JP2005028478A - Hand actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide high versatility by improving the degree of freedom in the installation of a finger member to a hand body in a hand actuator. <P>SOLUTION: A rod 19 (a driving member) is projected into a link holding chamber 27 from a driving actuator part 14 functioning as a pneumatic cylinder. Two swing arms 28 connected to the tip part 19a of the rod 19 are put in swing operation interlocked with the advancing/retreating operation of the rod 19. The end part of the swing arm 28 is formed with a clamp-engaging groove part 28c with a width of clamping a tip part 11a of an engaging pin 11 in a direction of swing operation when mounting a finger assembly part 3. The tip part 11a of the engaging pin 11 and the clamp-engaging groove part 28c constitute a detachable link 33 and are easily attached to and detached from each other. In the engaged state, the engaging pin 11 puts the finger member 10 in reciprocating operation interlocked with the swing operation of the swing arm 28. The finger assembly part 3 is thereby replaceable attachably to and detachably from the hand body 2 to enhance versatility. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a hand actuator that grips a workpiece by driving a plurality of finger members by a drive actuator such as a fluid pressure cylinder or a motor.
[0002]
[Prior art]
One of the mechanisms for gripping a workpiece in order to fix or convey a relatively lightweight workpiece is a hand actuator. Many hand actuators use a fluid pressure cylinder or motor as the drive source, and the arm is linked to the linearly driven actuator that moves forward and backward to operate multiple finger members, gripping the workpiece at a predetermined position. It is the composition to do.
[0003]
[Problems to be solved by the invention]
However, in the hand actuator configured as described above, since the power transmission members such as the arm interposed between the drive actuator and the finger member are connected by a hinge, it is difficult to remove the finger member from the hand actuator. The operating positions and operating directions of the finger members in the hand body are fixed in a single way and have no freedom.
[0004]
Therefore, when you want to replace only the damaged finger member with a new one, or when you want to change the gripping position of the workpiece, you must replace or re-install the entire hand actuator. It was.
[0005]
An object of the present invention is to provide a highly versatile hand actuator that improves the degree of freedom of installation of a finger member with respect to a hand body.
[0006]
[Means for Solving the Problems]
The hand actuator of the present invention is a drive actuator that moves the drive member forward and backward, a plurality of swing arms that can be rotated by a fixed hinge and swingable by the drive member via a movable hinge, and a hand body. A finger holding member detachable via a finger fastening portion; a finger member that is slidably attached to the finger holding member and reciprocally moves via a detachable link; The engagement member is configured to be detachable by an engagement pin of the finger member and a pinching engagement groove portion of the swinging arm that engages the tip end portion of the engagement pin with the swinging operation direction of the swinging arm. To do.
[0007]
In the hand actuator of the present invention, the finger holding member can be attached / detached both in the radial direction and in the rotational axis direction of the swinging operation of the swinging arm, the detachable link is sandwiched, and the engaging groove and the engaging pin are mutually connected. The swing arm is detachable in both the radial direction and the pivot axis direction of the swing operation.
[0008]
The hand actuator of the present invention includes a fastening pin in which a finger fastening portion is provided in a finger holding member and a locking groove is formed, a first insertion pin hole and a sleeve hole formed in the hand body, and a first locking pin hole. The sleeve is inserted into the sleeve hole, and the pressing elastic member is accommodated in the sleeve hole, and the fastening pin is locked with the first locking pin hole of the sleeve by the locking groove. It is characterized by being fastened.
[0009]
In the hand actuator of the present invention, a second insertion pin hole arranged perpendicular to the first insertion pin hole is formed in the hand main body, and a second engagement pin hole arranged orthogonal to the first engagement pin hole is formed in the sleeve. Is formed.
[0010]
The hand actuator of the present invention is characterized in that the tip of the engaging pin is formed in a spherical shape.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1A is an overall perspective view of a hand actuator according to an embodiment of the present invention, FIG. 1B is a bottom view seen from the arrow 1A in FIG. 1A, and FIG. FIG. 3 is a partially cutaway cross-sectional view taken along line 2B-2B in FIG. 1 in a state in which the main body and the finger assembly portion are separated, and FIG. 3 is a partially cutaway bottom view of the hand main body as viewed from an arrow 3C in FIG. FIG. 4 is a side view of the finger assembly portion viewed from the direction 4D in FIG. These drawings show a form in which the finger assembly portion is installed on the longitudinal end surface of the hand body.
