JP2012101299A - Chuck device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily change a movable range of a claw in a chuck device.SOLUTION: The chuck device 5 includes an advance-retreat drive part 60 for advancing and retreating an advance/retreat member 73, and a holding mechanism 8 including a plurality of claws 820. The holding mechanism 8 includes a plurality of plate cams 82 connected to the plurality of claws 820, and a guide for guiding the movement of the plurality of claws 820. A cam hole 821 is formed at each plate cam 82, a pin 732 arranged at the advance/retreat member 73 is engaged with the cam hole 821, and each of the plurality of claws 820 moves in a direction vertical to the moving direction of the advance/retreat member 73 by the movement of the advance/retreat member 73. In the chucking device 5, the plurality of plate cams 82 can be changed to a plurality of other plate cams different in the shape of the cam hole. Thereby, the movable range of the claw can be easily changed in the chucking device 5.

Description

  The present invention relates to a chuck device for gripping a workpiece.

  Conventionally, an assembly robot has been used in an automatic assembly line or the like. In an assembly robot, a robot hand that holds a workpiece is connected to a robot arm, so that the robot hand can be moved three-dimensionally. In the robot hand, the workpiece is gripped and released by driving the chuck device using compressed air. Patent Document 1 discloses a chuck device that stably grips an object to be gripped by a sandwiching body (claw portion) formed of resin and a sandwiching body formed of metal.

JP 2007-237343 A

  2. Description of the Related Art In recent years, various types of chuck devices that grip a workpiece with a plurality of claw portions as in Patent Document 1 are commercially available, and have a movable range and a number of claw portions according to the shape and size of the workpiece to be gripped. Is used in the robot hand. However, when the workpiece to be grasped is changed, it is necessary to replace the entire chuck device, and it is necessary to prepare a large number of chuck devices in order to cope with workpieces of various shapes and sizes.

  The present invention has been made in view of the above problems, and an object of the present invention is to easily change the movable range of the claw portion or the number of claw portions in the chuck device.

  The invention according to claim 1 is a chuck device for gripping a workpiece, and has a forward / backward drive part for moving the forward / backward member back and forth, and a plurality of claw parts, and the movement of the forward / backward member causes a movement of the plurality of claw parts. A gripping mechanism that moves each in a direction perpendicular to the moving direction of the advance / retreat member, and the gripping mechanism is replaceable with another gripping mechanism for the advance / retreat drive unit, and the other of the gripping mechanisms The movable range of the plurality of claw parts or the number of the plurality of claw parts is changed by replacement with the gripping mechanism.

  A second aspect of the present invention is the chuck device according to the first aspect, wherein the gripping mechanism is connected to the plurality of claw portions and has a plurality of plate cam portions having cam holes, and the plurality of claws. A guide portion that guides movement of the portion, the advance / retreat member includes a pin that engages with the cam hole, and at least the plurality of plate cam portions have different cam hole shapes when the gripping mechanism is replaced. It is replaced with a plurality of other plate cam portions.

  A third aspect of the present invention is the chuck device according to the first aspect, wherein the gripping mechanism and the other gripping mechanism can be connected to and separated from the advancing / retracting member and from the advancing / retreating drive unit. It is provided with a member to transmit the force.

  A fourth aspect of the present invention is the chuck device according to any one of the first to third aspects, wherein the advance / retreat drive unit is replaceable with another advance / retreat drive unit having a different movable range of the advance / retreat member. .

  The invention according to claim 5 is a chuck device for gripping a workpiece, and has a forward / backward drive part for advancing / retreating the advancing / retreating member and a plurality of claw parts. A gripping mechanism that moves each in a direction perpendicular to the moving direction of the advance / retreat member, the gripping mechanism is detachable from the advance / retreat drive unit, and the advance / retreat drive unit is moved within a movable range of the advance / retreat member. The movable range of the plurality of claw portions is changed by exchanging with another advancing / retreating driving unit having a different.

  According to the first to fourth aspects of the present invention, it is possible to easily change the movable range of the claw portions or the number of the claw portions in the chuck device. In the third aspect of the invention, the gripping mechanism can be more easily replaced. it can.

  According to the fifth aspect of the present invention, the movable range of the claw portion can be easily changed in the chuck device.

It is a side view of the assembly robot which concerns on 1st Embodiment. It is a side view of a hand tip part. It is a figure which shows a chuck | zipper apparatus. It is a figure which shows a chuck | zipper apparatus. It is an exploded view of a chuck device. It is a figure for demonstrating operation | movement of a chuck | zipper apparatus. It is a figure for demonstrating operation | movement of a chuck | zipper apparatus. It is a figure which shows another plate cam part. It is a figure which shows the chuck | zipper apparatus which concerns on 2nd Embodiment. It is a figure which shows the chuck | zipper apparatus which has another advance / retreat drive part. It is a figure which shows the chuck | zipper apparatus which concerns on 3rd Embodiment. It is a figure which shows a chuck | zipper apparatus. It is a figure which shows the chuck | zipper apparatus which concerns on 4th Embodiment. It is sectional drawing which shows a moving member and an engagement edge part. It is a figure which shows the other example of a chuck | zipper unit.

  FIG. 1 is a side view of an assembly robot 1 according to the first embodiment of the present invention. The assembly robot 1 is an industrial robot used in an automatic assembly line or the like that automatically assembles an assembly composed of a large number of parts. An assembly robot 1 in FIG. 1 includes a robot arm 11 having multiple degrees of freedom (for example, 6 degrees of freedom), a robot hand 2 that is detachably attached to the tip of the robot arm 11, and a control unit that performs overall control of the assembly robot 1. 12, the robot arm 2 can be freely moved by the robot arm 11. The robot hand 2 includes a hand main body portion 3 attached to the robot arm 11 and a hand tip portion 4 detachably attached to the hand main body portion 3, and the hand tip portion 4 has a plurality of chuck devices for gripping a workpiece. 5 is provided.

