JP3419543B2 - Parallel opening and closing chuck device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parallel opening / closing chuck device. The parallel opening / closing chuck device of the present invention is mounted on an industrial machine such as a robot and holds a work piece in a freely releasable manner as the pair of fingers move.

[0002]

BACKGROUND OF THE INVENTION Known parallel opening and closing chuck devices generally include
In order to replace the chuck device as a whole, the chuck device is mounted on a working machine via a tool changer, and a pair of fingers, which are its component parts, are movable with respect to a body, which is also a component part, but are removed. It is attached so that it cannot be used. A pair of attachments having a shape that matches the size and shape of the work to be gripped are attached to the pair of fingers. Also on the body,
A magnetic proximity sensor is attached which detects when the piston therein reaches a predetermined reciprocating position and thus detects that the finger is at a predetermined moving position.

However, the above-mentioned prior art has the following problems. In actual work, there are usually a plurality of types of work to be gripped. Therefore, since it is necessary to prepare the same number of tool changer adapters, chuck devices, and magnetic proximity sensors as the types of workpieces, a tool changer main body is added to them, and a large part cost is required. As the work progresses, a tool changer adapter, a chuck device, and a magnetic proximity sensor are prepared for each type of work to be gripped, and piping (for supplying operating pressure) and wiring (magnetic field) to the tool changer adapter are prepared. Proximity sensor operation) must be performed. Therefore, these operations require a lot of trouble. Since the whole unit equipped with the tool changer is very large, the transportable mass of the industrial machine is small, the tact time is long, and the accuracy is not good.

In addition, the inventor of the present application has previously proposed the actual Kaihei 5-
In the invention of No. 80691, there is a problem that this operation is troublesome or troublesome because the snap lock is manually operated.

[0005]

In view of the above points, the present invention eliminates the need for chuck devices and magnetic proximity sensors of the same number as the types of workpieces to be grasped, and also does not require a tool changer. Therefore, it is an object of the present invention to provide a parallel opening / closing chuck device with reduced parts cost. Even if the type of work to be grasped changes, it is not necessary to replace the tool changer adapter, chuck device, and magnetic proximity sensor, and there is no need to perform piping and wiring for each type of work. Therefore, it is an object of the present invention to provide a parallel opening / closing chuck device that facilitates assembly work. Further, it is an object of the present invention to provide a parallel opening / closing chuck device that does not require a tool changer and accordingly has a large transportable mass of an industrial machine, a short tact time, and improved accuracy. Further, in connection with the fact that the adapter supporting the fingers is detachable from the body, the engagement or disengagement operation relating to this connection is automatically performed by supplying / discharging pressure, thereby eliminating the need for the manual work. It is an object of the present invention to provide a parallel opening / closing chuck device.

In addition to this, it is another object of the present invention to provide a parallel open / close chuck device capable of detecting the presence / absence of an adapter and outputting it as a signal to the outside. Also
The moving position of the finger is detected, and this is used as a signal to the outside.
An object of the present invention is to provide a parallel open / close chuck device capable of outputting .

[0007]

In order to achieve the above object, the parallel opening / closing chuck device of the present invention comprises a pair of fingers facing each other, an adapter movably supporting the fingers in the facing direction, and a finger movement. Cylinder part, a thrust transmitting part for transmitting the thrust of the finger moving cylinder part to the finger, and a body incorporating an adapter locking cylinder part, wherein the adapter is detachable from the body, A lock portion that engages or disengages when pressure is supplied to or discharged from the adapter lock cylinder portion is provided on the lock cylinder portion and the adapter, and the adapter lock cylinder is further provided.
The piston part is connected to the piston part, and
Push the adapter to force the adapter from the body.
A rod for pushing out is provided (Claim 1).

In addition to this, the body is provided with a detecting means for detecting the presence or absence of the adapter and outputting a signal to the outside (claim 2). Well
In addition, it detects the moving position of the finger on the body and
A displacement sensor that outputs a signal to the outside is attached.
The displacement sensor responds to the distance between its end face and the piston end face.
Then, it is decided to output the voltage substantially linearly (Claim 3).

[0009]

In the parallel open / close chuck device of the present invention having the above-mentioned structure, the body is directly connected to the industrial machine, and the pipe and the wiring are connected to the body. When the type of work to be gripped is changed, only the adapter that supports the fingers is replaced, leaving the body, piping and wiring as they are. Because the body is intact,
The tool changer used to replace the body is no longer needed. Further, since the lock portion automatically engages or disengages when pressure is applied to or released from the adapter lock cylinder portion, manual work such as when operating the snap lock is unnecessary.

