JP2570279Y2 - Chuck - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chuck for holding a work by a pair of arms.

[0002]

2. Description of the Related Art In recent years, it has been required that a work for transporting a work and an operation of pushing the work into, for example, a hole at a transfer end position are continuously performed in a series of operations. Therefore, conventionally, a chuck having a pair of arms that can be opened and closed with each other has been proposed in which a pushing member is provided between both arms, and the pushing member is biased downward by the biasing force of a coil spring. I have. According to this configuration, by opening the arms while the work is sandwiched between the arms, the work is pressed downward by the pushing member and pushed into the hole.

Further, since the chuck is often used for automatic equipment such as a robot hand, a sensor for detecting the open / closed state of the pair of arms is mounted in a groove formed in the chuck body.

[0004]

However, since the conventional chuck has only one sensor mounting groove provided on the chuck body, even when a plurality of sensors are mounted on the chuck, a plurality of sensors are mounted in one groove. The only option is to attach a sensor. In this case, when two different positions are to be detected by the respective sensors, inconveniences such as the inability to provide a sensor corresponding to each position due to the size of the sensor itself when the two positions are close to each other occur. .

It is conceivable to install another sensor in a place different from the groove of the chuck body.
In this case, the mounting work of the sensor becomes complicated, and the respective wires extending from the sensor cannot be combined. As described above, chucks are often used in robot hands, etc., so that not only the wiring may interfere with the installation of the chuck due to congestion of the wiring, but also the wiring may interfere with other devices. is there.

[0006] The present invention has been made in view of the above circumstances, and its purpose is to simplify the wiring of sensors even when a plurality of sensors are attached to the chuck body.
In addition, it is an object of the present invention to provide a chuck capable of reliably detecting each position regardless of the size of the sensor even when a plurality of positions approaching each other are detected by individual sensors.

[0007]

According to a first aspect of the present invention, there is provided a chuck according to the first aspect of the present invention, wherein a pair of arms are provided so as to be openable and closable by driving means incorporated in the chuck body. A plurality of sensor mounting grooves are provided in parallel.

According to a second aspect of the present invention, in the chuck according to the first aspect, the driving means is constituted by a fluid pressure cylinder, and the sensor detects a piston position of the cylinder.

According to a third aspect of the present invention, in the chuck according to the second aspect, a fluid supply / discharge port of the fluid pressure cylinder is provided on a surface of the chuck body different from the surface provided with the groove. .

(Action) Therefore, in the invention according to the first aspect, the same chuck body is used.
Since multiple sensor mounting grooves are provided side by side , even when multiple sensors are mounted on the chuck body , the sensors must be concentrated on the same side of the chuck body.
It is possible to prevent the sensor wiring from concentrating and congesting the wiring. When detecting a plurality of positions approaching each other with individual sensors, attach the sensors to the chuck body.
By mounting in different grooves on the same side surface , each position can be reliably detected regardless of the size of the sensor.

In the invention according to claim 2, in addition to the operation of the invention according to claim 1, since the driving means is constituted by a fluid pressure cylinder, even a small chuck having a small amount of movement of the piston can be surely provided. It is possible to detect a plurality of piston positions.

Further, in the invention according to claim 3, according to claim 2,
In addition to the operation of the device according to the present invention, since the fluid supply / discharge port of the fluid pressure cylinder is provided on a surface of the chuck body different from the surface on which the sensor mounting groove is provided, the wiring from the sensor and the fluid supply / discharge port are provided. This can prevent congestion with the piping from the outside and can simplify the piping and wiring work.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. As shown in FIGS. 1 and 2, a cylinder casing 1 as a chuck body
Inside, the first cylinder chamber 2 and the second cylinder chamber 3 are provided so as to be located on the same line. A single groove 1a is formed on the lower surface of the cylinder casing 1, and the groove 1a
The second cylinder chamber 3 is open on the bottom surface of a. Pistons 4 and 5 are arranged in each of the cylinder chambers 2 and 3 so as to be able to reciprocate, respectively.
Is urged downward by a spring 6. A first port 7 as a fluid supply / discharge port communicating with the first cylinder chamber 2 and a second port 8 as a fluid supply / discharge port communicating with the second cylinder chamber 3 are provided on the side of the cylinder casing 1.
Are formed. When air is supplied from the first port 7 to the first cylinder chamber 2, the piston 4 moves upward against the urging force of the spring 6, and supplies air to the second cylinder chamber 3 from the second port 8. , The piston 5 is moved downward.