  FIG. 2 is a side view of the hand tip 4. The hand tip portion 4 has a thick substantially disc-shaped tip portion main body 41 centering on a predetermined central axis J1, and the tip portion main body 41 is not necessarily on the upper side in FIG. In the same manner, the coupling hole 42 is formed around the central axis J1. When the hand tip portion 4 is attached to the hand main body portion 3, a part of the coupling mechanism provided in the hand main body portion 3 is inserted into the coupling hole 42 so that the hand tip portion 4 and the hand main body portion 3 are connected. Combined.

  A plurality of chuck units 50 are attached at equal angular intervals in the circumferential direction around the central axis J1 at the lower portion of the tip body 41 in FIG. In the present embodiment, four chuck units 50 are provided at intervals of 90 degrees. Each chuck unit 50 has a base block 500 connected to the tip end body 41, and two chuck devices 5 are provided in each base block 500. Each chuck device 5 has a plurality of claw portions 820, and the claw portions 820 are arranged on the lower side in FIG. 2, and the chuck device 5 is detachably fixed to the base block 500 with a bolt (not shown). A plurality of compressed air flow paths 501 and 502 (shown by broken lines in only one base block 500) are formed inside the base block 500, and one end of each flow path 501 and 502 is a chuck. The other end is connected to the device 5, and the other end is connected to the electromagnetic valve 211 via flow paths 401 and 402 provided in the hand tip portion 4 (and the hand main body portion 3). Here, a single solenoid of 5 ports and 2 positions is used as the electromagnetic valve 211.

  3 and 4 are views showing the appearance of one chuck device 5 in a state where it is detached from the base block 500. FIG. 3 shows the chuck device 5 seen from the side, and FIG. 4 shows the chuck device 820 seen from the side. The chuck device 5 is shown. FIG. 5 is an exploded view of the chuck device 5. 3 and 5, the chuck device 5 is illustrated with the claw portion 820 disposed on the upper side.

  As shown in FIG. 3, the chuck device 5 that is a gripping portion includes a gripping main body portion 6 and a gripping mechanism 8 having a plurality of claw portions 820. The outer shape of the gripping main body 6 is a rectangular parallelepiped, and a bottomed hole 61 is formed inside. The side surface of the hole 61 is a cylindrical surface centered on a predetermined central axis J2, and the piston unit 7 is inserted into the hole 61 as shown in FIG. The piston unit 7 has a disk-like piston portion 71 centering on the central axis J2, and the main surface of the piston portion 71 on the claw portion 820 side (upper side in FIG. 5) is centered on the central axis J2. A cylindrical shaft portion 73 is provided. A packing 711 is provided on the outer peripheral surface of the piston portion 71, and the space between the outer peripheral surface of the piston portion 71 and the side surface of the hole portion 61 is sealed.

  The piston unit 7 further includes an annular member 72 having a center axis J <b> 2 as the center, and the shaft portion 73 is inserted into the annular member 72. A portion of the annular member 72 on the claw portion 820 side becomes a flange portion 721 having a larger diameter than other portions of the annular member 72. In addition, an annular notch 610 is formed at the opening edge of the hole 61 in the gripping main body 6 so as to have a larger diameter than other portions of the hole 61, and the flange 721 of the annular member 72 is formed in the notch 610. Is fitted and fixed. Further, a packing 7311 (described later) provided on the shaft portion 73 is located on the inner peripheral surface side of the annular member 72, and the inside of the annular member 72 is made movable while allowing the shaft portion 73 to move along the central axis J2. The space between the peripheral surface and the shaft portion 73 is sealed. A packing 722 is also provided on the outer peripheral surface of the annular member 72, and the space between the outer peripheral surface of the annular member 72 and the side surface of the hole 61 is sealed. In this way, the opening of the hole 61 is closed.

  In the grip body 6, two openings 621 and 622 are formed on the lower surface in FIG. 3. One opening 621 communicates with an internal opening 611 provided on the bottom surface of the hole 61 via an internal flow path 631 in the grip main body 6. The other opening 622 communicates with the internal opening 612 facing the shaft portion 73 on the side surface of the hole 61 via the internal flow path 632. Each of the openings 621 and 622 is connected to the electromagnetic valve 211 via the flow paths 501 and 502 in the base block 500 (see FIG. 2). By turning the electromagnetic valve 211 on or off, one opening 621 or 622 is formed. Compressed air is supplied into the hole 61 from the corresponding internal openings 611 and 612, and the vicinity of the other internal openings 612 and 611 is returned to atmospheric pressure.

  Actually, when compressed air is supplied into the hole 61 from the internal opening 611 facing the piston portion 71, the vicinity of the internal opening 612 is set to atmospheric pressure, and the piston portion 71 is on the claw portion 820 side (in FIG. 3). To the top of When compressed air is supplied from the internal opening 612 into the hole 61, the vicinity of the internal opening 611 is set to atmospheric pressure, and the piston portion 71 moves to the internal opening 611 side (lower side in FIG. 3). As described above, the piston portion 71 is provided with the shaft portion 73, and the shaft portion 73 advances and retracts along the central axis J <b> 2 by controlling ON / OFF of the electromagnetic valve 211. As described above, the grip main body portion 6 and the piston unit 7 are advance / retreat drive portions that advance and retract the shaft portion 73. In the following description, the combination of the grip body 6 and the piston unit 7 is referred to as an “advance / retreat drive unit 60”, and the shaft 73 is referred to as an “advance / retreat member 73”.

  The end portion 731 on the claw portion 820 side of the advance / retreat member 73 (hereinafter referred to as an “engagement end portion 731” because it engages with the plate cam portion 82 as will be described later) has a thin plate shape. In the shaft portion 73, a packing 7311 is provided around the base of the engagement end portion 731. An intermediate notch 83 (see FIG. 5), which will be described later, is formed with an annular notch that avoids interference with the tip of the packing 7311, and the tip of the packing 7311 can be accommodated in the notch. A through hole is formed in the engaging end 731, and the pin 732 is inserted into the through hole. Both ends of the pin 732 protrude from both main surfaces of the engagement end portion 731.