[0012]
In FIG. 1, a hand actuator 1 according to the present embodiment includes a hand body 2 having a shape in which two rectangular parallelepipeds made of resin, metal, or the like are integrally formed, and one hand body 2 attached to the bottom surface in the drawing. It has a finger assembly 3 and two cover plates 4 attached to both side surfaces of the hand body 2. However, the cover plate 4 may not be provided.
[0013]
The hand body 2 is formed by integrally forming two rectangular parallelepiped hand drive portions 2a and finger attachment portions 2b. The finger attachment portion 2b having a small thickness is formed below the hand drive portion 2a in the figure. It is located in the center of the direction Y, and they are integrated in an arrangement in which the positions in the width direction X are matched. Hereinafter, for convenience of explanation, the direction in which the hand drive unit 2a and the finger attachment unit 2b are arranged is referred to as a longitudinal direction Z.
[0014]
Two supply / exhaust ports 5 communicating with a cylinder chamber, which will be described later, are formed on two side surfaces facing each other in the width direction X of the hand drive unit 2a. The two cover plates 4 are flat plate members made of resin, metal, or the like, and are fixed to the finger attachment portion 2b with four screws 7.
[0015]
As shown in FIG. 2, the finger assembly section 3 includes a finger holding plate 8 as a finger holding member having substantially the same shape as the cover plate 4, two fastening pins 9 fixed to both ends of the finger holding plate 8, It has two finger members 10 slidably installed on the finger holding plate 8, and an engagement pin 11 attached to each finger member 10. A slide groove 12 is formed in the outer surface 8a of the finger holding plate 8 along the width direction X, and a substantially rectangular parallelepiped finger member 10 is fitted in the slide groove 12 and protrudes from the outer surface 8a in the width direction X. It is slidable.
[0016]
The finger holding plate 8 is formed with two through holes 13, and the engaging pins 11 attached to the finger members 10 pass through the through holes 13. Can be reciprocated within a range in which it can move in the through-hole 13. Further, as shown in FIG. 4, each finger member 10 is prevented from coming out by being engaged with the inner groove portion 12a formed on the side surface of the slide groove 12 by the protrusion 10a. The distal end portion 11a of the engagement pin 11 is a cylindrical column with a flat end surface or desirably a spherical shape. The outer periphery of the tip of the fastening pin 9 is chamfered to have a tapered shape, and a locking groove 9a is formed over the entire circumference in the middle of the axial direction. Each finger member 10 is formed with a screw hole for fixing a clamp claw and the like (not shown).
[0017]
In FIG. 2, the interior of the hand body 2 is roughly divided into a drive actuator portion 14, a drive link portion 15, and two finger fastening portions 16. As the drive actuator unit 14, a large-diameter piston accommodating hole 17 on the end face side and a small-diameter rod through hole 18 are formed in the hand drive unit 2a along the longitudinal direction Z in communication with each other. A piston 20 integral with the rod 19 is mounted in the interior.
[0018]
A plug 21 is fitted in the vicinity of the opening of the piston accommodation hole 17 in the longitudinal direction Z end surface of the hand drive portion 2a and is fixed by a snap ring 22, and the inside of the piston accommodation hole 17 closed by the plug 21 is a cylinder chamber 23. Is configured. The piston 20 is slidably mounted in the cylinder chamber 23 and is divided into a forward pressure chamber 23a on the plug 21 side and a backward pressure chamber 23b on the rod through hole 18 side.
[0019]
The rod 19 as a drive member on the extension of the piston 20 passes through the rod through-hole 18 and protrudes into a link accommodating chamber of the drive link portion 15 described later. A regulating stopper ring 24 is formed, and a cylindrical position detecting magnet 24 a is mounted between the stopper ring 24 and the piston 20. The position where the piston 20 contacts the plug 21 is the retreat limit position, and the position where the stopper ring 24 contacts the end surface of the cylinder chamber 23 on the finger mounting portion 2b side is the forward limit position, so that the rod 19 and the piston 20 are moved forward and backward. It is supposed to be.