A piston 4 disposed in the first cylinder chamber 2
Is provided with a rod 9 facing downward. The rod 9 passes through an insertion hole 10 formed between the first cylinder chamber 2 and the second cylinder chamber 3 and penetrates the piston 5 of the second cylinder chamber 3. The tip is located between the grooves 1a at the bottom of the cylinder casing 1. The first cylinder chamber 2,
Driving means (fluid pressure cylinder) is constituted by the piston 4, the spring 6, the first port 7, the rod 9, and the like.

A seal ring 11 is provided between the insertion hole 10 and the rod 9, and the reel cylinder 11 completely shuts off the first cylinder chamber 2 and the second cylinder chamber 3. Piston 5 arranged in second cylinder chamber 3
Are provided with two support legs 12 located on both sides of the rod 9, and the support legs 12 extend downward parallel to the rod 9 and protrude from the lower surface of the cylinder casing 1. A disc-shaped pushing member 13 is supported at the tip of each of the support legs 12, and a jig (not shown) for pushing a work is attached to the pushing member 13.

A pair of L-shaped arms 1 each having a horizontal piece 14a and a vertical piece 14b are provided between the grooves 1a of the cylinder casing 1.
4 are provided so as to face each other. Each arm 1
Reference numeral 4 denotes a corner portion formed by the horizontal piece 14a and the vertical piece 14b, which is rotatably supported by a support shaft 15 provided between the grooves 1a of the cylinder casing 1. The tip of the rod 9 of the piston 4 is formed in a rectangular cross section, and pins 16 are formed on both sides thereof. And
At the tip of the horizontal piece 14a of each of the arms 14, an engaging recess 17 is formed to engage with the pin 16. When the piston 4 reciprocates up and down, the horizontal piece 14a is tilted and the arm 14 is centered on the support shaft 15. The vertical piece 14b is opened and closed by turning. Further, a screw hole 18 for attaching a jig (not shown) for supporting the work is formed in the vertical piece 14b.

Two sensor mounting grooves 19 and 20 extending in the axial direction of the pistons 4 and 5 are formed on the surface of the cylinder casing 1 opposite to the surface where the ports 7 and 8 are formed. Each piston 4, 5 is provided in the groove 19, 20.
Detection switch 2 as a sensor at a position corresponding to
1 and 22 are respectively mounted. These detection switches 21 and 22 include magnetic sensors (not shown) for detecting the positions of the pistons 4 and 5, and a permanent magnet 2 on the outer periphery of the head of each piston 4 and 5.
3, 24 are attached. And the detection switch 2
Each permanent magnet 23 of each magnetic sensor contained in
The positions of the pistons 4 and 5 can be detected based on the sensing of the magnetism of the 24.

The open / close state of the arm 14 is determined by the vertical position of one of the pistons 4.
The vertical position of 3 is determined by the vertical position of the other piston 5. Therefore, the open / close state of the arm 14 can be detected by detecting the position of one piston 4 by the detection switch 21, and the vertical position of the pushing member 13 can be detected by detecting the position of the other piston 5 by the detection switch 22. The position can be detected.

Next, the operation of the chuck configured as described above will be described. Now, when the chuck supported in advance by a predetermined moving device (not shown) is moved above the work and air is supplied from the first port 7 into the first cylinder chamber 2, the piston 4 receives the urging force of the spring 6. The crosspiece 14 which has been moved upward in opposition and engaged with the pin 16 at the tip of the rod 9
As a tilts, the arm 14 rotates about the support shaft 15. And, by the rotation, both vertical pieces 14
By closing b, the work is held by the jigs attached to both vertical pieces 14b. In this state, no air is supplied from the second port 8 and the piston 5 is in a free state, so that the jig attached to the pushing member 13 comes into contact with the work and the piston 5 is pushed up. .

