JP2001138278A - Parallel opening/closing type chuck device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parallel opening/closing type chuck device having a high grasping force transmission efficiency regardless of the position of each moving part and involving a less play of moving part on its follwer side. SOLUTION: The parallel opening/closing type chuck device is configured so that a plurality of moving parts 6 are coupled through a straight guide mechanism in such a way as capable of relative displacement to a stationary part and are moved by driving means either directly or through a synchronizing mechanism 21, wherein the mechanism 21 is equipped with a recessed engaging part 28 provided in each moving part 6, a swinging member 22 borne by the stationary part 2 swingably, and a projective fit-in part 29 provided on the swinging member 22 and engaged with the engaging part 28, and this part 28 is formed greater than the fit-in part 29 in the direction perpendicular to the moving direction of the moving part 6.

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 device used for gripping a workpiece in an industrial machine such as a robot.

[0002]

2. Description of the Related Art Conventionally, a parallel opening / closing chuck device having a synchronization mechanism 51 shown in FIG. 10 has been known, and is configured as follows.

[0003] That is, this parallel opening / closing chuck device includes:
The plurality of moving parts 52 are connected to a fixed part (not shown) via a linear guide mechanism (not shown) so as to be relatively displaceable, and the moving parts 52 are directly or synchronously driven by driving means (not shown). A synchronous mechanism 51 includes a pin 53 provided on a moving part 52, a rocking member 54 pivotally supported by a fixed part, and a rocking member 5.
4 and a notch 55 engaged with the pin 53 (registered utility model No. 252180).
No. 2).

A parallel opening / closing chuck device of this kind is usually
It is installed at the end of a robot, etc., and moves at high speed. If the workpiece falls or slips during such high-speed movement, the productivity deteriorates. It is desirable to increase it. Further, when this kind of parallel opening / closing chuck device is used as a synchronous operation device for an application such as an escapement, it is desired that the stop position of the moving unit 52 be highly accurate.

However, the conventional parallel opening / closing chuck device has the following inconvenience because the synchronization mechanism 51 is configured as described above.

That is, since the notch 55 is provided in the swinging member 54, the contact angle between the notch 55 and the pin 53 changes depending on the position of the moving part 52. If this contact angle is α, the transmission efficiency η of the gripping force is η = cosα, and the magnitude of the gripping force changes depending on the position of the moving section 52. Normally, pin 53
Are vertically contacted with the notch 55 (α = 0), and the contact angle is set to be maximum at the end of the opening / closing stroke.
In this case, the gripping force becomes maximum at the center of the stroke and becomes minimum at both ends of the stroke. Therefore, to obtain a large gripping force, the workpiece must be gripped at the center of the stroke. Therefore, not only is there a restriction on the design of the attachment to be manufactured according to the shape of the workpiece to be gripped, but also when the workpiece cannot be gripped at the center of the stroke, such as in applications where the workpiece is gripped at different positions. Since the transmission efficiency of the gripping force is reduced, a large parallel opening / closing chuck device of one rank standard must be installed, and the robot itself becomes large.

The pair of moving parts 52 are divided into a driving-side moving part 52 that moves directly by the supply of compressed air and a driven-side moving part 52 that moves via a synchronization mechanism 51. In the portion 52, play occurs at the stroke end by the clearance between the pin 53 and the notch 55, and the play c is c = (wd) where d is the diameter of the pin and w is the width of the notch. / Cosα, the play c of the moving section 52 increases as the stroke end is approached. Therefore, when used as a synchronous operation device for purposes such as escapement, the stop position of the driven-side moving unit 52 cannot be accurately determined.

[0008]

SUMMARY OF THE INVENTION In view of the above, the present invention has high gripping force transmission efficiency regardless of the position of the moving part,
It is another object of the present invention to provide a parallel opening / closing chuck device in which the amount of play of the driven side moving unit is small.