[0020]
The two supply / discharge ports 5 formed on the side surface in the width direction X of the hand drive unit 2a are formed so as to always communicate with the forward-side pressure chamber 23a and the backward-side pressure chamber 23b via the supply / discharge passage 25, respectively. Further, a seal member 26 is attached to each side of the rod through hole 18, the piston 20, and the plug 21, so that the air tightness is maintained in the cylinder chamber 23. As a result, compressed air is supplied to one of the two supply / exhaust ports 5 and the other is opened to the atmosphere, whereby the piston 20 is pressed by the pressure difference between the forward pressure chamber 23a and the reverse pressure chamber 23b. That is, the drive actuator unit 14 functions as a pneumatic cylinder.
[0021]
As the drive link portion 15, a link housing chamber 27 is formed from the longitudinal direction Z end face of the finger attachment portion 2 b to the inside of the hand drive portion 2 a, and is connected to the tip end portion 19 a of the rod 19 inside 2. Two swing arms 28 are installed. Each oscillating arm 28 includes an arm main body 28 a that is rotatably installed on the hand main body 2 via a fixed hinge 29, and a flat plate link that is connected to the tip 19 a of the rod 19 via a movable hinge 30. The part 28b is integrally formed.
[0022]
As shown in FIG. 3, the tip 19 a of the rod 19 has a flat plate shape having two planes facing each other in the thickness direction Y, and each of the two swing arms 28 has an arm body 28 a in the thickness direction Y. The flat plate link portions 28b are offset in the thickness direction Y with respect to the arm main body portion 28a so as to sandwich the flat plate of the tip portion 19a of the rod 19 while being positioned at the center of the finger attachment portion 2b. It is connected.
[0023]
The movable hinge 30 has a configuration in which a projecting shaft portion 31 formed at the distal end portion 19a is inserted into a long hole 32 formed in the flat plate link portion 28b. As a result, the flat plate link portion 28b is connected with some play in the width direction X while being restrained in the forward and backward direction of the rod 19. Accordingly, each swing arm 28 is configured to swing about the fixed hinge 29 as a whole in conjunction with the forward / backward movement of the rod 19 smoothly.
[0024]
At the end of the arm main body 28a close to the opening of the link housing chamber 27, there is a width that sandwiches the spherical tip end 11a of the engagement pin 11 in the direction of swinging operation when the finger assembly 3 is attached. An engaging groove 28c is formed. Since the pinching engagement groove portion 28c has a round shape with rounded corners, the tip end portion 11a of the engagement pin 11 can be easily attached to and detached from the pinching engagement groove portion 28c in the axial direction. In the state in which the coupling pin 11 is engaged, it can be smoothly interlocked with the swing operation of the swing arm 28. Since the pinch engagement groove 28c operates while drawing an arc around the fixed hinge 29, it is desirable that the pinch engagement groove 28c is formed somewhat deep so that smooth connection with the engagement pin 11 can be maintained. Thus, the pinch engagement groove 28 c between the engagement pin 11 and the swing arm 28 constitutes a detachable link 33.
[0025]
As the finger fastening portion 16, the first insertion pin hole 35 along the longitudinal direction Z on both sides of the finger attachment portion 2 b in the width direction X, the second insertion pin hole 36 along the thickness direction Y, and the width direction X A sleeve hole 37 is formed along each sleeve hole. Each sleeve hole 37 is formed with a first locking pin hole 38 along the longitudinal direction Z and a second locking pin hole 39 along the thickness direction Y. 40 is inserted.
[0026]
Each sleeve 40 is inserted so that its rotation around its axis is constrained by the engagement of the circumferential cut-out portion and the pin 41 provided so as to protrude to the inner diameter of the sleeve hole 37, and it is movable in the axial direction. The snap ring 43 prevents the spring from being removed from the sleeve hole 37 while receiving the pressing force of the compression spring 42 (elastic member) inserted into the sleeve hole 37. A push-back member 44 is fixed to the outer end face of each sleeve 40 so that the sleeve 40 can be moved against the spring force.