  The gripping mechanism 8 includes two claw portions 820, two plate cam portions 82 respectively connected to the two claw portions 820, an intermediate portion 83 provided between the plate cam portion 82 and the grip main body portion 6, and a lid A member 84 is provided. As shown in FIG. 5, the intermediate portion 83 has a plate-like member 831 provided on the annular member 72 of the piston unit 7, and the center of the plate-like member 831 penetrates to avoid interference with the engagement end portion 731. A hole 832 is formed. On the main surface of the plate-like member 831 on the claw portion 820 side, two thin plate-like spacer plates 833 are arranged around the through hole 832 in an upright state. In the chuck device 5, as shown in FIG. 4, the engagement end portion 731 is disposed between the two spacer plates 833, and the plate-like engagement end portion 731 and the two spacer plates 833 are identical including the central axis J2. Located on a plane. The plate-like member 831 and the two spacer plates 833 in the intermediate portion 83 in FIG. 5 are integrally formed.

  The two plate cam portions 82 have the same shape, and as shown in FIG. 5, the two plate cam portions 82 are reversed with one plate cam portion 82 turned upside down, with the advance / retreat member 73 and the two spacer plates 833 interposed therebetween. It arrange | positions on the plate-shaped member 831 in the upright state so that 82 may oppose (refer FIG. 4). Each plate cam portion 82 is formed with a cam hole 821, and both ends of the pin 732 of the advance / retreat member 73 are inserted into the cam holes 821 of the two plate cam portions 82.

  The lid member 84 has a shape in which a portion where the two plate cam portions 82 are disposed is cut out in a block-shaped member, and the cross section perpendicular to the plate cam portion 82 and including the central axis J2 has two plate cam portions 82. It becomes a shape to straddle. In the lid member 84 shown in FIG. 4, an opening 844 that avoids interference with the plate cam portion 82 is formed on each of two side surfaces 843 perpendicular to the plate cam portion 82. As described above, the claw portion 820 extending along the central axis J2 is connected to the upper side in FIG. 3 of each plate cam portion 82, and the upper surface 841 in FIG. The lid surface 841 ") is provided with an opening 842 that avoids interference with the claw portion 820 as shown in FIG. The opening 842 has a rectangular shape that is long in the horizontal direction in FIG. The claw portion 820 of each plate cam portion 82 has a shape protruding to the other plate cam portion 82 side, and the thickness of the claw portion 820 in the direction perpendicular to the main surface of the plate cam portion 82 is the spacer plate 833 and the two It is approximately equal to the sum of the thicknesses of the plate cam portions 82.

  As will be described later, in the chuck device 5 of FIG. 3, each plate cam portion 82 is moved together with the claw portion 820 in accordance with the cam hole 821 with which the pin 732 is engaged by the movement along the central axis J2 of the advance / retreat member 73 in FIG. Move in the horizontal direction (hereinafter referred to as “claw movement direction”). At this time, the movement of the claw portion 820 connected to the plate cam portion 82 and the plate cam portion 82 in the claw movement direction is caused by the two spacer plates 833 and the plate-like member 831 (see FIG. 5) of the intermediate portion 83, and Guided by the inner surface of the lid member 84 (ie, the surface facing the plate cam portion 82) and the edge of the opening 844 (see FIG. 4). In other words, the intermediate portion 83 and the lid member 84 serve as a guide portion that guides the movement of the plurality of plate cam portions 82 and the plurality of claw portions 820 in the claw movement direction.

  When the chuck device 5 is viewed from the claw portion 820 side along the central axis J2, the outer shape of the lid member 84, the plate-like member 831 of the intermediate portion 83, and the gripping main body portion 6 shown in FIG. is there. In the lid member 84 and the plate-like member 831, through holes into which the bolts 840 are inserted are formed at positions corresponding to the respective corners of the rectangle, and screw holes formed at corresponding positions of the gripping main body 6. The bolt 840 is fastened and the lid member 84 and the intermediate portion 83 are fixed to the grip main body 6 of the advance / retreat drive unit 60. Preferably, each of the lid member 84, the intermediate portion 83, and the gripping main body portion 6 is formed by resin injection molding, whereby the weight of these members can be reduced and the manufacturing cost can be reduced. In this case, the screw holes and the like may be insert-molded as necessary to ensure a certain strength.

  When assembling the chuck device 5, as shown in FIG. 5, the piston portion 71 of the piston unit 7 is inserted into the hole portion 61 of the gripping main body portion 6, and the opening of the hole portion 61 is closed by the annular member 72. The Subsequently, the intermediate portion 83 is placed on the annular member 72 while the engagement end portion 731 of the piston unit 7 is disposed in the through hole 832 of the plate-like member 831. Further, the two plate cam portions 82 are placed in an upright state on both main surface sides of the spacer plate 833 while inserting the pin 732 of the engagement end portion 731 into the cam hole 821. At this time, the two plate cam portions 82 are arranged so that the claw portion 820 connected to each plate cam portion 82 protrudes toward the other plate cam portion 82 in the direction perpendicular to the main surface of the plate cam portion 82. Is done. Then, the lid member 84 is placed on the intermediate portion 83 while the claw portion 820 is disposed in the opening 842 of the lid surface 841, and the lid member 84 and the intermediate portion 83 are fixed to the advance / retreat drive unit 60 by the bolt 840. Is done. The chuck device 5 is easily assembled by the above operation.

  Next, the operation of the chuck device 5 will be described. 6 and 7 are diagrams for explaining the operation of the chuck device 5. In FIG. 6 and FIG. 7, only the engagement end portion 731, the plate cam portion 82, and the claw portion 820 are illustrated for convenience of explanation. .

  As shown in FIG. 6, in each plate cam portion 82, the claw portion 820 is arranged at a position shifted from the center of the plate cam portion 82 with respect to the claw movement direction (lateral direction in FIG. 6). The cam hole 821 has a shape extending from approximately the center of the plate cam portion 82 toward the base of the claw portion 820, and the longitudinal direction thereof is inclined with respect to the claw movement direction and the central axis J2 direction. As described above, the two plate cam portions 82 have the same shape, and in the chuck device 5, the one plate cam portion 82 is reversed so that the pin 732 of the engagement end portion 731 is the most claw portion. In FIG. 6 showing a state away from 820, the cam hole 821 of one plate cam portion 82 extends from the pin 732 toward the upper right in FIG. 6, and the cam hole 821 of the other plate cam portion 82 is the pin 732. To the upper left in FIG.