[0009]

In order to achieve the above object, a parallel opening / closing chuck device according to claim 1 of the present invention comprises:
A parallel opening / closing chuck device in which a plurality of moving parts are connected via a linear guide mechanism so as to be relatively displaceable with respect to a fixed part, and the moving parts are moved directly or via a synchronization mechanism by driving means, wherein the synchronization mechanism A concave engaging portion provided on the moving portion, a rocking member pivotally supported by the fixed portion, and a engaging member provided on the rocking member and engaged with the concave engaging portion. A convex engaging portion, wherein the concave engaging portion is formed larger than the convex engaging portion in a direction orthogonal to the moving direction of the moving portion. It is.

According to a second aspect of the present invention, there is provided the parallel opening / closing chuck device according to the first aspect, wherein the concave engaging portion has a groove provided in the moving portion.
It is formed as a long hole or a notch, and the convex engaging portion is formed as a pin or a projection provided on the swinging member.

In the parallel opening / closing chuck device according to the first aspect of the present invention having the above structure, the convex engaging portion always comes into perpendicular contact with the concave engaging portion regardless of the position of the moving portion. Therefore, the contact angle α always becomes α = 0, and thus the transmission efficiency η of the gripping force can always be made η = 1.

At the same time, the play amount c of the moving part on the driven side
Is the width of the concave engaging portion, and the diameter of the convex engaging portion is d.
Since c = wd, it is possible to minimize the play amount c of the moving part.

It is preferable that the concave engaging portion provided on the moving portion side is formed as a groove, a long hole or a notch, and the convex engaging portion is provided on the swinging member. Preferably, the engagement part is formed as a pin or a projection.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1A is a front view of a parallel opening / closing chuck device 1 according to an embodiment of the present invention, and FIG.
Is a plan view of the device 1, FIG. 2A is a rear view, and FIG.
3A is a bottom view, FIG. 3A is a left side view, and FIG. 3B is a right side view. 4A is a sectional view taken along line AA in FIG. 1, and FIG. 4B is a sectional view taken along line BB in FIG.
5 is a perspective view, FIG. 6 is an exploded perspective view of a main part, and FIG. 7 is an explanatory diagram of an operation state.

A parallel opening / closing chuck device 1 according to the embodiment.
First, a fixing portion 2 having side plates 4 fixed to both ends in the longitudinal direction of a fixing portion main body 3 is provided, and a pair of grooves 5 is provided on an upper surface of the fixing portion 2 in parallel with each other. Are provided with four sets of opposing surfaces, each opposing each side surface of the pair of moving parts 6, and a linear guide mechanism 7 is provided on each of the four sets of opposing surfaces.

The linear guide mechanism 7 includes a round groove 8 which is a linear raceway groove provided on a side surface of the moving portion 6 and a linear raceway groove provided on a side wall of the groove portion 5 so as to face the round groove 8. There is provided a certain round groove 9 and a plurality of balls 10 which are rolling element rows interposed between the round grooves 8 and 9 so as to freely roll, and these constitute a linear ball bearing. The moving unit 6 is connected to the fixed unit 2 via a linear guide mechanism 7 or a linear ball bearing so as to be relatively displaceable. The groove 5 and the round groove 9 on the fixed part 2 side are respectively provided over the entire length of the fixed part main body 3, and the round groove 8 on the moving part 6 side is provided over the full length of the moving part 6. . Also, both round grooves 8,
Holes (not shown) are provided at the ends of the round grooves 8 on the moving portion 6 side, respectively, so that the balls 10 do not fall out from between the holes 9, and the stopper pins 11 are erected on the holes. .

Each of the pair of pistons 12 is
And is slidably inserted into a cylinder chamber 13 provided at one end, and one end thereof is inserted and fixed into a pair of holes 14 formed in one side plate 4. Also,
One end of the piston 12 has a pipe port 1
5 are provided, and the piping port 15
Compressed air, which is an operating pressure, is supplied to the cylinder chamber 13 through the cylinder 6. Further, a piston seal 17 is mounted on the outer periphery of the piston 12, and this seal 17 prevents the compressed air supplied to the cylinder chamber 13 from leaking outside. A wear ring 18 is inserted into the other end of the piston 12 to prevent the effect of an unbalanced load on the piston seal 17, and the wear ring 18 is prevented from falling off the piston 12.
A shaft retaining ring 19 is fitted to the tip of the piston 12.