Then, the chuck is moved to another position while holding the workpiece, and the air in the first cylinder chamber 2 is discharged from the first port 7 and the second cylinder 8 is moved to the second cylinder chamber 3 from the second port 8. When the air is supplied, the one piston 4 is moved downward by the urging force of the spring 6,
The other piston 5 is also moved downward. When one of the pistons 4 is moved downward, the arm 14 is rotated to open both vertical pieces 14b, whereby the work held by the jig attached to both vertical pieces 14b is released. When the other piston 5 is moved downward, the work is pressed by a jig attached to the pushing member 13 at the tip of the support leg 12, and the work is inserted into a hole (not shown) provided at a predetermined position. Press-fit.

Therefore, the work of transporting the work to another position and the work of pushing the work into the hole or the like at that position can be performed continuously in a series of operations. In the normal state, the piston 5 of the second cylinder chamber 3 is located at the lower position, but when the work is held by the jig attached to the arm 14, the jig attached to the pushing member 13 Since the piston 5 is pushed up in contact with the work, the position of the piston 5 is determined by the detection switch 2.
By performing the detection in 2, it is possible to reliably detect whether or not the work is held by the jig attached to the arm 14. Further, in this chuck, since the two cylinder mechanisms are incorporated in one cylinder casing 1, the whole can be made compact.

Further, since a plurality of sensor mounting grooves 19 and 20 are collectively provided on one side of the cylinder casing 1, the detection switch 21 is provided on one side of the cylinder casing 1 even when the detection switches 21 and 22 are mounted. , 22 can be prevented from concentrating. In addition, a plurality of positions approaching each other are detected by the individual detection switches 2.
When the detection is performed by the detection switches 21 and 22, the detection switches 21 and 22 are mounted in the different sensor mounting grooves 19 and 20.
Each position can be reliably detected regardless of the size of the detection switches 21 and 22. The chuck of the present embodiment having such an effect is suitable for a small-sized chuck.

Further, the ports 7 and 8 serving as fluid supply / discharge ports are connected to sensor mounting grooves 19 and 2 of the cylinder casing 1.
Since the openings are provided on a surface different from the surface provided with the “0”, congestion between the wiring from the detection switches 21 and 22 and the piping from the ports 7 and 8 can be prevented, and the piping and wiring work can be simplified. It is possible to do.

[0024]

As described above in detail, according to the first aspect of the present invention, even when a plurality of sensors are mounted on the chuck body, the work of mounting each sensor on the same side surface of the chuck body.
It can be concentrated and the installation work is easy
In addition, the wiring from each sensor can be easily collected, and even when multiple positions approaching each other are detected by individual sensors, each position can be reliably detected regardless of the size of the sensor. can do.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, since the driving means is constituted by a fluid pressure cylinder, even a small chuck having a small amount of movement of the piston can be used. It is possible to reliably detect a plurality of piston positions.

According to the third aspect of the present invention, in addition to the effects of the second aspect, the fluid supply of the fluid pressure cylinder is performed on a surface of the chuck body different from the surface on which the sensor mounting groove is provided. Since the discharge port is provided, it is possible to prevent congestion between the wiring from the sensor and the piping from the fluid supply / discharge port, and to simplify the piping and wiring work.

[Brief description of the drawings]

FIG. 1 is a front sectional view showing one embodiment of a chuck embodying the present invention.

FIG. 2 is a bottom view of the chuck.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Cylinder casing as a chuck main body, 2 ... First cylinder chamber (cylinder chamber), 3 ... Second cylinder chamber (cylinder chamber), 4,5 ... Piston, 6 ... Spring, 7, 8 ... Fluid supply / discharge port First and second ports as 9
… Rod, 13… push-in member, 14… arm, 19,
20: Sensor mounting groove, 21, 22: Detection switch as sensor detecting means.

Claims (3)

(57) [Scope of request for utility model registration] A pair of arms (14) are provided so as to be openable and closable by driving means (2, 4, 6, 7, 9) incorporated in the chuck body (1), and are provided on the same side surface of the chuck body (1). A plurality of grooves (19, 20) for mounting sensors (21, 22)
Side-by-side chucks. 2. The driving means (2, 4, 6, 7, 9) is constituted by a fluid pressure cylinder, and the sensor (21, 2) is provided.
2. The chuck according to claim 1, wherein the step (2) detects a piston position of the cylinder. 3. The groove (1) of the chuck body (1).
The chuck according to claim 2, wherein the fluid supply / discharge port (7) of the fluid pressure cylinder is provided on a surface different from the surface provided with (9, 20).