  When compressed air is supplied into the hole 61 from the internal opening 611 facing the piston portion 71 shown in FIG. 3, the piston portion 71 and the advance / retreat member 73 move along the central axis J2 toward the claw portion 820 side. Accordingly, each plate cam portion 82 moves in the claw movement direction perpendicular to the movement direction of the advance / retreat member 73 according to the cam hole 821 with which the pin 732 of the engagement end portion 731 is engaged, and as shown in FIG. The nail | claw part 820 substantially contacts (including proximity | contact). Further, when compressed air is supplied into the hole 61 from the internal opening 612 formed on the side surface of the hole 61 shown in FIG. 3, the piston portion 71 and the advance / retreat member 73 move toward the bottom surface side of the hole 61 with the central axis J <b> 2. Move along. Accordingly, the plate cam portions 82 move in the claw movement direction so that the two claw portions 820 are separated from each other, and are returned to the state shown in FIG.

  Actually, from the position shown in FIG. 6 where the two claw portions 820 are farthest (hereinafter referred to as “fully open position”) to the position shown in FIG. 7 which is closest (hereinafter referred to as “closed position”). Since the workpiece is sandwiched between the two claw portions 820 during the movement, the claw portion 820 does not move to the closed position shown in FIG. 7 when the workpiece is normally gripped (the same applies hereinafter). Further, in a state where the workpiece is gripped, the engagement end portion 731 is moved along the central axis J2 so as to be separated from the claw portion 820 (that is, the piston portion 71 is moved toward the bottom surface side of the hole portion 61). Thereby, each claw part 820 moves to the fully open position shown in Drawing 6, and a work is released.

  In the assembly robot 1 shown in FIG. 1, when the robot hand 2 is positioned in the vicinity of the workpiece by the robot arm 11, a part including the coupling mechanism of the hand main body 3 is rotated by the control from the control unit 12. 2 rotates together with the plurality of chuck units 50 around the central axis J1, and one chuck unit 50 faces the workpiece. At this time, the claw portion 820 of each chuck device 5 is in the fully open position, and subsequently, by turning on the electromagnetic valve 211, two workpieces are simultaneously gripped by the two chuck devices 5 of the chuck unit 50. Is done. Then, the robot hand 2 is arranged in the vicinity of the assembly by the robot arm 11, and the two workpieces are simultaneously released by the two chuck devices 5 by turning off the electromagnetic valve 211.

  In the chuck device 5 in the present embodiment, the fully open position of the two claw portions can be changed according to the workpiece to be gripped by replacing the plate cam portion 82 in the gripping mechanism 8 with another plate cam portion. It has become. FIG. 8 is a view showing another plate cam portion 82a and corresponding to FIG. 6 showing the fully open position of the claw portion 820. FIG.

  The two plate cam portions 82a shown in FIG. 8 have the same shape, and in the chuck device 5, the one plate cam portion 82a is reversed so that the two face each other. In the plate cam portion 82a, the shape of the cam hole 821a is different from the cam hole 821 shown in FIGS. Specifically, the longitudinal length of the cam hole 821a of the plate cam portion 82a is larger than the longitudinal length of the cam hole 821 of the plate cam portion 82, and the claw movement direction in the longitudinal direction of the cam hole 821a (FIG. 8). 6 is smaller than the inclination angle θ1 with respect to the claw movement direction in the longitudinal direction of the cam hole 821 in FIG. In the plate cam portion 82a, the distance in the claw movement direction between the end of the cam hole 821a on the advance / retreat drive portion 60 side (lower side in FIG. 8) and the claw portion 820a is the same as that in the plate cam portion 82 in FIG. Longer than the distance.

  When replacing the plate cam portion 82 with the plate cam portion 82a in the chuck device 5 of FIG. 3, after the fastening with the bolt 840 (see FIG. 5) is released, the lid member 84 is removed from the advance / retreat drive portion 60, and the plate The cam portion 82 is replaced with the plate cam portion 82a and the claw portion 820a of FIG. 8 together with the claw portion 820. At this time, the pin 732 of the engagement end portion 731 is engaged in the cam hole 821a of the plate cam portion 82a. The lid member 84 is placed on the intermediate portion 83 while the claw portion 820a is disposed in the opening 842 (see FIG. 4) of the lid surface 841, and the lid member 84 and the intermediate portion 83 are moved forward and backward by the bolt 840. 60 is fixed. Through the above operation, the plate cam portion is easily replaced in the chuck device 5. Replacing the plate cam portion 82 with another plate cam portion 82a having a different cam hole shape in the gripping mechanism 8 is equivalent to replacing the gripping mechanism 8 with another gripping mechanism with respect to the advance / retreat drive portion 60. is there.

  In the chuck device 5 using the two plate cam portions 82a shown in FIG. 8, the plate cam portion 82a has the cam hole 821a having the above shape, so that the pin 732 is positioned at the end of the cam hole 821a on the advance / retreat drive portion 60 side. The distance between the claw portions 820a when the two claw portions 820a are disposed at the fully open position is larger than the distance between the claw portions 820 at the fully open position when the two plate cam portions 82 shown in FIG. 6 are used. growing. In addition, when the pin 732 is positioned at the end of the cam hole 821a on the claw portion 820a side and the two claw portions 820a are disposed at the closed position, the two claw portions 820a substantially contact each other. Therefore, in the chuck device 5 using the plate cam portion 82a of FIG. 8, the movement range (hereinafter referred to as “movable range”) D2 of the claw portion 820a between the fully open position and the closed position is the plate cam portion of FIG. It becomes larger than the movable range D1 of the nail | claw part 820 in 82. FIG.