[0027]
The pair of first insertion pin holes 35 and second insertion pin holes 36 are formed at the same position in the width direction X as the fastening pins 9 in the state where the finger assembly portion 3 is attached, and the first locking pin holes 38 and the second locking pin hole 39 are orthogonal to each other inside the sleeve 40, and they are arranged so as to coincide with the first insertion pin hole 35 and the second insertion pin hole 36, respectively, with the push-back member 44 pushed slightly. It has become.
[0028]
Further, as shown in FIG. 2, when the protruding length of the force point of the engaging pin 11 in the finger assembly portion 3, that is, the length from the finger holding plate 8 to the center of the spherical shape of the tip portion 11a is d, the finger attachment portion 2b. The dimension from the end surface of the second insertion pin hole 36 to the axial center is also the same d, and the engagement pin 11 extends along the width direction X on the side surface Y in the thickness direction of the finger attachment portion 2b at the same longitudinal direction Z position. Is formed with a through-hole 45 that can reciprocate. Further, as shown in FIG. 3, the dimension from the both sides in the thickness direction Y to the inside of the cover plate 4 by the thickness of the cover plate 4 to the axial center of the first insertion pin hole 35 is also the same d. The dimension in the thickness direction of the mounting portion 2b is twice as large as d. The pinch engaging groove 28c of each swing arm 28 is arranged so as to overlap with the center position in the thickness direction Y of the finger mounting portion 2b. Therefore, the finger assembling part 3 can be attached to either one of both side surfaces in the thickness direction Y with respect to the finger attaching part 2b. The finger member 10 is disposed so as to protrude in the thickness direction Y by being sandwiched between the sandwiching groove portions 28 c of the arm 28.
[0029]
The hand actuator 1 having the above-described configuration performs a gripping operation for fixing or transporting a workpiece by pinching with a clamp claw or the like fixed to each finger member 10.
[0030]
The operation of the hand actuator 1 of the present embodiment will be described below. In FIG. 2, the rod 19 can be advanced and retracted in the longitudinal direction Z by supplying and discharging compressed air to and from two supply / discharge ports 5 via a direction control valve from a compressor (not shown). By moving the rod 19 forward and backward, the two rocking arms 28 are rocked symmetrically in the width direction X in conjunction with each other.
[0031]
Here, as shown in FIG. 1, when the finger assembly portion 3 is attached to the finger attachment portion 2 b, the distal end portion 11 a of each engagement pin 11 is sandwiched between the engagement engagement groove portions 28 c of the swing arm 28. Therefore, the two finger members 10 reciprocate symmetrically in the width direction X in conjunction with these. Thereby, clamp claws (not shown) fixed to the finger members 10 are operated so as to approach or separate from each other, and a gripping operation for the workpiece can be performed.
[0032]
In the hand actuator 1 according to the present embodiment, the finger assembly section 3 is detachably attached to the hand body 2, and when attached, the driving force from the drive actuator section 14 is applied to the finger member 10 via the detachable link 33. The gripping operation can be performed. Therefore, when the finger member 10 as a sliding member is damaged or squeezed into the slide groove 12, the finger assembly part 3 can be easily replaced, and it is not necessary to attach and detach the hand body 2 at that time. The adjustment of the position and angle is unnecessary, and the working efficiency is greatly improved. In particular, since the detachable link 33 has a simple configuration in which the tip end portion 11a of the engagement pin 11 is simply inserted into the sandwiching engagement groove 28c of the swing arm 28, it enables reliable transmission of driving force. Even if the finger assembly part 3 is attached / detached / replaced, high reliability can be maintained.
[0033]
Further, when attaching the finger assembly portion 3, it is only necessary to insert the two fastening pins 9 into the two insertion pin holes 35 or the two insertion pin holes 36 and push them in. At that time, the taper of the chamfered portion at the tip of the fastening pin 9 resists the spring force and pushes the sleeve 40 in the axial direction, and then the sleeve 40 is fitted into the locking groove 9a and returned by the spring force. Is locked in the locking groove 9a to prevent the fastening pin 9 from coming off. Therefore, the locking groove 9a needs to be formed at a position where the sleeve 40 is fitted in the state where the finger assembly portion 3 is completely attached, and has a width wider than the diameter of the sleeve 40. Even if the leading end of the fastening pin 9 is not chamfered, the fastening pin 9 is inserted while the two push-back members 44 are pushed and the insertion pin holes 35 and 36 are aligned with the locking pin holes 38 and 39. It is also possible to attach the finger assembly 3. When the finger assembly 3 is removed, the two push-back members 44 are pushed together so that both sleeves 40 move and the respective locking grooves 9a are unlocked so that they can be easily removed.