Further, when the body is provided with a detecting means for detecting the presence or absence of the adapter and outputting a signal to the outside, the presence or absence of the adapter is detected by the detection and signal output operation by the detecting means, and the external means is provided. It is possible to output as a signal to. Also on the body, fins
Detects the moving position of the moth and outputs a signal to the outside
If a displacement sensor is attached to this displacement sensor
By the detection and signal output operation by
Position can be detected and output as a signal to the outside.
Noh.

[0011]

Embodiments of the present invention will now be described with reference to the drawings.

As shown in FIGS. 1 to 12, the parallel opening / closing chuck device is composed of a pair of fingers 1 facing each other.
4, an adapter 13 that movably supports the fingers 14 in the opposite direction, a finger moving cylinder portion 2,
The thrust of the finger moving cylinder portion 2 is applied to the finger 14
A body 1 in which a thrust transmission portion 7 and an adapter lock cylinder portion 21 that are transmitted to the pair of fingers 14 are directly gripped by a pair of attachments (not shown). ) Is attached. This attachment has a shape that matches the size and shape of the work to be gripped (a shape that differs depending on the size and shape of the work) so that the work can be gripped properly, and once Finger 14
Once installed, it will not be removed (hence no attachment-only replacement planned).

In the internal structure of FIG. 1, a pair of pressure supply ports 3 (see FIG. 2) opened in the front of the body 1 having a substantially box shape is used to supply compressed air (operating pressure) to the cylinder chamber 4 of the finger moving cylinder portion 2. ) Are alternately supplied, the piston 5 reciprocates, and the rod 8 connected to the piston 5 reciprocates in the axial direction. When the rod 8 reciprocates, the pair of levers 10 reciprocally rotate (swing) symmetrically about a fulcrum pin 6 erected on the body 1 at a predetermined rotation angle. The rod 8 and lever 10 are
The drive pin 9 projecting from the rod 8 and the notch 11 provided on the lever 10 are engaged to connect the linear motion to the rotary motion. When the pair of levers 10 symmetrically reciprocally rotate, the pair of fingers 14 linearly and symmetrically reciprocate in the mutually opposing directions, that is, in the directions toward and away from each other (see FIG. 5). The lever 10 and the finger 14 are respectively the lever 1
The action pin 12 projecting from 0 and the notch 15 provided on the finger 14 are connected so as to convert the rotary motion into the linear motion. Working pin 12 and notch 15
Engages as the adapter 13 is connected to the body 1, and disengages as the adapter 13 is removed from the body 1. Each finger 14 is supported by an adapter 13 and is linearly reciprocally connected to the adapter 13 via a linear motion bearing 17 having a large number of rolling elements 18. The attachments are fixed to the lower side of the fingers 14 while being positioned by the positioning pins 16.

Adapter 1 supporting a pair of fingers 14
3 is detachably connected to the body 1 by the following configuration.

That is, as shown in FIG. 1, the body 1
Inside, the finger moving cylinder portion 2 is sandwiched in the middle, and a pair of adapter lock cylinder portions 21 are provided on the left and right sides thereof. The adapter lock cylinder portion 21 and the adapter 13 are respectively provided with adapter locks. A lock portion 24 that is engaged or disengaged by supplying or discharging pressure to or from the working cylinder portion 21 is provided. The pair of lock portions 24 are symmetrical with each other and have the following configurations.

That is, the adapter lock cylinder portion 2
A piston 23 is slidably inserted in the cylinder chamber 22 of No. 1, a rod 25 is connected to the piston 23, the rod 25 projects downwardly for a long time, and an upward pressing slope 27 is provided on the peripheral surface of the rod 25. A notched pressing portion 26 is provided. The front wall portion and the rear wall portion of the body 1 are provided below the finger moving cylinder portion 21 with a pair of guide recesses 28 having a horizontally elongated oval shape.
A parallel pin-shaped, roller-shaped, or ball-shaped engagement body 29 is slidably or horizontally slidable in the guide recess 28 along the ellipse of the guide recess 28 and within the range of the ellipse. Is engaged with. A pair of hook portions 30 are provided on the left and right of the upper portion of the adapter 13, and each hook portion 30 is provided with a substantially arc-shaped engaging concave portion 31 with which the engaging body 29 is detachably engaged. Each of the hook portions 30 is provided with a positioning recess 32 which is opened upward and is stopped downward. A spring 33 that elastically biases the piston 23 and the rod 25 upward is inserted in the cylinder chamber 22 below the piston 23.