  As described above, in the chuck device 5 having the advance / retreat drive unit 60 and the gripping mechanism 8, the gripping mechanism 8 can be replaced with another gripping mechanism with respect to the advance / retreat drive unit 60. By exchanging with the gripping mechanism, the movable ranges (or movable distances) of the plurality of claws are changed. Thus, in the chuck device 5, the movable range of the claw portion can be easily changed only by exchanging the gripping mechanism while maintaining the advance / retreat driving unit 60 (that is, without exchanging).

  Here, a chuck device in which the gripping mechanism and the advance / retreat drive unit cannot be replaced is assumed as a comparative example. When designing and manufacturing a robot hand using the chuck device of the comparative example, a chuck device having a movable range and a number of claw portions according to the shape and size of the workpiece to be grasped is selected. However, when the workpiece to be gripped is changed, it is necessary to select the chuck device again, and in accordance with the change of the chuck device, the design of the support member (base block) of the chuck device needs to be changed in the robot hand. It becomes.

  On the other hand, in the chuck device 5 of FIG. 3, the gripping mechanism 8 and the advance / retreat drive unit 60 can be separated, and the movable range of the claw portion is changed by exchanging the gripping mechanism 8 with another gripping mechanism. . As a result, the common advance / retreat drive unit 60 can be used, and even when the workpiece to be grasped is changed, only the grasping mechanism can be exchanged and the design of the base block need not be changed. Note that the case of changing the number of claw portions will be described in a third embodiment to be described later.

  FIG. 9 is a view showing a chuck device 5b according to the second embodiment of the present invention, and corresponds to FIG. In the chuck device 5b of FIG. 9, the plate cam portion 82b of the gripping mechanism 8b is formed integrally with the claw portion 820b, similarly to the chuck device 5 of FIG. Only the shape of the cam hole 821b and the size (diameter) of the pin 732b provided at the engagement end 731 are different. Other configurations are the same as those in FIG.

  The diameter of the pin 732b of the engagement end portion 731 shown in FIG. 9 is smaller than that of the pin 732 of FIG. 3, and the width perpendicular to the longitudinal direction of the cam hole 821b also matches the diameter of the pin 732b. Thinner than 821. The cam hole 821b has a shape extending from the vicinity of the center of the plate cam portion 82b toward the base of the claw portion 820b, and the length in the longitudinal direction is longer than that of the cam hole 821. In the chuck device 5b, the state shown in FIG. 9 is the fully open position where the two claw portions 820b are farthest apart, and at this time, the pin 732b of the engagement end portion 731 is located at the end of the cam hole 821b on the advance / retreat drive portion 60 side. To position. In the closed position, the pin 732b is positioned at the end of the cam hole 821b on the claw portion 820b side, and the two claw portions 820b are almost in contact with each other.

  In the chuck device 5b, the advancing / retreating drive unit 60 having the grip main body 6 and the piston unit 7 can be replaced with another advancing / retreating drive unit having a different movable range in the central axis J2 direction of the advance / retreat member 73. Specifically, similarly to the chuck device 5 of FIG. 5, the fastening by the bolt 840 (see FIG. 5) is released, and the lid member 84 is removed from the advance / retreat drive unit 60. Further, the plate cam portion 82b is removed from the pin 732b of the engagement end portion 731, and the advance / retreat driving portion 60 and each component of the gripping mechanism 8b are separated. Subsequently, another advancing / retreating drive unit (advancing / retreating drive unit 60b described later) is prepared, and in the same manner as in the case of the chuck device 5 of FIG. 5, the chuck device is operated using the other advancing / retreating drive unit and the gripping mechanism 8b. Assembled.

  FIG. 10 is a diagram showing a chuck device 5b having another advance / retreat driving unit 60b. In the piston unit 7b in the advance / retreat drive unit 60b shown in FIG. 10, a protrusion 712 is formed on the bottom surface of the piston unit 71. When the piston portion 71 moves to the bottom surface side of the hole portion 61, the projecting portion 712 comes into contact with the bottom surface of the hole portion 61, and the piston unit 7 of FIG. 9 is interposed between the piston portion 71 and the bottom surface of the hole portion 61. Compared to this, a wide gap is formed. In other words, in the piston unit 7 b, the distance in the central axis J <b> 2 direction between the piston portion 71 and the annular member 72 when the movement of the piston portion 71 to the bottom surface side is completed is narrower than that of the piston unit 7. . As a result, the movable range of the advance / retreat member 73b in the direction of the central axis J2 is shorter than that of the piston unit 7.

  In the chuck device 5b of FIG. 10, when the piston portion 71 is closest to the bottom surface of the hole portion 61, the two claw portions 820b are fully opened. At this time, since the pin 732b of the engagement end portion 731b is located near the center in the longitudinal direction of the cam hole 821b, the distance between the two claw portions 820b in the fully open position is shorter than that of the chuck device 5b in FIG. Further, when the piston portion 71 substantially contacts the annular member 72, the two claw portions 820b are in the closed position. At this time, the pin 732b of the engaging end portion 731b is positioned at the end portion of the cam hole 821b on the claw portion 820b side, and the two claw portions 820b are substantially in contact with each other as in the chuck device 5b of FIG. As described above, in the chuck device 5b of FIG. 10, the movable range of the claw portion 820b is shorter than that of the chuck device 5b of FIG.

  Since the grip body 6 of the advancing / retreating drive unit 60 in FIG. 9 and the gripping body 6 of the advancing / retreating driving unit 60b in FIG. 10 have the same shape, the base that holds the chuck device 5b when the advance / retreat driving unit is replaced. Block 500 (see FIG. 2) need not be replaced. Further, only the piston unit 7 may be replaced with the piston unit 7b in the advancing / retreating drive unit 60. This case is also equivalent to replacing the advancing / retreating drive unit 60 with another advancing / retreating drive unit.

  As described above, in the chuck device 5b, the gripping mechanism 8b is detachable from the advance / retreat drive unit 60, and the advance / retreat drive unit 60 is replaced with another advance / retreat drive unit 60b having a different movable range of the advance / retreat member. Thus, the movable range of the plurality of claw portions 820b is changed. As described above, in the chuck device 5, the movable range of the claw portion 820b can be easily changed only by exchanging the advance / retreat driving portion while maintaining the gripping mechanism 8b.

