JP2012016753A - Parallel opening and closing type chuck hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parallel opening and closing type chuck hand capable of grasping a workpiece having an inside diameter part such as a circle and eclipse, enhancing bending strength of a grasping claw, and securing a necessary clearance with the inside diameter part even when grasping the workpiece of large weight.SOLUTION: The parallel opening and closing type chuck hand has a pair of support members 12, 14 opened and closed between an opening position and a closing position in parallel, and a wide grasping claw 16 and a narrow grasping claw 18 cantilever-supported on the support member. The wide grasping claw 16 has a circular-arc cross sectional shape in which both width-directional ends 16a, 16b are brought into contact with inner circumferential faces 6, 7 of the inside diameter part at the opening position, and an intermediate part extends along the circumferential face and has a recess part 16c curved outward. The narrow grasping claw 18 has a cross-sectional shape fitted to the recess part 16c of the wide grasping claw 16 at the closing position.

Description

  The present invention relates to a parallel open / close chuck hand that grips an inner diameter portion of a workpiece.

In order to grip a workpiece having an inner diameter portion such as a circle or an ellipse, a parallel open / close chuck hand as shown in FIGS. 1A and 1B has been conventionally used as a robot hand, for example.
In this figure, 1, 2 and 3 are cylindrical gripping claws, 4 is a first support portion for cantilevering the gripping claws 1, 5 is a second support portion for cantilevering the gripping claws 2 and 3, and 6 is The minimum inner diameter portion of the workpiece, 7 is the maximum inner diameter portion of the workpiece.

  The first support portion 4 and the second support portion 5 can be opened and closed with a relative distance between the open position and the closed position while holding the gripping claws 1, 2 and 3 in parallel by a driving device (not shown). ing.

  2A and 2B are operation explanatory views of the parallel open / close chuck hand of FIG. 1, in which FIG. 2A shows a state where the minimum inner diameter portion 6 is gripped, and FIG. 2B shows a state where the maximum inner diameter portion 7 is gripped.

  When the workpiece is gripped by the parallel open / close chuck hand described above, the relative distance between the first support portion 4 and the second support portion 5 is previously positioned at the closed position shown in FIG. Next, the position and posture of the chuck hand are controlled, and the gripping claws 1, 2, 3 are inserted inside the inner diameter portions 6, 7 such as circles and ellipses. From this state, while holding the gripping claws 1, 2, 3 in parallel, the relative distance is moved from the closed position to the open position, as shown in FIGS. A workpiece having an inner diameter portion such as an ellipse can be gripped.

  As in the case of the chuck hand described above, an apparatus for gripping a workpiece with a plurality of gripping claws is disclosed in Patent Document 1, for example.

JP 05-192888 A, “Manipulator”

In the above-mentioned parallel open / close chuck hand, when gripping the inner diameter part of a workpiece with different weight and inner diameter with the same chuck hand, the clearance required for inserting the gripping claw into the inner diameter part and the required bending of the gripping claw It is necessary to replace the gripping claws according to the strength.
In particular, when gripping a heavy workpiece, the force required for gripping increases, but in order to satisfy the strength of the gripping claw that receives the reaction force, the size of the gripping claw also increases, resulting in the above clearance amount being increased. Will be reduced.

  The present invention has been developed to solve the above-described problems. That is, the object of the present invention is to grip a workpiece having an inner diameter portion such as a circle or an ellipse, and to increase the bending strength of the gripping claws. It is an object of the present invention to provide a parallel open / close chuck hand that can ensure a necessary clearance with a portion.

According to the present invention, a parallel open / close chuck hand that grips a workpiece using an inner peripheral surface of an inner diameter portion,
A pair of support members that are opened and closed in parallel between an open position and a closed position;
A wide gripping claw and a narrow gripping claw that are cantilevered by the support member,
The wide gripping claw has an arcuate cross-sectional shape in which, in the open position, both end portions in the width direction are in contact with the inner peripheral surface, and an intermediate portion has a concave portion extending along the inner peripheral surface and curved outward. Have
A parallel open / close type chuck hand is provided in which the narrow gripping claw has a cross-sectional shape that fits into the recess in the closed position.

According to an embodiment of the present invention, the cross-sectional shape of the wide gripping claw is composed of a circular shape at both ends in the width direction and an arc cross section connecting between the circular shape.
The cross-sectional shape of the narrow gripping claw is a circle or an ellipse extending in the width direction.