A disk-shaped accommodation space 20 for accommodating the synchronization mechanism 21 is provided inside the fixed portion 2, and in this accommodation space 20, a disk-shaped swinging component, which is a component of the synchronization mechanism 21, is provided. A moving member 22 and a disk-shaped cover member 23 are also accommodated.

The disk-shaped accommodation space 20 is opened at the lower surface of the fixed portion 2, and an annular mounting groove 24 is formed on the periphery of the opening so that the swing member 22 and the cover member 23 do not fall out from the lower surface opening. Are provided, and the hole retaining ring 25 is fitted.

A cover member 23 whose outer peripheral surface is supported by the inner peripheral wall surface of the housing space 20 is provided with a columnar support portion (also referred to as a shaft portion) 26 projecting upward at the center of the plane. The support portion 26 is engaged with a hole 27 provided at the center of the plane of the swing member 22 so as to be slidable in the circumferential direction. The diameter of the swing member 22 is set smaller than the inner diameter of the accommodation space 20, so that the outer peripheral surface of the swing member 22 does not contact the inner peripheral wall surface of the accommodation space 20. Accordingly, the swing member 22 is thus pivotally or rotatably supported by the fixed portion 2 via the cover member 23. In this embodiment, the support portion 26 and the inner surface of the hole portion 27 are in sliding contact with each other. However, by interposing a rolling bearing therebetween, the frictional resistance of the contact portion is reduced, and the wear of the contact portion is reduced. Can be reduced.

A groove 28 as a concave engaging portion extending in a direction orthogonal to the moving direction of the moving portion 6 is provided on a lower surface of the moving portion 6 and a surface facing the swing member 22. A pin 29 as a convex engaging portion provided on the swinging member 22 is slidably engaged with the groove 28.
A pair of pins 29 project from the swinging member 22 upward, and are provided at positions offset by a predetermined distance from the center of the plane of the swinging member 22. Also, in the bottom of the groove portion 5 in the fixing portion 2, each of the pins 29 is inserted and the flat circular opening portion 4 is formed so as to allow the pin 29 to swing.
5 are provided. Therefore, when the compressed air is supplied and one of the moving portions 6 moves by the above configuration, the swinging member 22 swings around the support portion 26 of the cover member 23, and the other of the moving portion 6 moves accordingly. Move in the opposite direction.

According to this configuration, FIG.
As shown in (B) and (C), the pin 29 always comes into perpendicular contact with the groove 28 irrespective of the position of the moving part 6, so that the contact angle α of the two always becomes α = 0. Therefore, the transmission efficiency η of the gripping force can always be set to η = 1. Also, the play amount c of the moving part 6 on the driven side is
Assuming that c = w−d, where w is the width of 8 and d is the diameter of the pin 29, the play c of the moving part 6 can be minimized. In this embodiment, the inner surface of the groove 28 is brought into sliding contact with the pin 29, but the rolling bearing is interposed between the two to reduce the frictional resistance of the contact portion and reduce the wear of the contact portion. Can be done.

A pair of stopper bolts 30 are screwed into the other side plate 4 substantially coaxially with the piston 12, respectively, adjusted so as to be at a required screwing position, and fixed by a nut 31. The stopper bolt 30 is for adjusting the stroke limit of the moving unit 6.

The mounting screw 32 for fixing an attachment or the like (not shown) manufactured according to the shape of the workpiece to be gripped, and a step provided on the attachment or the like are respectively abutted against the upper surface of the moving section 6. A round hole 34 and a long hole 35 are provided for engaging with the corner 33 and a positioning pin provided on the attachment or the like, thereby facilitating relative positioning between the moving unit 6 and the attachment or the like.

On the lower surface of the fixing portion 2, there are provided a mounting screw 36 for fixing the fixing portion 2 to a robot or the like, and a round hole 37 and a long hole 38 which engage with positioning pins. The relative positioning between the fixed part 2 and the robot or the like is facilitated. A mounting screw 39 is also provided on the side surface of the fixed portion 2 to improve the degree of freedom in mounting.