  The above-described method for exchanging the advance / retreat drive unit with another advance / retreat drive unit having a different movable range of the advance / retreat member changes the movable range of the plurality of claw portions by exchanging the gripping mechanism with another gripping mechanism. 5 may be used. In such a chuck device 5, since the advance / retreat drive unit 60 can be replaced with another advance / retreat drive unit, a plurality of gripping mechanisms and a plurality of advance / retreat drive units can be combined in various ways, and various movements of the claw unit can be achieved. Range and open / close operating characteristics can be realized.

  FIGS. 11 and 12 are views showing a chuck device 5c according to a third embodiment of the present invention, corresponding to FIGS. 3 and 4, respectively. As shown in FIG. 12, in the chuck device 5c, the cross section perpendicular to the central axis J2 of the engaging end 731c of the advance / retreat member 73c is a circle, and protrudes from the engaging end 731c to both sides in the vertical direction in FIG. The first pin 733 and the second pin 734 protruding from the engagement end portion 731c to both sides in the lateral direction in FIG. 12 are provided on the engagement end portion 731c. As shown in FIG. 11, the first pin 733 is provided in the vicinity of the distal end of the engagement end portion 731 c, and the second pin 734 is provided between the first pin 733 and the grip main body 6.

  As shown in FIGS. 11 and 12, both end portions of the first pin 733 engage with the cam holes 851 of the two first plate cam portions 85, and the two first plate cam portions sandwich the engagement end portion 731c. 85 are arranged opposite to each other. Further, both end portions of the second pin 734 engage with cam holes of the two second plate cam portions 86 (having the same shape as the cam holes 851 of the first plate cam portion 85), and the engagement end portion 731c is engaged. The two second plate cam portions 86 are disposed so as to face each other.

  The lid member 88 has a shape in which a block-shaped member is cut through a portion where the two first plate cam portions 85 and two second plate cam portions 86 are arranged, and a cross-sectional shape perpendicular to the central axis J2 is illustrated. 12 is substantially the same shape as the lid surface 811 of the lid member 88 shown in FIG. 12 (the lid surface 811 on which a cross-shaped opening 882 described later is formed) (that is, a shape obtained by removing the cross-shaped portion from the rectangle). In the lid member 88, an opening 884 that avoids interference with the first plate cam portion 85 is formed on each of the two side surfaces 883 perpendicular to the first plate cam portion 85, and 2 perpendicular to the second plate cam portion 86. Each of the side surfaces 885 is formed with an opening 886 that avoids interference with the second plate cam portion 86. As shown in FIG. 11, the edge of the opening 886 on the gripping main body 6 side is not formed on the lid member 88, and the side surface 885 of the lid member 88 has a gate shape. Similarly, the opening 884 on the side surface 883 of the lid member 88 shown in FIG. The lid surface 881 of the lid member 88 has a cross-shaped opening 882 that avoids interference with the claw portion 850 connected to the first plate cam portion 85 and the claw portion 860 connected to the second plate cam portion 86. It is formed.

  The intermediate portion 87 shown in FIG. 11 has a plate-like member 871, and on the plate-like member 871, the two second plate cam portions 86 while sandwiching the engagement end portion 731 c, similarly to the spacer plate 833 of FIG. 4. Two spacer portions 872 are provided between the two spacer portions 872 (see FIG. 12). Further, on the plate-like member 871 shown in FIG. 11, two support blocks 873 are formed so as to sandwich the two second plate cam portions 86. The claw portion 860 and the second plate cam portion 86 include a plate-like member 871, a spacer portion 872, a support block 873, an inner surface of the lid member 88 (a portion facing the second plate cam portion 86), and an edge of the opening 886 ( 12), the movement of the lid member 88 in the direction perpendicular to the side surface 885 is guided.

  Further, on each support block 873 in FIG. 11, a spacer portion 874 (see FIG. 12) disposed between the two first plate cam portions 85 is provided. The claw portion 850 and the first plate cam portion 85 are formed by the support block 873, the spacer portion 874, the inner surface of the lid member 88 (the portion facing the first plate cam portion 85), and the edge of the opening 884 (see FIG. 12). The movement of the lid member 88 in the direction perpendicular to the side surface 883 is guided. Each support block 873 is formed with a through hole for removing and attaching the second pin 734 in the disassembly and assembly work of the chuck device 5c described later.

  In the chuck device 5c, when the piston portion 71 moves toward the claw portions 850 and 860, the four claw portions 850 and 860 reach the closed positions closest to each other. Further, when the piston portion 71 moves toward the bottom surface of the hole portion 61, the four claw portions 850 and 860 are positioned at the fully open positions farthest from each other.

  In the chuck device 5c of FIG. 11, the number of claw portions can be changed. Specifically, similarly to the chuck device 5 of FIG. 5, the fastening by the bolt 840 (see FIG. 12) is released, and the lid member 88 is moved from the advancing / retreating drive unit 60c (that is, the piston unit 7c and the gripping main body unit 6). Removed. Subsequently, after the two first plate cam portions 85 and the two second plate cam portions 86 are removed from the engaging end portion 731c (the first pin 733 and the second pin 734 thereof), the two first plate cam portions Only the portion 85 is attached to the engagement end portion 731c again. Then, the lid member 88 is placed on the intermediate portion 87, and the lid member 88 and the intermediate portion 87 are fixed to the advance / retreat drive portion 60c with a bolt 840. With the above operation, the number of claw portions is changed to two in the chuck device 5c.

  Removing the two second plate cam portions 86 and the claw portions 860 in the gripping mechanism 8c of the chuck device 5c is equivalent to replacing the gripping mechanism 8c with another gripping mechanism with respect to the advance / retreat driving portion 60c. Another gripping mechanism in which the two second plate cam portions 86 are omitted in the gripping mechanism 8c is prepared in advance, and the number of claw portions is changed by replacing the gripping mechanism 8c in FIG. 11 with the other gripping mechanism. May be.

