JPH0727787U - Chuck claw slide mechanism - Google Patents

Abstract

(57) [Summary] [Purpose] To provide at low cost a slide mechanism of a chuck claw that operates stably with little sliding friction resistance. A sliding surface between the chuck claw and the guide member, with respect to each chuck claw mounted on a chuck device in conjunction with a drive unit and a guide member for guiding the chuck claw so as to linearly reciprocate in a radial direction. One of the two is provided with a dogleg-shaped engaging convex portion, and the other is provided with a dogleg-shaped engaging groove for fitting with the engaging convex portion. By fitting the groove, the chuck claw is held by the guide member in such a manner that a gap is provided on the bottom surface side, the friction reducing member is interposed on the sliding surface of the chuck claw, and the back portion of the guide member is concerned. A pressing means for pressing the guide member toward the chuck claw side to finely adjust the sliding contact interval is provided, and this pressing means adjusts the center position in the height direction of the guide member in which the bottom of the fitting groove and the peak of the engaging projection are aligned. It was pressed horizontally.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 INDUSTRIAL APPLICABILITY The present invention is used, for example, in a chuck device that is attached to an arm part of a work robot and grips a work for carrying, assembling, and the like. The present invention relates to a slide mechanism that linearly slides in a freely openable and closable manner.

[0002]

[Prior art]

 An example of this type of chuck device is a three-jaw parallel opening / closing chuck disclosed in Japanese Utility Model Laid-Open No. 5-26212. The sliding mechanism of the chuck claws in the three-claw parallel opening / closing chuck has a structure in which the chuck claws slide in parallel in a radial direction as shown in a schematic view in a plan view of FIG. The guide members 1 and 2 arranged in a manner extending radially in three directions are attached to the body portion 5 of the gripper with the outer surfaces supported by the support members 3 and 4. The guide members 1 and 2 each have an inclined inner surface to form an inverted V shape with the body portion 5, and a trapezoidal guide groove 6 formed by the inverted V shape traps each chuck claw 7. The shaped base portions 7a are respectively fitted and the rolling members 8 such as rollers and balls are interposed between the guide groove 6 and the chuck claw 7. Further, a pressing screw 9 is screwed onto the supporting member 3, and by tightening the pressing screw 9, the guide member 1 is pressed toward the chuck claw 7 side so that the chuck claw 7 in the guide groove 6 is prevented from rattling. ing. The chuck claw 7 has one end fixed to the chuck claw 7 and the other end fitted into an arcuate cam groove formed on the cam plate, and is connected to the swing actuator via the cam plate (not shown). Omitted). As a result, the chuck claw 7 reciprocates linearly in the radial direction along the guide groove 6 in association with the rotational movement of the swing actuator, and the workpiece can be gripped by the inner end or the outer end of each chuck claw 7.

[0003]

[Problems to be solved by the device]

 However, in the case of the above-mentioned conventional slide mechanism, there are problems that require the following solutions. For example, not only are both side surfaces of the base portion 7a of the chuck claw 7 fitted into the guide groove 6 slidably contacted with the inner surfaces of the respective guide members 1 and 2 via the rolling members 8, but also the bottom surface thereof is the body portion 5. The sliding frictional resistance is increased because the sliding friction resistance increases. Further, when the pressing screw 9 is tightened in order to reduce the backlash, the bottom surface of the base portion 7a pressed by the inclined surfaces of the guide members 1 and 2 is further strongly slidably contacted with the body portion 5 to further increase the sliding friction resistance. To do. As a result, the chuck claw 7 does not slide smoothly on the guide groove 6, wear is caused on each part that makes sliding contact, and frequent fine adjustment of the gap by the pressing screw 9 is required, and the life is shortened. There was a problem. The present invention has been proposed in order to solve the problems of the prior art, and provides a chuck claw slide mechanism that has a long life and is inexpensive, with less rattling and sliding frictional resistance to the chuck claw. With the goal.

[0004]

[Means for Solving the Problems]

 In order to achieve the above object, a chuck claw slide mechanism according to the present invention guides each chuck claw mounted on a chuck device in conjunction with a driving unit so that the chuck claw moves in a rectilinear reciprocating motion in a radial direction. With respect to the guide member, one of the sliding surfaces of the chuck claw and the guide member is provided with a dogleg-shaped engaging projection, and the other is fitted with the dog-shaped engaging projection. The fitting groove is provided as a recess, and the fitting of the engaging projection with the fitting groove allows the chuck claw to be held by the guide member in such a manner that there is a gap on the bottom surface side, and the chuck claw slides. A friction reducing member is interposed on the surface, and a pressing means for pressing the internal member to the chuck claw side to finely adjust the sliding contact interval is provided on the back portion of the guide member. Horizontally press the center position in the height direction of the guide member where the valley bottom of the It was so.

