JP2521802Y2 - Parallel opening and closing chuck device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION INDUSTRIAL APPLICABILITY The present invention relates to a parallel opening / closing chuck device used for a robot hand, etc., in which a pair of fingers are opened / closed so that an object can be grasped. Things.

2. Description of the Related Art Conventionally, a parallel opening / closing chuck device in which a pair of fingers perform opening / closing operations and can grasp an object is disclosed in Japanese Utility Model Laid-Open No. 63-57043 and Japanese Utility Model Laid-Open No. 62-35740. As described above, a method of using a rack and pinion mechanism and a method of using a feed screw mechanism as disclosed in Japanese Utility Model Application Laid-Open No. Sho 61-50687 are known.

However, the method using the rack and pinion mechanism or the method using the feed screw mechanism not only requires a complicated structure, but also requires a high degree of machining accuracy, and has the drawback that the apparatus is large and heavy. .

For this reason, it is difficult to finely adjust the operation of the finger, and it has been impossible for a simple device to grasp a fragile work and perform high-precision positioning.

Further, as disclosed in Japanese Patent Application Laid-Open No. 63-312041, there is a parallel opening / closing chuck device in which a pair of cylinders are arranged in parallel and used as a driving mechanism.

Further, as disclosed in Japanese Patent Application Laid-Open No. Sho 61-168482, there is an apparatus that synchronizes the opening and closing of a parallel chuck using a rotating cam.

Further, there is an apparatus disclosed in Japanese Patent Application Laid-Open No. Sho 59-146784 in which the piston side is fixed and the cylinder side is slid to accurately open and close the parallel chuck.

However, in the case of fixing the piston side, sliding the cylinder side, and opening and closing the parallel chuck fixed to this cylinder, the problem between the cylinder and the casing containing the cylinder Large sliding resistance occurs. For this reason, it is difficult to finely adjust the operation of the finger, and it has been impossible for a simple device to grasp a fragile work and perform high-precision positioning.

The present invention is intended to solve the problems described above, and simplifies the structure, does not require a high degree of machining accuracy, reduces the size and weight of the device, and adjusts the fine operation of the finger. It is intended to make it possible to grasp a fragile work and perform high-precision positioning with a simple device.

Means for Solving the Problems In order to solve the problems described above, the present invention provides a pair of cylinders that are located in parallel in the casing and are slidable in the axial direction within the casing. A sliding member made of a material having self-lubricating property is interposed between the outer peripheral surface parallel to the axial direction of the casing and the casing, and the pair of cylinder bodies are each formed with a finger protruding outside the casing. Along with the pair of cylinders, slidably insert pistons that penetrate the fluid inlet, and fix one end of the piston to the casing,
Both ends of the cam rotatably supported on the casing with the rotation shaft as a fulcrum are engaged with the engaging portions of the pair of cylinder bodies, while enabling the introduction of fluid into the cylinder body from the outside. With the sliding of the cylinder, the other cylinder can slide in the reverse direction.

Operation The present invention is configured as described above. To operate the present invention, a fluid such as pressurized air is introduced from a fluid inlet of one piston fixed to a casing. By this fluid introduction, the piston is fixed to the casing, and the cylinder body is slidable in the casing, so that it is slid to one side by the fluid pressure.

This sliding is performed by interposing a sliding material formed of a material having self-lubricating property between an outer peripheral surface of the pair of cylinder bodies parallel to the axial direction and the casing. Therefore, sliding of the cylinder body minimizes sliding resistance generated between the cylinder body and the casing, and enables smooth sliding. And the cylinder body enables fine adjustment of operation,
High-precision positioning can be easily performed.

By the sliding of the one cylinder body, the cam engaged with the engagement part of the cylinder body also rotates about the rotation shaft as a fulcrum. Due to this rotation, the other cylinder body engaging the engagement portion with the other end of the cam slides in the opposite direction to the one cylinder body. As the pair of cylinders slide in the opposite directions, the fingers fixed to the respective cylinders operate in the direction in which the target is held or the direction in which the held target is opened.

When the operation of the finger is performed in the opposite direction, for example, in order to operate the finger in the holding state in the opening direction, the fluid of the one cylinder body is withdrawn from one piston, and the fluid is removed from the piston opposite to the above. , The cylinder body operates in the opposite direction, and the pair of fingers operate in the opening direction.

As described above, the present invention does not use a rack and pinion mechanism or a feed screw mechanism, but uses a cylinder and a cam mechanism. A sliding member formed of a self-lubricating material is interposed between an outer peripheral surface of the pair of cylinders, which is parallel to the axial direction, and the casing. Slidable.

This simplifies the structure of the device, reduces the size and weight of the device without requiring a high degree of machining accuracy, enables fine adjustment of the finger operation, grasps fragile workpieces, and positions with high precision. Can be performed by a simple device.

An embodiment of the present invention will be described below with reference to the drawings.
(1) and (2) are a pair of cylinders, which are located in parallel in the casing (3). In addition, sliding gaps (4) and (5) are provided in the axial direction so as to be freely slidable in the casing (3), and a sliding surface is provided on the outer peripheral surface parallel to the axial direction in contact with the casing (3). The moving member (6) is fixed.