  As described above, in the chuck device 5c of FIG. 11, the gripping mechanism 8c can be replaced with another gripping mechanism with respect to the advancing / retreating drive unit 60c. The number of claws is changed. Thereby, in the chuck device 5, the number of the claw portions can be easily changed only by exchanging the gripping mechanism while maintaining the advance / retreat driving portion 60 c.

  By replacing the piston unit 7c and the gripping mechanism 8c in the chuck device 5c of FIG. 11 with the piston unit 7 and the gripping mechanism 8 of FIG. 3, a chuck device similar to the chuck device 5 is configured, and the grip body 6 is maintained. However, the number of the claw portions 820 may be changed. 3 and the lid member 88 of FIG. 11 have the same outer shape, and can be easily manufactured only by replacing the core during resin molding. In the chuck device 5c of FIG. 11, the movable ranges of the plurality of claw portions may be changed by replacing the plate cam portions 85 and 86 with other plate cam portions having different cam hole shapes.

  The method according to the second embodiment in which the advance / retreat drive unit is replaced with another advance / retreat drive unit having a different movable range of the advance / retreat member, and the number of the plurality of claw portions is changed by replacing the gripping mechanism with another gripping mechanism. 11 may be used in the chuck device 5c of FIG. By combining a plurality of gripping mechanisms and a plurality of advance / retreat drive units in various ways, various movable ranges can be realized with various numbers of claw units.

  FIG. 13 is a view showing a chuck device 5d according to the fourth embodiment of the present invention. In FIG. 13, the advancing / retreating drive unit 60d and the gripping mechanism 8d are illustrated separately. Compared with the chuck device 5 of FIG. 3, the chuck device 5 d of FIG. 13 includes a moving member 89 to be described later in the gripping mechanism 8 d and the structures of the intermediate portion 83 d and the advancing and retracting member 73 d of the piston unit 7 d are different. . Other configurations are the same as those in FIG.

  In the chuck device 5d, the engaging end portion 731d of the advance / retreat member 73d is formed at a position shifted to the right in FIG. 13 with respect to the central axis J2. Further, in the gripping mechanism 8d, a member 89 having a pin 891 that engages with the cam hole 821 of the plate cam portion 82 (because it is a member that moves as the force from the advance / retreat drive portion 60d is transmitted, as will be described later) , Referred to as “moving member 89”). The moving member 89 has a protruding portion 892 that protrudes toward the advance / retreat driving portion 60d, and the protruding portion 892 is formed at a position shifted to the left in FIG. 13 with respect to the central axis J2.

  FIG. 14 is a view showing the moving member 89 and the engaging end 731d, and is a cross-sectional view of these members cut along a plane including the central axis J2. FIG. 14 shows a state in which the moving member 89 and the advance / retreat member 73d are connected.

  A through hole 893 extending in a direction perpendicular to the central axis J2 is formed in the projecting portion 892 of the moving member 89, and a through hole 735 extending in a direction perpendicular to the central axis J2 is formed in the engaging end portion 731d of the advance / retreat member 73d. Is done. In a state where the gripping mechanism 8d and the advancing / retreating drive unit 60d are connected, the right side surface in FIG. 14 of the projecting portion 892 and the left side surface in FIG. 14 at the engagement end portion 731d are in contact with each other. One connecting pin 91 is fitted into the through hole 735. Accordingly, the moving member 89 of the gripping mechanism 8d moves in accordance with the movement of the advance / retreat member 73d in the advance / retreat drive unit 60d in FIG. 13, and the claw portion 820 moves in a direction perpendicular to the central axis J2. Thus, in the chuck device 5d, the force from the advance / retreat drive unit 60d is transmitted to the moving member 89, and the workpiece is gripped and released.

  When replacing the gripping mechanism 8d with another gripping mechanism having a different movable range or number of claw portions in the chuck device 5d, the fastening of the bolt 840 (see FIG. 5) is released, and then the plate of the intermediate portion 83d By pushing the end face of the connecting pin 91 from the communication hole 834 provided in the shaped member 831d, the connecting pin 91 is pulled out of the through hole 893 and the through hole 735, and the advance / retreat drive unit 60d and the gripping mechanism 8d are separated. Subsequently, the other gripping mechanism (however, having the moving member 89 and the intermediate portion 83d similar to the gripping mechanism 8d) is placed on the forward / backward drive portion 60d, and the connecting pin 91 is connected to the through hole 893 from the communication hole 834. And by inserting into the through-hole 735, the other gripping mechanism is connected to the advance / retreat drive unit 60d. The other gripping mechanism is fixed to the advance / retreat drive unit 60d by a bolt 840. Note that by providing a member that closes the communication hole 834, the connecting pin 91 may be prevented from falling off when the chuck device is driven.

  As described above, in the chuck device 5d of FIG. 13, the gripping mechanism 8d and the replaced gripping mechanism can be connected to and separated from the advance / retreat member 73d, and the force from the advance / retreat drive unit 60d is transmitted. A moving member 89 is provided. As a result, the gripping mechanism can be replaced more easily, and the movable range of the claw portion or the number of claw portions can be changed in a short time. In the chuck device 5d, the method according to the second embodiment in which the advance / retreat drive unit is replaced with another advance / retreat drive unit having a different movable range of the advance / retreat member may be used, thereby further replacing the advance / retreat drive unit. It can be done easily.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made.

  In the chuck unit 50 shown in FIG. 2, the workpiece gripping or releasing operation is simultaneously performed by the two chuck devices 5, but the workpiece gripping or releasing operation is individually performed by the two chuck devices 5 of the chuck unit 50. May be. For example, as shown in FIG. 15, two openings 621e and 622e are formed on one side surface of the grip main body 6e of one of the two chuck devices 5 and 5e provided in the chuck unit 50e. It is connected to the electromagnetic valve 211e via a tube or the like. Further, the branch flow path on the chuck device 5e side in the flow paths 501 and 502 of the base block 500 is closed by the lower surface in FIG. Accordingly, in the chuck unit 50e of FIG. 15, the gripping and releasing operation of the workpiece in one chuck device 5e is controlled by ON / OFF of the electromagnetic valve 211e, and the gripping and releasing operation of the workpiece in the other chuck device 5 is controlled by the electromagnetic valve. It is controlled by turning ON / OFF 211. Depending on the design of the robot hand 2, the two openings of the chuck devices 5 and 5e may be connected to the two electromagnetic valves, respectively, to realize the workpiece gripping and releasing operations.