[0034]
Further, as described above, the finger assembly portion 3 is attached not only to the end surface in the longitudinal direction Z of the finger attachment portion 2b but also to either one of both side surfaces in the thickness direction Y of the finger attachment portion 2b as shown in FIGS. be able to. In other words, in the detachable link 33, the engaging pin 11 has its longitudinal direction Z in the longitudinal direction Z (one of the radial directions of the swinging operation of the swinging arm 28) and the thickness direction Y (the rotation of the swinging arm 28). The tip end portion 11a can be engaged with the pinching engagement groove portion 28c of the swing arm 28 regardless of which direction is parallel to the moving axis direction).
[0035]
Further, since the distal end portion 11a of the engagement pin 11 has a spherical shape, the pinching engagement groove portion of the swing arm 28 is attached to either the longitudinal direction Z end surface or the thickness direction Y both side surfaces. The engagement between 28c and the tip end portion 11a is smooth and suitable interlocking is performed.
[0036]
As described above, the hand actuator 1 according to the present invention allows the finger member 3 to be easily and detachably exchanged from the hand main body 2, and the degree of freedom of the installation form of the finger member 10 with respect to the hand main body 2 with one hand actuator 1 is increased. Since there are three ways and the grip position of the workpiece can be easily changed, versatility is improved.
[0037]
The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention. For example, the drive actuator is not limited to a pneumatic cylinder, and a hydraulic cylinder or other drive source may be used as long as the actuator is advanced and retracted by a piston or the like. Further, the same effect can be obtained by a reciprocating operation by a solenoid or a reciprocating operation by a combination of an electric motor and a ball screw.
[0038]
Further, it is not necessary for all three of the finger attachment portion 2b in the longitudinal direction Z end face and both sides in the thickness direction Y to be attachable, and the finger assembly portion 3 can be attached in combination. Thereby, manufacturing cost can be reduced as a simple configuration.
[0039]
【The invention's effect】
According to the present invention, the detachable link that enables reliable transmission of the driving force with a simple configuration in which the tip end portion of the engaging pin is sandwiched in the sandwiching engaging groove of the swing arm is provided. The reliability with respect to the attaching / detaching / replacement operation of the finger assembly portion is high. Therefore, the degree of freedom of installation of the finger member is improved and the versatility is high.
[0040]
Further, according to the present invention, in the detachable link, the engaging pin is engaged with the tip portion sandwiched between the axial direction of the engaging pin, which is parallel to either the radial direction of the swinging operation of the swinging arm or the rotating shaft direction. Since it can be engaged with the groove portion, it has a high versatility because the gripping position of the workpiece can be easily changed by having three degrees of freedom of the installation form of the finger member with respect to the hand main body.
[0041]
Further, according to the present invention, since the sleeve of the hand main body is fitted and locked in the locking groove of the fastening pin fixed to the finger assembly portion, the fastening pin is prevented from coming off and the finger member is securely attached. Can be attached to.
[0042]
According to the invention, the hand body is formed with the second insertion pin hole arranged orthogonal to the first insertion pin hole, and the sleeve is arranged with the second engagement pin hole arranged orthogonal to the first engagement pin hole. Therefore, the fastening pin is inserted into the hand body and the locking groove is formed in the sleeve regardless of whether the axial direction of the fastening pin is parallel to the radial direction of the swinging arm or the rotating shaft direction. It can be locked.
[0043]
Further, according to the present invention, since the tip end portion of the engagement pin has a spherical shape, the engagement between the pinch engagement groove portion of the swing arm and the tip portion becomes smooth regardless of which finger member is attached. Interlocking is to be performed.