  According to the configuration of the present invention described above, the wide gripping claw has a concave portion in which both end portions in the width direction are in contact with the inner peripheral surface of the inner diameter portion in the open position, and the intermediate portion extends along the inner peripheral surface and curves outward. Since it has an arc-shaped cross-sectional shape having the shape, it is equivalent to integrating the conventional two claws into an elliptical shape bent in an arc shape, and the bending strength can be increased.

  Moreover, since the narrow gripping claw has a cross-sectional shape that fits into the recess of the wide gripping claw in the closed position, the cross-sectional shape can be increased to increase the bending strength.

Further, since the narrow gripping claws are fitted in the recesses of the wide gripping claws in the closed position, the distance between the axes of the pair of gripping claws is reduced, and the entire gripping claws are reduced even if the bending strength of the gripping claws is increased. it can. Therefore, even when a heavy workpiece is gripped, a necessary clearance can be ensured between the inner peripheral surface of the inner diameter portion.

It is a block diagram of the conventional parallel open / close type chuck hand. It is operation | movement explanatory drawing of the parallel open / close type chuck hand of FIG. It is an embodiment figure of the parallel opening-and-closing type chuck hand by the present invention. It is operation | movement explanatory drawing of the parallel open / close type chuck hand of FIG.

  The best mode for carrying out the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

FIG. 3 is an embodiment of the parallel open / close chuck hand according to the present invention.
In this figure, (A) is a side view of the parallel open / close type chuck hand 10, and (B) is a BB arrow view.

  A workpiece to which the present invention is directed has an inner diameter portion such as a circle or an ellipse in a part thereof, and the inner diameter portion has an inner peripheral surface of a cylinder or an elliptic cylinder. The target inner diameter portion is assumed to be in the range from the minimum inner diameter portion 6 having the minimum diameter to the maximum inner diameter portion 7 having the maximum diameter. The minimum diameter is 55 mm, for example, and the maximum diameter is 110 mm, for example.

  A parallel open / close chuck hand 10 (hereinafter, simply referred to as “chuck hand”) of the present invention is a device that grips a workpiece using the inner peripheral surfaces 6 and 7 of the inner diameter portion described above.

  In FIG. 3, the chuck hand 10 of the present invention includes a pair of support members 12, 14, a wide grip claw 16 and a narrow grip claw 18.

  As shown in FIG. 3A, the pair of support members 12 and 14 are driven to open and close in parallel between the open position O and the closed position C. The open position O is the position where the gap between the pair of gripping claws 16 and 18 is the minimum, and the closed position C is the position where the gap between the pair of gripping claws 16 and 18 is the maximum. “Parallel opening / closing drive” means an open / closed state in which the postures of the support members 12 and 14 do not change, and as a result, the wide gripping claws 16 and the narrow gripping claws 18 are maintained in parallel.

  The pair of support members 12 and 14 are guided in the left-right direction in FIG. 3A by a linear guide (not shown). One or both of the wide gripping claws 16 and the narrow gripping claws 18 are driven in the left-right direction in the figure by an actuator (not shown) while maintaining the postures of the wide gripping claws 16 and the narrow gripping claws 18. The actuator is, for example, a rack and pinion mechanism and a motor, a direct-acting electric cylinder, a screw rod and a motor, or the like.

  The wide gripping claws 16 and the narrow gripping claws 18 are cantilevered at their upper ends by a pair of support members 12 and 14 respectively.

As shown in FIG. 3B, the wide gripping claws 16 have both end portions 16a and 16b in contact with the inner peripheral surfaces of the inner diameter portions 6 and 7 at the open position. The shape of both end portions 16a and 16b is circular in this example, but may be other shapes.
Further, the intermediate portion of the wide gripping claw 16 has an arcuate cross-sectional shape having a concave portion 16c that extends along the inner peripheral surface of the inner diameter portions 6 and 7 and curves outward. The outwardly curved recess 16c is a loose arcuate recess in this example, but may be other shapes (semi-circular, rectangular, etc.).

  That is, in this example, the cross-sectional shape of the wide gripping claw 16 is composed of a circular shape at both ends in the width direction and an arc cross section connecting the two ends, and the conventional two claws are integrated into an elliptical shape bent in an arc shape. It corresponds to that. Accordingly, when the distance from the central axis 17 of the cross-section of the wide gripping claw 16 to the outermost surface (corresponding to the radius of the cylindrical surface) is the same, the bending strength in the left-right direction in the drawing of the wide gripping claw 16 is the conventional two-claw Compared to, it can be significantly larger.