FIG. 5 shows a state in which the adapter 13 is connected to the body 1 via the lock portion 24. That is, the piston 23 of the adapter locking cylinder 21 and the rod 25 are located at the upper limit of the reciprocating motion, and the lower end 25a of the rod 25 slides in the positioning recess 32 of the adapter 13 with a margin in the vertical direction. It is freely inserted, and the engaging body 29 is pushed by the pushing inclined surface 27 of the pushing portion 26 of the rod 25 in the direction A in the figure and engages with the engaging recess 31 of the hook portion 30. In this state, by supplying compressed air (operating pressure) to the cylinder chamber 4 of the finger moving cylinder portion 2, the fingers 14 reciprocate,
When the attachment grips or releases the work,
As described above.

From the state shown in FIG. 5, when the adapter 13 supporting the fingers 14 is replaced with a change in the type of work to be gripped, first, one of the pressure supply ports 34 opened in the front surface of the body 1 is replaced. Compressed air (operating pressure) is supplied from (see FIG. 2) to the cylinder chamber 22 above the piston 23 of each cylinder 21 for adapter locking (air is discharged from the cylinder chamber 22 below). Then, the piston 23 and the rod 25 move downward while compressing the spring 33, and as shown in FIG.
The lower end surface 25b of the abuts on the adapter 13 (the inner bottom surface 32a of the positioning recess 32). In this process, rod 25
Since the height position of the pressing inclined surface 27 of the pressing portion 26 is lowered, the pressing inclined surface 27 stops pressing the engaging body 29 in the direction A, and the engaging body 29 is further engaged by the engaging recess 31 of the hook portion 30. It is allowed to move in the direction away from (B direction). The lower end surface 25b of the rod 25 is the adapter 1
3, the supply of compressed air is continued even after the contact with 3, and the rod 25 pushes the adapter 13 downward at its lower end surface 25b, and the adapter 13 is pushed down as shown in FIG. Then, it is removed from the body 1. This series of operations is performed at a predetermined place so that the removed adapter 13 is placed at a predetermined place.

Then, an industrial machine (not shown) is moved to bring the body 1 without the adapter 13 to the adapter 13 to be connected, and the compressed air to the pressure supply port 34 (operating When the supply of (pressure) is stopped, the piston 23 and the rod 25 move, and the pressing slope 27 of the pressing portion 26 of the rod 25 causes the engaging body 29 to move to A
Then, the engaging body 29 is engaged with the engaging recess 31 of the hook portion 30, and the adapter 13 is connected to the body 1.
When the adapter 13 is connected to the body 1, compressed air is always supplied to the lower cylinder chamber 22, but even if the compressed air escapes from the lower cylinder chamber 22 for some reason such as a failure, The elasticity of the spring 33 maintains the locked state.

As shown in FIG. 1, at the top of the body 1,
A displacement sensor 36, which detects the moving position of the finger 14 and outputs a signal to the outside, is attached using the attachment member 35. The displacement sensor 36 has an end face 3
The voltage is output substantially linearly according to the distance L between the end 6a of the piston 5 and the end surface 5a of the piston 5, and this voltage is amplified and corrected by an amplifier (not shown), and a sequencer and a meter relay (both are shown in FIG. (Not shown) etc. The sequencer, meter relay, and the like indirectly determine the work and the presence / absence of gripping based on the input voltage.

As shown in FIGS. 3 and 4, the body 1
A sensor mounting recess 37 is provided in one corner, and a proximity sensor 38 that detects the presence or absence of the adapter 13 and outputs a signal to the outside is inserted in the sensor mounting recess 37. The proximity sensor 38 changes the output voltage depending on whether the end face of the adapter 13 approaches, and inputs this voltage to a sequencer (not shown).
The sequencer confirms the attachment / detachment based on the input voltage. Instead of this, the proximity sensor 38 has a detection mechanism using electric contacts (a pair of sockets are attached to the body substantially in parallel to each other, and a U-shaped or U-shaped pin is attached to the adapter so that the socket is The presence / absence of the adapter is detected depending on whether or not the current fits into the pin and the current flows to the sequencer.