  In the chuck device 5 of FIG. 3, in changing the movable range of the claw portion, together with the plate cam portion 82, other components (the lid member 84 and the intermediate portion 83) in the gripping mechanism 8 may be replaced with similar ones. (That is, the entire gripping mechanism 8 may be replaced.) Further, the plate cam portion 82 and the claw portion 820 can be separated, and only the plate cam portion 82 may be replaced. In the chuck device 5, when the gripping mechanism is replaced, the movable range of the claw portion can be changed by replacing at least the plurality of plate cam portions 82 with other plate cam portions having different cam hole shapes. It becomes possible.

  Further, in the chuck devices 5, 5b, and 5d of FIGS. 3, 9, and 13, the claw portion may not be completely closed at the closed position. In this case, before and after the replacement of the gripping mechanism or the advancing / retreating drive unit, the movable distance of the claw part does not necessarily have to be changed, and the movable distance of the claw part is the same, but the movement range of the claw part in the claw movement direction is the same. The movable range of the claw portion may be changed so as to be different (that is, the fully opened position and the closed position are different).

  In the first to fourth embodiments, since the chuck devices 5 and 5b to 5d have the plate cam portion, the configuration of the gripping mechanism can be simplified. However, depending on the design of the chuck device, The movement of the claw portion in the claw movement direction by movement of the advance / retreat member in the direction of the central axis J2 may be realized by a mechanism (for example, a link mechanism).

  In the chuck device 5b of FIGS. 9 and 10, for example, by using a common piston unit 7, in one of the advancing / retracting drive parts, a portion for restricting the movement of the piston part 71 is formed in the hole part of the grip body part. Two advance / retreat drive units having different movable ranges of the advance / retreat member may be manufactured. That is, a plurality of advance / retreat drive units having different movable ranges of the advance / retreat members may be realized in various modes.

  In the chuck device 5d of FIG. 13, the advance / retreat drive unit 60d and the gripping mechanism 8d may be connected by other methods. For example, the protrusion part which protrudes in both sides is formed in the front-end | tip of a column-shaped engagement end part. Further, the moving member in the gripping mechanism has a cylindrical shape whose diameter is larger than that of the engaging end portion, and a coupling guide groove that is continuous from the end portion on the advance / retreat driving portion side is formed on the inner peripheral surface thereof. Then, when connecting the advance / retreat drive unit and the gripping mechanism, the protruding portion of the engagement end portion in the advance / retreat drive unit is guided to the back of the guide groove of the moving member in the gripping mechanism, and the advance / retreat drive unit, the gripping mechanism, Are detachably connected.

  In the chuck devices 5, 5b to 5d, the gripping mechanism may be replaced with another gripping mechanism having a claw portion having a different shape. Further, the number of the claw portions and the plate cam portions in the chuck devices 5, 5 b to 5 d may be 3 or 5 or more in addition to 2 and 4.

  Driving of the advance / retreat member in the advance / retreat drive unit may be realized by a fluid such as water or oil other than compressed air, and the advance / retreat member may be advanced / retreated by a solenoid or a motor.

  The configurations in the above-described embodiments and modifications may be combined as appropriate as long as they do not contradict each other.

5, 5b to 5e Chuck device 8, 8b to 8d Grip mechanism 60, 60b to 60d Advance / Retreat drive part 73, 73b to 73d Advance / Retreat member 82, 85, 86, 82a, 82b Plate cam part 83, 87, 83d Intermediate part 84, 88 Lid member 89 Moving member 732-734, 732b, 891 Pin 820, 850, 860, 820a, 820b Claw part 821, 851, 821a, 821b Cam hole D1, D2 Movable range

Claims (5)

A chuck device for gripping a workpiece,
An advancing / retreating drive unit for advancing and retracting the advancing / retreating member;
A gripping mechanism having a plurality of claw portions and moving each of the plurality of claw portions in a direction perpendicular to the moving direction of the advance / retreat member by movement of the advance / retreat member;
With
The gripping mechanism can be replaced with another gripping mechanism for the advance / retreat driving unit
The chuck device, wherein the movable range of the plurality of claw portions or the number of the plurality of claw portions is changed by exchanging the gripping mechanism with the other gripping mechanism. The chuck device according to claim 1,
The gripping mechanism is
A plurality of plate cam portions connected to the plurality of claw portions and having cam holes;
A guide portion for guiding the movement of the plurality of claw portions;
With
The advance / retreat member includes a pin that engages with the cam hole,
In the replacement of the gripping mechanism, at least the plurality of plate cam portions are replaced with other plate cam portions having different cam hole shapes. The chuck device according to claim 1,
The chuck apparatus, wherein the gripping mechanism and the other gripping mechanism include a member that can be connected to and separated from the advancing / retracting member and to which a force from the advancing / retreating drive unit is transmitted. The chuck device according to any one of claims 1 to 3,
The chuck device, wherein the advance / retreat drive unit is replaceable with another advance / retreat drive unit having a different movable range of the advance / retreat member. A chuck device for gripping a workpiece,
An advancing / retreating drive unit for advancing and retracting the advancing / retreating member;
A gripping mechanism having a plurality of claw portions and moving each of the plurality of claw portions in a direction perpendicular to the moving direction of the advance / retreat member by movement of the advance / retreat member;
With
The gripping mechanism is detachable from the advance / retreat drive unit,
The chuck device, wherein the movable range of the plurality of claw portions is changed by replacing the advance / retreat drive unit with another advance / retreat drive unit having a different movable range of the advance / retreat member.

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