A mounting screw 40 is provided on each of the surfaces of the pair of moving parts 6 which are not opposed to each other, and a magnet 41 for generating a magnetic field for the magnetic proximity sensor 44 to detect a position is provided on one of the mounting screws 40. Is attached. Also, a mounting screw 42 is provided on the side surface of the side plate 4, and a mounting rail 43 that houses the magnetic proximity sensor 44 movably in the axial direction is mounted on the mounting screw 42. Magnet 4 at the position
It is fixed at a position where one magnetic field can be detected.

Next, the operation of the parallel opening / closing chuck device 1 having the above configuration will be described.

FIG. 7B shows a state in which compressed air has not been supplied to the parallel opening / closing chuck device 1 yet, and the pair of moving parts 6 are respectively located at the middle of the stroke. Compressed air supplied from one piping port 15 is filled into one cylinder chamber 13 through one through hole 16 and the other cylinder chamber 1 is filled with compressed air.
7A is opened to the atmosphere through the other through hole 16 and the other piping port 15, and as shown in FIG. 7A or FIG. And stops while coming into contact with the stopper bolt 30. At this time, since the groove 28 provided in the moving part 6 and the pin 29 provided in the swinging member 22 are slidably engaged with each other, the swinging member 22 swings. Then, the other moving unit 6 moves in the opposite direction while being guided by the linear guide mechanism 7, and stops when the one moving unit 6 stops. Therefore, by alternately repeating the supply and discharge of the compressed air, the pair of moving parts 6 move in opposite directions while being guided by the linear guide mechanism 7. As for the pair of moving parts 6, the side that moves directly by the supply of compressed air becomes the moving part 6 on the driving side, and the synchronous mechanism 2
The side moving via 1 is the driven side moving section 6. At the stop positions at both ends of the stroke of the moving unit 6, the magnetic proximity sensor 44 detects the magnetic field of the magnet 41 and sends a signal to the outside.

A parallel opening / closing chuck device 1 having the above configuration
As described above, regardless of the position of the moving portion 6 as described above, since the pin 29 is always in vertical contact with the groove 28, as shown in FIGS. 7A, 7B, and 7C, The contact angle α of the two is always α = 0, and thus the gripping force transmission efficiency η can always be η = 1. In addition, the play amount c of the moving part 6 on the driven side is c = wd, where w is the width of the groove 28 and d is the diameter of the pin 29. Therefore, the play amount c of the moving part 6 is minimized. Can be suppressed.

In consideration of the manufacturing cost, the pins 29
It is not preferable to integrally manufacture the rocking member 22 and the rocking member 22. Usually, the pin 29 is inserted into a hole provided in the plate-shaped rocking member 22. On the other hand, when the pin 29 is provided on the moving unit 6 side as in the above-described conventional technique, when the pin 29 is inserted into the hole, the cylinder chamber 13 provided in the moving unit 6 is formed depending on the press-fitting load at that time. There is an inconvenience of causing plastic deformation, so that a clearance must be provided between the hole and the pin 29 in order to avoid this, which means that the play amount of the moving portion 6 increases. On the other hand, when the pin 29 is inserted into the hole on the side of the rocking member 22 as in this embodiment, since the press-fitting is possible and there is no need to provide a clearance, the play amount does not increase. .

When the pin 29 is press-fitted into the hole on the moving part 6 side, it is necessary to form a hole in the side part of the moving part 6 avoiding the cylinder chamber 13, so that the pin 29 is large from the drive shaft. It will be provided at the offset position. Therefore, not only is the synchronization mechanism 21 itself large,
An excessive moment load in the yawing direction acts on the linear guide mechanism 7 at the time of driving, and the life of the parallel opening / closing chuck device 1 is significantly reduced. On the other hand, according to this embodiment, since the groove 28 is formed near the cylinder chamber 13, not only can the synchronous mechanism 21 be miniaturized, but also the moment load is extremely small, and the parallel opening / closing chuck device is used. 1 can be extended.

In the above embodiment, the case where a pair of moving parts 6 are arranged in parallel has been described as an example. However, as shown in FIG. 8, a pair of moving parts 6 arranged in series on the same line are provided. The present invention similarly applies to the case of approaching / separating or the case where three or more moving parts 6 arranged radially approach / separate toward the center as shown in FIG. It is possible.

[0034]

The present invention has the following effects.