The parallel open / close chuck device having the above structure is directly mounted on the industrial machine with the body 1 and operates as described above, and has the following effects.

When the type of work to be grasped changes, the body 1, the displacement sensor 36, the proximity sensor 3
8. It is sufficient to replace only the adapter 13 supporting the fingers 14 while keeping the piping and wiring as they are. Since the body 1 is intact, the tool changer that has been used for replacing the body 1 is unnecessary. Therefore, since it is only the adapter 13 supporting the fingers 14 that must be prepared according to the type of work,
The number of parts that must be prepared is smaller than before,
As a result, the component cost can be reduced. When the type of work to be gripped changes,
It is sufficient to replace only the adapter 13 supporting the fingers 14 while leaving the body 1, the displacement sensor 36, the proximity sensor 38, the piping and the wiring as they are. Therefore, replacement work is easier than before. No tool changer is required, and the entire unit is small and lightweight. Therefore, the transportable mass of the industrial machine becomes larger than before, the takt time becomes longer than before, and the accuracy becomes better than before. The lock portion 24 automatically engages or disengages when pressure is supplied to or discharged from the adapter lock cylinder portion 21. Therefore, manual work such as when operating the snap lock is unnecessary.

In the adapter lock cylinder portion 21,
Since the rod 25 slidably inserted into the positioning recess 32 provided in the adapter 13 and connected to the piston 23 is provided, the insertion operation of the rod 25 into the positioning recess 32 causes the adapter 13 to move.
The body and the body 1 can be easily and accurately positioned. Since the adapter locking cylinder portion 21 is provided with the rod 25 that presses the adapter 13 when it is operated in one direction and is connected to the piston 23, the pushing operation of the rod 25 on the adapter 13 causes the adapter 13 to move to the body. It can be automatically pushed out from 1. Further, as a result, the adapter 13 is forcibly pushed out from the body 1, so that the chuck device can be used in a direction other than the vertically downward direction. The piston 23 is attached to the adapter lock cylinder portion 21.
Further, since the spring 33 that elastically biases the rod 25 in one operating direction is provided, even if the pressure supply is interrupted by the biasing operation of the spring 33 with respect to the piston 23 and the rod 25, the lock portion 24 is not locked. Can be kept locked. Therefore, the adapter 13
Does not fall out of the body 1 carelessly. Since a displacement sensor 36 that detects the moving position of the finger 14 and outputs a signal to the outside or a proximity sensor 38 that detects the presence or absence of the adapter 13 and outputs a signal to the outside is attached to the body 1, these It is possible to detect the moving position of the finger 14 or the presence / absence of the adapter 13 by the detection of the sensors 36 and 38 and the signal output operation, and output this as a signal to the outside. Therefore, automatic control of gripping the work is facilitated. The adapter 13 is the rolling element 18 of the linear motion bearing 17.
The finger 14 is movably supported via only (only in the past, the adapter 13 movably supports the finger 14 via the bearing block (rolling element support) of the linear motion bearing 17 and the rolling element 18). Because of)
The support structure of the finger 14 by the adapter 13 is small and lightweight, and has high rigidity, long life, and high precision as compared with the case of a slide bearing.

Furthermore, if the adapter 13 is made of hardened stainless steel or bearing steel, the positioning recess 32 is also hardened, so that the recess 32 is repeatedly inserted into the recess 32. And wear is reduced.

[0026]

The present invention has the following effects. When the type of work to be grasped changes, it is sufficient to replace only the adapter that supports the fingers while keeping the body, piping and wiring. Since the body is intact, the tool changer used to replace the body is unnecessary. Therefore, since it is only the adapter that supports the fingers that needs to be prepared according to the type of work, the number of parts that must be prepared is smaller than in the past, and this can reduce the part cost. it can. When the type of work to be grasped changes, it is sufficient to replace only the adapter that supports the fingers while keeping the body, piping and wiring. Therefore, replacement work is easier than before.
No tool changer is required, and the entire unit is small and lightweight. Therefore, the transportable mass of the industrial machine becomes larger than before, the takt time becomes longer than before, and the accuracy becomes better than before. The lock portion automatically engages or disengages when pressure is supplied to or discharged from the adapter lock cylinder portion. Therefore, manual work such as when operating the snap lock is unnecessary. Adapt
The adapter for the turlock cylinder part when it is operated in one direction
Equipped with a rod that presses and is connected to the piston
Is pressed against the adapter of this rod
The operation automatically pushes the adapter out of the body.
You can This also makes the adapter stronger than the body.
The chuck device must be
It can be used in any direction other than the vertical downward direction.

