JP2002096284A - Pressure-control type chuck using bourdon tube - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a chuck capable of finely adjusting the force for gripping an object. SOLUTION: A columnar support shaft 3a is integrally formed on a pedestal 4, and welded thereto, an arch-like hollow Bourdon tube 2 is welded to a side surface of the pedestal 4, and a tip of the Bourdon tube 2 is connected to an end of the chuck 1 by a hinge structure. When gas or liquid is ejected into the Bourdon tube 2 by the pressure set by a sensor, the Bourdon tube 2 is deflected, and the end of the chuck 1 is moved. When the pressure is applied into the Bourdon tube 2 in the relationship of the principle of leverage with a connection part A of the Bourdon tube 2 to the chuck 1 as a force-applying point, a connection part B of the support shaft 3a to the chuck 1 as a fulcrum, and the tip of the chuck 1 as a point of application, the tip of the chuck 1 is put into motion for grasping the object, and the grasping force of the object can be finely adjusted by controlling the pressure.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chuck at an end of an arm for gripping, moving, transporting, and attaching a symmetrical object in the operation of an industrial robot and a factory automation system.

[0002]

2. Description of the Related Art Conventionally, in a technique for adjusting the chuck of an industrial robot by pressure, a piston is arranged in a cylinder, pressure is applied, and the chuck is moved by using a moving force of the piston.

[0003]

The method of moving the chuck using the moving force of the piston described in the prior art has only the ability to always hold a symmetric object with a constant force, and adjusts a delicate force. It was difficult.

In addition, the chuck and the cylinder have to be replaced each time the object to be operated changes.

An object of the present invention is to control the pressure applied in the Bourdon tube with a sensor so that the force for gripping a symmetric object can be finely adjusted, and the versatility can be increased without replacing parts.

[0005]

In order to achieve the above object, the present invention relates to a T-shaped support shaft (3a), which is integrally formed with the support shaft (3a) at the base thereof, or which is rigid by welding or the like. A bow-shaped hollow Bourdon tube (2) is joined to both sides of a pedestal (4) attached to the base by welding or the like, and the ends of the left and right Bourdon tubes (2) are hinged to the end of the chuck (1). Each is connected (A).

At this time, it is necessary to secure a path through which the pressure penetrates from the joint (5) disposed on the bottom of the pedestal (4) and transmits the pressure into the Bourdon tube (2) via the inside of the pedestal (4). There is.

[0007] Then, the left and right ends of the T-shaped support shaft (3a) are connected to each other by a hinge structure (B) at appropriate positions on the terminal side from the center of the chuck (1).

[0008] A joint (6) arranged on the base (4) bottom surface
Is threaded according to the standard so as to be attached to the end of the arm of the industrial robot, and a pressure entry hole is formed at the end of the joint (5).

According to a second aspect of the present invention, there is provided a means for mounting a plurality of units, each of which is a unit obtained by connecting a Bourdon tube (2) to a chuck (1), on a pedestal, the pedestal (4) and a support shaft (3b) being integrated. A new bearing (6) is provided so that it can be attached and detached with bolts etc. without forming it, and a column-shaped support shaft (3b) is formed integrally with the bearing (6) vertically, or mounted firmly by welding etc. From the side of (6), a bow-shaped hollow Bourdon tube (2) is joined by welding or the like, and the tip of each Bourdon tube (2) is connected to the end of the chuck (1) by a hinge structure (A).

[0010] In the same manner as described above, a path through which pressure penetrates from the joint (5) disposed on the bottom of the pedestal (4), passes through the interior of the pedestal (4) and the bearing (6), and is transmitted into the Bourdon tube (2). Need to be secured.

Then, the tip of the support shaft (3b) is connected (B) with a hinge structure to an appropriate position on the terminal side from the center of the chuck (1).

A state in which the bearing (6), the support shaft (3b), and the chuck (1) are connected is attached to the pedestal (4) as one unit. The shape of the pedestal (4) differs depending on the number of the unitized chucks (1) to be attached. The pedestal (4) has a triangular prism for mounting three units, and a quadrangular prism for mounting four units. Each side is provided with a path for transmitting pressure to the Bourdon tube (2).

[0013] Joint (5) arranged on the base (4) bottom surface
Is threaded to meet the standard so that it can be attached to the end of the arm of an industrial robot.
A pressure entry hole is open at the tip.

The present invention is a means for solving the problem as a pressure-controlled chuck using a Bourdon tube having the above configuration.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As an embodiment, a description will be given of a state in which the present invention is attached to an end of an arm of an industrial robot.
When a gas or a liquid is ejected from the arm portion into the entry hole of the joint (5) at the pressure set by the sensor, the Bourdon tube (2) is passed through the joint (5) and dispersed through the pedestal (4). Distributed to

The Bourdon tube (2) has a characteristic that its arcuate shape bends as the internal pressure increases, and the chuck (1) connected at the tip of the Bourdon tube (2) also has a bending end of the Bourdon tube (2). It is movable by.

The connecting portion (B) between the support shafts (3a, 3b) and the chuck (1) is composed of the support shafts (3a, 3b) and the pedestal (4).
Alternatively, since it is fixed to the bearing (6), it rotates by the hinge mechanism around the connecting portion (B), and the tip of the chuck (1) tilts inward to grip a symmetric object.

The connecting point (A) between the Bourdon tube (2) and the chuck (1) is the point of force, the connecting point (B) between the support shafts (3a, 3b) and the chuck (1) is the fulcrum, and the tip of the chuck (1) is The relationship of the lever principle of the action point is established, and when pressure is applied to the Bourdon tube (2), the tip of the chuck (1) changes to a movement of gripping a symmetric object.

[0019]

According to the present invention, by connecting a Bourdon tube (2) to a chuck (1) and controlling the pressure applied in the Bourdon tube (2) with a sensor, it is possible to finely adjust the gripping force of a symmetric object, Without changing the chuck (1), it can be used for various symmetric objects only by setting the sensor.

Also, a Bourdon tube (2) is attached to the chuck (1).
By connecting the components into a unit, the number of chucks (1) can be exchanged efficiently depending on the symmetrical object and the work content. Further, it is possible to reduce costs by improving the production efficiency of the present invention.

[Brief description of the drawings]

FIG. 1 is a principle diagram according to claim 1;

FIG. 2 is a principle view in a state where pressure is applied to the inside of the Bourdon tube according to the first embodiment.

FIG. 3 is a principle sectional view according to claim 1;

FIG. 4 is a perspective view according to claim 1;

FIG. 5 is a principle view according to claim 2;

FIG. 6 is a principle view in a state where pressure is applied to the inside of the Bourdon tube according to the second embodiment.

FIG. 7 is a principle sectional view according to claim 2;

FIG. 8 is a perspective view according to claim 2;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Chuck 2 Bourdon tube 3a Support shaft 3b Support shaft 4 Pedestal 5 Joint 6 Bearing A Connection part of Bourdon tube and chuck B Connection part of support shaft and chuck

Claims (2)

[Claims] The present invention relates to a pressure control device for connecting a Bourdon tube (2) to a chuck (1) and controlling a pressure applied to the Bourdon tube (2) to adjust a force for gripping a symmetric object. Controlled chuck. 2. The pressure-controlled chuck according to claim 1, wherein a part in which the Bourdon tube (2) is connected to the chuck (1) is unitized, and the number according to the application is mounted on the pedestal (4).