gripping members 3, 4 can stably and surely grip the object. Is possible.

In the above embodiment, the driving of the cylinder mechanism 2 is controlled by the pair of levers 17, 17.
However, the present invention is not limited to this, and the opening / closing mechanism of the gripping members 3 and 4 can be any type as long as it can convert the operation of the cylinder mechanism 2 into the opening / closing operation. .

[0019]

As described above in detail, according to the opening / closing chuck of the present invention, the pair of gripping members are provided on the opposing wall in the groove of the guide member so that the opening side and the back side of the groove can be formed. The guide members are separately guided in two rows by first and second guide mechanisms arranged in parallel to each other, and the two gripping members are mutually joined so that their guide portions overlap each other in the closed position. Since it is assembled so as to be movable in a stepped manner, it is possible to suppress the enlargement of the guide member and to reduce the size of the entire chuck while securing a sufficient opening / closing stroke of the gripping member. In addition, the guide portions of the two gripping members have overlapping portions that overlap each other at least at the closed position of the gripping members, and the guide portion has a groove direction length as long as possible in relation to the opening / closing width of the gripping portions. Therefore, each guide portion can ensure a width substantially equal to the groove width of the concave groove and a sufficient length in the concave groove direction regardless of the presence of the other guide portion. It is possible to impart high rigidity to the gripping member. Further, each guide portion can be stably moved by its length in the concave groove direction, so that the holding member can stably and surely hold the object.

[Brief description of the drawings]

FIG. 1 is a vertical sectional front view showing an embodiment of an opening / closing chuck according to the present invention. However, the right half shows a state where the gripping member is open, and the left half shows a state where the gripping member is closed .

FIG. 2 is a side view of the embodiment of FIG.

FIG. 3 is a perspective view showing a guide member and a gripping member of FIG. 1;

[Explanation of symbols]

 Reference Signs List 1 body 2 cylinder mechanism 3, 4 gripping member 3a, 4a gripping part 3b, 4b guiding part 3c projecting part 5 guide member 6 concave groove 7 facing wall 8 first guiding mechanism 9 second guiding mechanism

──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Takeshi Nishikawa 4-2-2 Kinudai, Yawahara-mura, Tsukuba-gun, Ibaraki Pref. , U) Hikaru Hei 5-53882 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 15/08

Claims (4)

(57) [Claims] 1. A cylinder mechanism built in a body and operated by supply and discharge of a compressed fluid, a pair of gripping members for opening and closing by driving the cylinder mechanism, and a pair of gripping members attached to the body, A guide member that guides linear movement, a first guide mechanism that guides both side surfaces of the guide portion of one gripping member on an opposing wall in the concave groove of the guide member, and a guide member that guides the other gripping member . A second guide mechanism for guiding both side surfaces of the guide portion is provided in parallel with each other in two rows, that is, an opening side and a back side of the concave groove. And a guide portion guided by a guide mechanism, wherein the guide portions of the two gripping members have overlapping portions that overlap each other at least at a closed position of the gripping members, and can be moved to the guide member at different levels. the assembled That, closing the chuck, characterized in that. 2. The opening and closing chuck according to claim 1, wherein
A position where the tip of the guide portion in one gripping member abuts on the other gripping member is a closed position. 3. The open / close chuck according to claim 1, wherein the guide mechanism comprises a linear guide interposed between an opposing wall in the concave groove of the guide member and a guide portion of the gripping member. 4. The opening / closing chuck according to claim 1, wherein the gripping member guided by the guide mechanism on the opening side of the concave groove projects to the position of the guide mechanism on the back side, and the other gripper. A projection provided with a lever for transmitting a driving force for opening and closing by a lever having the same structure as the member.