[0027]   Detects the presence or absence of an adapter on the body
A detector that outputs a signal to the outside is attached
If this is the case, detection and signal output by this detection means
The force operation detects the presence of the adapter and
It can be output as a signal. Therefore of the work
Automatic control of gripping is facilitated.On the body,
Detects the finger movement position and outputs a signal to the outside.
If a force displacement sensor is installed, this
The detection by the displacement sensor and the signal output
Detects the moving position of the ganger and outputs this as a signal to the outside
can do. Therefore, regarding the gripping of the work
Automatic control is facilitated.

[Brief description of drawings]

FIG. 1 is an internal structure explanatory diagram of a parallel opening / closing chuck device according to an embodiment of the present invention.

FIG. 2 is a front view of the parallel opening / closing chuck device.

FIG. 3 is a side view of the parallel opening / closing chuck device.

FIG. 4 is a plan view of the parallel opening / closing chuck device.

FIG. 5 is an explanatory diagram of an internal structure showing a finger open state of the parallel open / close chuck device.

FIG. 6 is an internal structure explanatory view showing the next operation of removing the adapter of the parallel opening and closing chuck device.

FIG. 7 is an internal structure explanatory view showing the next operation of removing the adapter of the parallel open / close chuck device.

FIG. 8 is an internal structure explanatory diagram showing the next operation of removing the adapter of the parallel open / close chuck device.

FIG. 9 is a front view of an adapter supporting a finger according to the embodiment.

FIG. 10 is a side view of the adapter.

FIG. 11 is a plan view of the adapter.

FIG. 12 is a bottom view of the same adapter.

[Explanation of symbols]

1 body 2 Finger moving cylinder 3,34 Pressure supply port 4,22 cylinder chamber 5,23 piston 5a, 36a End surface 6 fulcrum pin 7 Thrust transmission section 8,25 rod 9 drive pin 10 levers 11,15 Notch 12 Working pins 13 Adapter 14 fingers 16 Positioning pin 17 Linear bearing 18 rolling elements 21 Adapter lock cylinder 24 Lock part 25a lower end 25b bottom surface 26 Pressing part 27 Press slope 28 Guide recess 29 Engagement body 30 Hook part 31 Engagement recess 32 Positioning recess 32a inner bottom 33 spring 35 Mounting member 36 displacement sensor 37 Sensor mounting recess 38 Proximity sensor (detection means)

─────────────────────────────────────────────────── ───Continued from the front page (56) References JP-A-4-289090 (JP, A) JP-A-4-41190 (JP, A) JP-A-5-80691 (JP, U) (58) Field (Int.Cl. ⁷ , DB name) B25J 15/04

Claims (3)

(57) [Claims] 1. A pair of fingers (14) facing each other.
An adapter (13) that movably supports the finger (14) in the opposite direction, a finger moving cylinder portion (2), and thrust of the finger moving cylinder portion (2) to the finger (14). A body (1) having a thrust transmission section (7) for transmitting and a cylinder section (21) for adapter locking built therein, and the adapter (13) is detachable from the body (1); A lock portion (24) which is engaged or disengaged with the adapter cylinder (21) and the adapter (13) by supplying or discharging pressure to or from the adapter lock cylinder portion (21).
And a cylinder part (21) for locking the adapter.
Is connected to the piston (23) and is
Push the adapter (13) to move the adapter (13) forward
Note the rod (25) that is forcibly pushed out from the body (1).
A parallel opening and closing chuck device characterized by being provided . 2. The parallel opening / closing chuck device according to claim 1, wherein the body (1) is provided with a detecting means (38) for detecting the presence or absence of the adapter (13) and outputting a signal to the outside. Parallel open / close chuck device. 3. The parallel opening / closing chuck device according to claim 1, wherein the moving position of the finger (14) is detected on the body (1).
The displacement sensor (36) that outputs a signal to the outside
This displacement sensor (36) is attached to its end face.
Distance between (36a) and end face (5a) of piston (5)
A parallel open / close chuck device characterized in that it outputs a voltage substantially linearly in accordance with (L) .