Also, in this figure, the narrow gripping claw 18 has a cross-sectional shape that fits into the recess 16c of the wide gripping claw 16 in the closed position. In this example, the cross-sectional shape of the narrow gripping claws 18 is circular, but may be an ellipse extending in the width direction.
In this case, when the distance from the central axis 19 to the outermost surface (corresponding to the radius of the cylindrical surface) is the same, the bending strength in the left-right direction in the drawing of the narrow gripping claw 18 is higher than that of the conventional one claw In the case of a circle, it is the same.

  Further, since the narrow gripping claws 18 are fitted into the recesses 16c of the wide gripping claws 16 in the closed position, the distance between the axes of the pair of gripping claws 16, 18 is reduced, and the bending strength of the gripping claws 16, 18 is reduced. Even if the height is increased, the entire gripping claw can be reduced. Therefore, even when a heavy workpiece is gripped, a necessary clearance can be ensured between the inner peripheral surface of the inner diameter portion.

FIG. 4 is an operation explanatory view of the parallel open / close chuck hand of FIG.
In this figure, (A) shows the closed position of the gripping claws 16, 18, (B) shows a state where the minimum inner diameter portion 6 is gripped, and (C) shows a state where the maximum inner diameter portion 7 is gripped.

As shown in FIG. 4A, when a workpiece is gripped by the chuck hand 10 of the present invention, the pair of support members 12 and 14 are positioned in the closed position in advance. In this closed position, the pair of gripping claws 16 and 18 are dimensioned so as to ensure a necessary clearance with respect to the minimum inner diameter portion 6.
Next, the position and posture of the chuck hand are controlled, and the pair of gripping claws 16 and 18 are inserted inside the inner diameter portions 6 and 7 such as circles and ellipses.

By moving the relative distance from the closed position to the open position while holding the pair of gripping claws 16 and 18 in parallel from this state, as shown in FIGS. -A workpiece having an inner diameter such as an ellipse can be gripped from the inside.
The chuck hand 10 of the present invention includes a force sensor for detecting the force acting on the gripping claws 16 and 18, and moves in the opening direction at a position where the force acting on the gripping claws 16 and 18 reaches a predetermined value. It is better to stop.

In the above-described example, the case where the chuck hand 10 of the present invention grips a workpiece having an inner diameter portion such as a circle or an ellipse has been described, but the present invention is not limited to such an example.
In other words, the gripping claws 16 and 18 may be moved from the open position to the closed position by the chuck hand 10 of the present invention to grip another workpiece (not shown). In this case, it is possible to reliably grip a thin plate material, a thin wire material, and the like.
In this case, the chuck hand 10 of the present invention may be used for applications other than the robot hand, for example, a chuck device of a processing machine, etc., and grip tools such as polishing, painting, welding, and detection.

  In addition, this invention is not limited to embodiment mentioned above, is shown by description of a claim, and also includes all the changes within the meaning and range equivalent to description of a claim.

1,2,3 cylindrical gripping claws,
4 1st support part, 5 2nd support part,
6 Minimum inner diameter part, 7 Maximum inner diameter part,
10 Chuck hand,
12, 14 support member,
16, 18 gripping nails,
16a, 16b both ends, 16c recess,
17 Cross section central axis, 19 Central axis

Claims (2)

A parallel open / close chuck hand that grips a workpiece using an inner peripheral surface of an inner diameter portion,
A pair of support members that are opened and closed in parallel between an open position and a closed position;
A wide gripping claw and a narrow gripping claw that are cantilevered by the support member,
The wide gripping claw has an arcuate cross-sectional shape in which, in the open position, both end portions in the width direction are in contact with the inner peripheral surface, and an intermediate portion has a concave portion extending along the inner peripheral surface and curved outward. Have
The parallel-opening / closing-type chuck hand, wherein the narrow gripping claw has a cross-sectional shape that fits into the recess in the closed position. The cross-sectional shape of the wide gripping claw is composed of a circular shape at both ends in the width direction and an arc cross-section connecting between them.
The parallel open / close type chuck hand according to claim 1, wherein a cross-sectional shape of the narrow gripping claws is a circular shape or an elliptical shape extending in a width direction.