This sliding material (6) is formed of a material having self-lubricating properties such as polytetrafluoroethylene.

Further, the pair of cylinders (1) and (2) have fingers (7) and (8) fixed with screws (10) in the direction intersecting the axis of the side surface. And this finger (7)
(8) protrudes outside from the projecting opening (11) of the casing (3).

Cylinders (12) and (13) are provided in the axial direction of the pair of cylinders (1) and (2). The pistons (17) and (18), which penetrate the fluid introduction ports (14) and (15) in the axial direction, are slidably inserted into the cylinders (12) and (13), respectively.

One end of each of the pistons (17) and (18) is fixed to the inlets (20) and (21) of the casing (3), so that fluid can be externally introduced into the cylinders (1) and (2). .

In addition, the pivot (1) is attached to the top plate (22) of the casing (3).
The cam (23) is rotatably supported on the pivot 9).
And, at both ends of the cam (23), split grooves (24) and (25) in the direction of the rotating shaft (19) are formed.

The cylinders (1) and (2) are inserted into the split grooves (24) and (25).
The engagement portions (26) and (27) protruding toward the top plate (22) of the first cylinder body (1) are slidably engaged with each other, so that
The cam (23) is rotated with the sliding of. Further, with the rotation of the cam (23), the other cylinder body (2) engaging the other engaging portion (27) with the cam (23) can slide in the reverse direction. I have.

In the above-described configuration, to operate this, one of the pistons (1) fixed to the casing (3) is operated.
A fluid such as pressurized air is introduced from the fluid introduction port (14) of 7). By this fluid introduction, the piston (17) is fixed to the casing (3), and the cylinder body (1) is slidable in the casing (3). It is slid.

For this sliding, a sliding member (6) made of a self-lubricating material is interposed between an outer peripheral surface parallel to the axial direction of the pair of cylinder bodies (1) and the casing (3). It is what you do. Therefore, sliding of the cylinder body (1) minimizes sliding resistance generated between the cylinder body (1) and the casing (3), and enables smooth sliding. The cylinder body (1) enables fine adjustment of the operation, and can easily perform high-precision positioning.

The cam (2) engaging the engaging portion (26) of the cylinder body (1) by the sliding of the one cylinder body (1).
3) also rotates about the rotation shaft (19) as a fulcrum. Therefore, the other cylinder body (2) engaging the engagement portion (27) with the split groove (25) at the other end of the cam (23) moves in the opposite direction to the one cylinder body (1). Slide.

As the pair of cylinders (1) and (2) slide in opposite directions, the fingers (7) and (8) fixed to the respective cylinders (1) and (2) move in the holding direction of the object or the held object. Operates in the direction of opening objects.

When the operation of the fingers (7) and (8) is performed in the reverse direction, for example, the fingers (7) and (8) in the holding state are used.
In the opening direction, the fluid in the one cylinder (12) is withdrawn from the one piston (17), and the fluid is introduced from the other piston (18), which is the opposite of the above, so that the cylinder body (1) (2) operates in the opposite way to the above,
The pair of fingers (7) (8) operate in the opening direction.

Effect of the Invention Since the present invention is configured as described above, it does not use a rack and pinion mechanism, a feed screw mechanism, etc., but uses a cylinder and a cam mechanism, and further, between the cylinder body and the casing, Since the sliding material is interposed, the structure is simplified, the equipment is small and lightweight without the need for high machining accuracy, the fine operation of the finger can be adjusted, the fragile work can be grasped, and High-precision positioning can be performed with a simple device.

[Brief description of the drawings]

1 is an exploded perspective view, FIG. 2 is a plan view of an assembled state with a top plate removed, and FIG. 3 is a second view in which the top plate is fixed. FIG. 4 is a sectional view taken along the line AA of FIG. 4, and FIG. 4 is a sectional view taken along the line BB of FIG. (1) (2) Cylinder (3) Casing (6) Sliding material (7) (8) Finger (14) (15) Fluid inlet (17) (18) … Piston (19)… Rotating shaft (23)… Cam (26) (27)… Engagement part

Claims (1)

(57) [Scope of request for utility model registration] 1. A pair of cylinders which are located in parallel in a casing and which are slidable in the axial direction in the casing are provided. An outer peripheral surface parallel to the axial direction of the pair of cylinders is provided between the casing and the casing. A sliding member made of a material having self-lubricating properties is interposed, fingers are formed on the pair of cylinders so as to protrude outside the casing, and a piston penetrating the fluid introduction port is slided on the pair of cylinders. Each of the cams is movably inserted, one end of the piston is fixed to the casing, and the fluid can be introduced into the cylinder body from the outside, and the cam which is rotatably supported on the casing with the rotating shaft as a fulcrum. Both ends are engaged with engaging portions of a pair of cylinder bodies, and the other cylinder body can slide in the opposite direction along with the sliding of one cylinder body. Parallel opening chuck device.