That is, in the parallel opening / closing chuck device according to claim 1 or 2 of the present invention having the above structure,
Irrespective of the position of the moving part, since the convex engaging part such as a pin or a projection always comes into perpendicular contact with the concave engaging part such as a groove, a long hole or a notch, the contact angle α between the two. Always becomes α = 0, so that the transmission efficiency η of the gripping force is always η
= 1 and a large gripping force can always be obtained. Therefore, it is possible to move a robot or the like having the parallel opening / closing chuck device at a high speed,
The productivity can be greatly improved by shortening the takt time. In addition, there is no restriction on the design of the attachment manufactured according to the shape of the work to be gripped. Even if the work cannot be gripped at the center of the stroke, such as when the work is gripped at multiple different positions, it is necessary to install a one-rank larger parallel opening / closing chuck device because the transmission efficiency of the gripping force does not change. The size of the robot itself can be reduced.

At the same time, the play amount c of the moving part on the driven side
Is the width of the concave engaging portion, and the diameter of the convex engaging portion is d.
Since c = wd, it is possible to minimize the play amount c of the moving part. Therefore, when used as a synchronous operating device in applications such as escapement, the stop position of the driven-side moving unit can be determined relatively accurately.

[Brief description of the drawings]

FIG. 1A is a front view of a parallel opening and closing chuck device according to an embodiment of the present invention, and FIG. 1B is a plan view of the device.

2A is a rear view of the device, and FIG. 2B is a bottom view of the device.

3A is a left side view of the apparatus, and FIG. 3B is a right side view of the apparatus.

FIG. 4A is a sectional view taken along line AA in FIG. 1, and FIG.
Is a sectional view taken along the line BB in FIG.

FIG. 5 is a perspective view of the device.

FIG. 6 is an exploded perspective view of a main part of the apparatus.

FIGS. 7A, 7B, and 7C are explanatory diagrams of the operation state of the device.

8 (A), 8 (B) and 8 (C) are explanatory views of the configuration and operating state of a parallel opening / closing chuck device according to another embodiment.

9 (A), 9 (B) and 9 (C) are explanatory views of a configuration and an operation state of a parallel opening / closing chuck device according to another embodiment.

10 (A), (B) and (C) are explanatory views of the configuration and operating state of a parallel opening / closing chuck device according to a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Parallel opening / closing chuck apparatus 2 Fixed part 3 Fixed part main body 4 Side plate 5 Groove part 6 Moving part 7 Linear guide mechanism 8, 9 Round groove 10 Ball 11 Stopper pin 12 Piston 13 Cylinder chamber 14, 27 Hole part 15 Piping port 16 Through hole 17 Piston seal 18 Wear ring 19 Shaft retaining ring 20 Housing space 21 Synchronous mechanism 22 Swinging member 23 Cover member 24 Mounting groove 25 Hole retaining ring 26 Support portion 28 Groove (recessed engaging portion) 29 Pin (convex engaging portion) Joint part) 30 Stopper bolt 31 Nut 32, 36, 39, 40, 42 Mounting screw 33 Step 34, 37 Round hole 35, 38 Long hole 41 Magnet 43 Mounting rail 44 Magnetic proximity sensor 45 Opening

Claims (2)

[Claims] 1. A plurality of moving parts (6) are connected to a fixed part (2) via a linear guide mechanism (7) so as to be relatively displaceable, and the moving parts (6) are directly or synchronously driven by driving means. A parallel opening / closing chuck device (1) for moving via a mechanism (21), wherein the synchronization mechanism (21) includes a concave engaging portion (28) provided in the moving portion (6), and the fixing device. A swing member (22) pivotally supported by the portion (2), and the swing member (2);
2) and a convex engaging portion (29) engaged with the concave engaging portion (28), wherein the concave engaging portion (28) is provided on the moving portion (6). A parallel opening / closing chuck device characterized in that it is formed to be larger than the convex engaging portion (29) in a direction perpendicular to the moving direction. 2. The parallel opening and closing chuck device according to claim 1, wherein the concave engaging portion (28) is formed as a groove, a long hole or a notch provided in the moving portion (6). The parallel opening / closing chuck device, wherein the joining portion (29) is formed as a pin or a projection provided on the swinging member (22).