[Brief description of the drawings]
FIG. 1A is an overall perspective view of a hand actuator according to an embodiment of the present invention, and FIG. 1B is a bottom view seen from an arrow 1A in FIG.
2 is a partially cutaway cross-sectional view taken along line 2B-2B in FIG. 1 in a state in which a hand main body and a finger assembly portion are disassembled.
3 is a partially cutaway bottom view of the hand main body as viewed from the direction of arrow 3C in FIG. 2. FIG.
4 is a side view of the finger assembling unit as viewed from the direction 4D in FIG. 2. FIG.
FIG. 5 is a perspective view of a form in which a finger assembly portion is attached to the front side surface in the thickness direction of the finger attachment portion.
FIG. 6 is a perspective view of a form in which a finger assembly portion is attached to the back side surface in the thickness direction of the finger attachment portion.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Hand actuator 2 Hand main body 2a Hand drive part 2b Finger attachment part 3 Finger assembly part 4 Cover plate 5 Supply / discharge port 6 Slot groove 7 Screw 8 Finger holding plate (finger holding member)
8a Outer surface 9 Fastening pin 9a Locking groove 10 Finger member 10a Projection part 10b Screw hole 11 Engagement pin 11a Tip part 12 Slide groove 12a Inner groove part 13 Through hole 14 Drive actuator part 15 Drive link part 16 Finger fastening part 17 Piston accommodation Hole 18 Rod through hole 19 Rod (drive member)
19a Tip 20 Piston 21 Plug 22 Snap ring 23 Cylinder chamber 23a Advance side pressure chamber 23b Backward side pressure chamber 24 Stopper ring 24a Position detection magnet 25 Supply / exhaust flow path 26 Seal member 27 Link accommodation chamber 28 Swing arm 28a Arm body Portion 28b flat plate link portion 28c sandwiching engagement groove portion 29 fixed hinge 30 movable hinge 31 protruding shaft portion 32 long hole 33 detachable link 35 first insertion pin hole 36 second insertion pin hole 37 sleeve hole 38 first locking pin hole 39 Second locking pin hole 40 Sleeve 41 Pin 42 Compression spring (elastic member)
43 Snap ring 44 Push-back member 45 Through hole X Width direction Y Thickness direction Z Longitudinal direction d Projection length

Claims (5)

A drive actuator provided with a drive member installed in the hand main body and moving forward and backward;
A plurality of oscillating arms pivotally supported by a fixed hinge with respect to the hand body and oscillating via a coupling by the drive member and a movable hinge;
A finger holding member removable from the hand body via a finger fastening portion;
A plurality of finger members that are slidably mounted on the finger holding member, and that reciprocate through the plurality of swinging arms and coupling by detachable links, respectively;
The detachable link includes an engagement pin attached to the finger member, and a pinch formed on the swing arm and engaged with a tip end portion of the engagement pin in a swing operation direction of the swing arm. A hand actuator characterized by being configured to be detachable from an engaging groove. 2. The hand actuator according to claim 1, wherein the finger holding member is detachable in both a radial direction and a rotational axis direction of the swinging operation of the swinging arm, and the removable link is the pinching engagement groove portion. And the engagement pin can be attached to and detached from both the radial direction and the rotational axis direction of the swing operation of the swing arm. 3. The hand actuator according to claim 1, wherein the finger fastening portion includes a fastening pin provided in the finger holding member and having a locking groove formed at an intermediate position in an axial direction, and the fastening pin formed on the hand body. A first insertion pin hole that can be inserted, a sleeve hole that is orthogonal to the first insertion pin hole, a sleeve that is formed with a first locking pin hole into which the fastening pin can be inserted, and is inserted into the sleeve hole; A spring member that is accommodated in the sleeve hole and presses the sleeve in the axial direction, and the fastening pin is fastened by being locked to the first locking pin hole of the sleeve by the locking groove. A hand actuator characterized by that. 3. The hand actuator according to claim 2, wherein a second insertion pin hole is formed in the hand body so as to be orthogonal to the first insertion pin hole, and the sleeve is orthogonal to the first locking pin hole. A hand actuator, wherein a second locking pin hole is formed. The hand actuator according to any one of claims 1 to 4, wherein a tip end portion of the engagement pin is formed in a spherical shape.

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