[0005]

Embodiment A slide mechanism for a chuck claw according to the present invention will be described below in detail with reference to the illustrated embodiment. A chuck device using this slide mechanism is provided with a swing actuator 11 driven by fluid pressure, which is a drive unit, as shown in a front view of a cross section of a main part of FIG. 2 and a plan view of FIG. An output shaft 12 is projected from the swing actuator 11. Reference numerals P1 and P2 are ports for intake and exhaust of fluid pressure for driving the swing actuator 11. A rotating disk 13 is fixed to the output shaft 12 of the swing actuator 11 by a set screw 14. As shown in FIG. 4, the rotating disk 13 is slid in three arcs from the shaft center side to the outer peripheral side. A guide groove 15 is provided. A base 17 is attached to the flange portion 16 of the swing actuator 11 so as to cover the rotary disk 13, and a Y-shape that extends radially in the radial direction at an angle of approximately 120 degrees on the upper surface of the base 17. The mounting groove 18 is formed in a concave shape, and inside the mounting groove 18, a sliding mechanism for a chuck claw including guide members 19 and 20 and a chuck claw 21 is mounted.

As shown in an enlarged view in FIG. 5, the guide members 19 and 20 are formed with fitting grooves 22 and 23, respectively, which are recessed in a dogleg shape on their inner surfaces. They are accommodated in parallel on both sides of the mounting groove 18 while facing each other, and are fixed to the base 17 by setscrews 24 and 25. The chuck claw 21 has engaging projections 21a and 21b formed by protruding the outer surface in a dogleg shape that fits into the fitting grooves 22 and 23 on the base side and fitting the engaging projections 21a and 21b. It is fitted into the grooves 22 and 23 and held between the guide members 19 and 20, and there is a gap 26 between the bottom surface on the base side and the bottom surface of the mounting groove 18, so that there is no sliding friction resistance due to the bottom surface side. I am trying. The proximal end of the guide pin 27 is fixed to the chuck claw 21. A ring bearing 28 is attached to the tip end side of the guide pin 27, and the guide pin 27 is inserted into a long hole 29 formed in the base 17 so that the ring bearing 28 portion of the guide pin 27 is of the rotating disk 13. It is fitted into the sliding guide groove 15.

A friction reducing member 30 is interposed between the guide members 19 and 20 and the chuck claws 21 to improve the sliding of the engaging protrusions 21 a and 21 b with respect to the fitting grooves 22 and 23. There is. In this embodiment, the friction reducing member 30 is made of a resin having a small frictional resistance, such as a fluorine resin material, to at least one of the sliding surfaces of the engaging projections 21a and 21b and the fitting grooves 22 and 23. The agent is coated. The base 17 is provided with screw holes 31 and 32 communicating with the mounting groove 18, and one guide member 19 is chucked from the outside by tightening the pressing screws 33 and 34 screwed into the screw holes 31 and 32. The groove spacing between the guide member 20 and the other guide member 20 can be finely adjusted appropriately. In particular, the pressing screws 33 and 34 are located at positions where the central portions in the height direction of the guide member 20 where the troughs of the fitting grooves 22 and 23 and the peaks of the engaging projections 21a are aligned are pressed horizontally from the rear side. Since it is provided, this pressing force is evenly distributed on the upper and lower inclined surfaces of the engaging projections 21a formed on the chuck claw 21, and the chuck claw 21 does not move or tilt in the vertical direction. A good sliding contact state can be maintained.

In this chuck device, when the fluid pressure is supplied from the port P1 and exhausted from the port P2, the output shaft 12 of the swing actuator 11 and the rotary disk 13 are rotated clockwise as shown by the arrow X in FIG. The guide pin 27 which is rotated to and whose distal end is fitted into the slide guide groove 15 of the rotary disc 13 is moved along the slide guide groove 15 from the axial center side to the outer peripheral side. The base end side of the guide pin 27 is fixed to the chuck claw 21, and the rotation of the chuck claw 21 is restricted by the guide members 19 and 20. Is moved to the outer peripheral side along the guide members 19 and 20. When fluid pressure is supplied from the port P2 and exhausted from the port P1, the output shaft 12 and the rotary disk 13 of the swing actuator 11 rotate counterclockwise as shown by the arrow Y in FIG. Is moved from the outer peripheral side to the axial center side along the slide guide groove 15, and the chuck claw 21 is moved to the axial center side along the guide members 19 and 20.

Next, a slide mechanism according to the second embodiment will be described with reference to FIG. In this embodiment, the chuck claw 35 has a dogleg-shaped engaging convex portion 35a formed on one side surface of the base portion and a vertical surface on the other side surface, and the guide member 36 is also formed only on one side. It is different from the previous embodiment in that the other side is omitted. That is, in this embodiment, the guide member 36 is provided with a dogleg-shaped fitting groove 39 on the inner surface thereof in the Y-shaped mounting groove 38 radially extending in the radial direction provided in the base 37. Of the chuck claw 35 in which the engaging projection 35a is fitted in the fitting groove 39, and the other side surface is screwed from the base 17 side. It is pressed against the wall surface and is held with a gap 41 between it and the bottom surface of the mounting groove 38. Since the friction reducing member 42 is interposed between the sliding parts and other configurations and operations are similar to those of the previous embodiment, the description thereof will be omitted.

It should be noted that the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the gist. For example, in the embodiment, a dogleg-shaped engaging convex portion is provided on the chuck claw side and a dogleg-shaped fitting groove is provided on the guide member side. A dogleg-shaped fitting groove may be provided as a recess to provide a dogleg-shaped engaging protrusion on the guide member side. Further, as the friction reducing member interposed between the sliding portions, a viscous lubricant may be applied, a sheet material having a low frictional resistance may be attached, or a rolling member such as a ball bearing may be used.

[0011]

[Effect of device]

 As described above, the slide mechanism of the present invention is mounted on the chuck device and moves the chuck claws linearly and reciprocally in conjunction with the driving part such as the swing actuator. In this slide mechanism, the conventional slide mechanism is used. The problem of is solved as follows. On either side of the base of the chuck claw, which is the sliding part, and the inner surface of the guide member, a dogleg-shaped engaging projection is provided on either one, and the other is fitted with the engaging projection. The fitting claws are recessed, and the engaging projections and the fitting grooves are fitted through the friction reducing member, whereby the chuck claws are held with a gap on the bottom surface side. Therefore, since the bottom surface side of the chuck claw is not slid against friction, the sliding friction resistance is significantly reduced as compared with the conventional slide mechanism in which the bottom surface side is also in sliding contact. Further, in order to reduce the rattling of the chuck claws, a pressing means for pressing the guide member from the back side to the chuck claws side to finely adjust the sliding contact interval is provided. The center position of the guide member to be aligned in the height direction is horizontally pressed. Therefore, the pressing force generated when chucking is evenly distributed to the upper and lower inclined surfaces, so that the chuck claw does not move or tilt in the vertical direction as in the slide mechanism of the conventional example, and good sliding is achieved. The contact state can be maintained.

[Brief description of drawings]

FIG. 1 is a plan view and a cross-sectional view of essential parts for explaining a chuck device according to a conventional example.

FIG. 2 is a front view showing a cross-section of a part of a chuck device equipped with a slide mechanism according to an embodiment of the present invention.

FIG. 3 is a plan view of FIG.

FIG. 4 is a plan view of a rotating disk portion in FIG.

FIG. 5 is an enlarged sectional view of an essential part of a slide mechanism according to an embodiment of the present invention.

FIG. 6 is an enlarged sectional view of a main part of a slide mechanism according to another embodiment of the present invention.

[Explanation of symbols]

 11 Swing Actuator 12 Output Shaft 13 Rotating Disc 15 Sliding Guide Groove 17 Base 18 Mounting Groove 19, 20, 36 Guide Member 21, 35 Chuck Claw 21a, 21b, 35a Engagement Convex Part 22, 23, 39 Fit Groove 26, 41 Gap 27 Guide pin 28 Ring bearing 30, 42 Friction reducing member 33, 34, 40 Pressing screw P1, P2 port

Claims (1)

[Scope of utility model registration request] 1. A slide mechanism for linearly reciprocally moving each chuck claw mounted on a chuck device in a radial direction along a guide member in association with a drive unit. A V-shaped engaging convex portion is provided so as to project, and a V-shaped engaging groove for engaging with the engaging convex portion is provided on the other side, and the engaging convex portion and the engaging groove are fitted together. The chuck claw is held by the guide member in such a manner that a gap is provided on the bottom surface side, the friction reducing member is interposed on the sliding surface of the chuck claw, and the guide member is provided on the back part of the guide member. A pressing means for pressing the chuck claw side to finely adjust the sliding contact interval is provided, and this pressing means horizontally presses the center position in the height direction of the guide member where the bottom of the fitting groove and the crest of the engaging projection are aligned. A chuck claw slide mechanism characterized by