JP4856670B2 - Electric gripper device - Google Patents

Electric gripper device Download PDF

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JP4856670B2
JP4856670B2 JP2008094810A JP2008094810A JP4856670B2 JP 4856670 B2 JP4856670 B2 JP 4856670B2 JP 2008094810 A JP2008094810 A JP 2008094810A JP 2008094810 A JP2008094810 A JP 2008094810A JP 4856670 B2 JP4856670 B2 JP 4856670B2
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cam
grooves
cam member
plate
shutter plate
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JP2009248194A (en
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謙 澤田
元昭 岩田
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Taiyo Ltd
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Taiyo Ltd
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Description

本発明は、製品の自動組立、部品搬送、検査工程等において、ワークを把持して位置決めしたり測長等をするための、モータ駆動による電動グリッパ装置に関する。   The present invention relates to a motor-driven electric gripper device for gripping and positioning a workpiece, measuring length, and the like in automatic product assembly, component conveyance, inspection processes, and the like.

本出願人は、この種の電動グリッパ装置として、例えば特許文献１（特開２００５−５９１１８号公報）及び特許文献２（特開２００６−３１２２１６号公報）に記載されたものを既に提供している。   The present applicant has already provided, for example, those described in Patent Document 1 (Japanese Patent Laid-Open No. 2005-59118) and Patent Document 2 (Japanese Patent Laid-Open No. 2006-31216) as this type of electric gripper device. .

これらの装置では、モータにて正逆回転されるカム部材に、複数の把持部材のそれぞれのカムフォロアを摺動自在に嵌合させる複数のカム溝が螺旋状に形成され、モータによるカム部材の正逆回転により複数の把持部材がレールに沿って互いに接近・離隔摺動する構造になっている。   In these devices, a plurality of cam grooves for slidably fitting respective cam followers of a plurality of gripping members are formed in a spiral shape on a cam member that is rotated forward and reversely by a motor, and the cam member by the motor is moved forward and backward. Due to the reverse rotation, the plurality of gripping members slide toward and away from each other along the rail.

これらいずれの装置でも、モータの回転トルクによって生ずる把持部材の推力が、どの位置でも一定となるように、カム部材のカム溝を、アルキメデスの渦巻き線に沿う螺旋状としている。この場合、カム溝は、カム部材の回転軸を中心とした渦巻き状となり、カムフォロアは把持部材と共に直線摺動するが、カム部材から見ると、カムフォロアはカム溝の渦巻きに沿って摺動することから、カム溝とカムフォロアとの間の摺動抵抗の大小によって、全体の動きの円滑性が大きく左右される。   In any of these devices, the cam groove of the cam member has a spiral shape along the Archimedes spiral line so that the thrust of the gripping member generated by the rotational torque of the motor is constant at any position. In this case, the cam groove has a spiral shape around the rotation axis of the cam member, and the cam follower slides linearly with the gripping member, but when viewed from the cam member, the cam follower slides along the spiral of the cam groove. Therefore, the smoothness of the entire movement is greatly influenced by the magnitude of the sliding resistance between the cam groove and the cam follower.

しかるに、カム部材のカム溝の外部への露呈面積が大きいと、その分だけ塵埃や異物などが入り込む確率が高くなり、カム溝とカムフォロアとの間の摺動抵抗が大きくなって、カム部材の回転及び把持部材の摺動の円滑性が損なわれる。
特開２００５−５９１１８号公報 特開２００６−３１２２１６号公報 However, if the area of the cam member exposed to the outside of the cam groove is large, the probability that dust or foreign matter will enter the corresponding portion increases, and the sliding resistance between the cam groove and the cam follower increases. Smoothness of rotation and sliding of the gripping member is impaired.
JP 2005-59118 A JP 2006-310216 A

本発明の課題は、カム部材の回転及び把持部材の摺動の円滑性を補償するため、カム部材の螺旋状のカム溝に塵埃や異物などが入り込むのを防止すること、その防止を、カム溝が螺旋状であっても支障なく適切に行えるようにすることにある。   An object of the present invention is to prevent dust and foreign matter from entering the spiral cam groove of the cam member and to prevent the cam member from rotating in order to compensate for the smoothness of rotation of the cam member and sliding of the gripping member. It is to be able to perform appropriately without trouble even if the groove is spiral.

本発明は、モータにて正逆回転されるカム部材と、レールに沿って直線摺動する複数の把持部材とを備え、カム部材に、複数の把持部材のそれぞれのカムフォロアを摺動自在に嵌合させる複数のカム溝が螺旋状に形成され、モータによるカム部材の正逆回転により複数の把持部材がレールに沿って互いに接近・離隔摺動する電動グリッパ装置において、上記の課題を達成するため、次のような構成を付加したものである。   The present invention includes a cam member that is rotated forward and backward by a motor and a plurality of gripping members that slide linearly along a rail, and each cam follower of the plurality of gripping members is slidably fitted to the cam member. To achieve the above object in an electric gripper device in which a plurality of cam grooves to be combined are formed in a spiral shape and a plurality of gripping members slide toward and away from each other along a rail by forward and reverse rotation of the cam member by a motor The following configuration is added.

複数のカム溝の開口面を覆う大きさのシャッタ板が、カム部材と回転中心は同じであるが、それとは独立して回転自在となるように軸支され、このシャッタ板に複数のカム溝と交差する複数の曲線ガイド溝が形成され、複数の把持部材のそれぞれのカムフォロアが、これら曲線ガイド溝のそれぞれに、カム溝との交差部において摺動自在に貫通し、カムフォロアの直線摺動に伴いシャッタ板が回転するようになっている。   A shutter plate sized to cover the opening surfaces of a plurality of cam grooves has the same rotation center as that of the cam member, but is pivotally supported so as to be independently rotatable. A plurality of curved guide grooves intersecting with each other are formed, and each cam follower of the plurality of gripping members penetrates each of the curved guide grooves so as to be slidable at the intersection with the cam groove, so that the cam follower linearly slides. Along with this, the shutter plate rotates.

請求項２に係る発明では、カム部材が台板に形成された凹部内に配置され、台板にはこの凹部に連通する直線ガイド溝が形成され、カム部材とシャッタ板とが間隔をおいて凹部の内外で重なり合い、複数の把持部材のそれぞれのカムフォロアが、台板に形成された直線ガイド溝を貫通してカム部材のカム溝に嵌合している。   In the invention according to claim 2, the cam member is disposed in a recess formed in the base plate, and a linear guide groove communicating with the recess is formed in the base plate, and the cam member and the shutter plate are spaced apart from each other. The cam followers of the plurality of gripping members overlap with each other inside and outside the concave portion, and are fitted into the cam grooves of the cam member through the straight guide grooves formed on the base plate.

請求項３に係る発明では、さらに、複数の把持部材のそれぞれのカムフォロアの直線摺動を案内する直線ガイド溝を有するガイド板が、シャッタ板と把持部材との間に固定設置されている。   In the invention according to claim 3, a guide plate having a linear guide groove for guiding the linear sliding of each cam follower of the plurality of gripping members is fixedly installed between the shutter plate and the gripping member.

本発明によると、カム部材の螺旋状のカム溝の開口面をシャッタ板で覆い、カム部材の螺旋状のカム溝に塵埃や異物などが入り込むのを防止して、カム部材の円滑な回転及び把持部材の円滑な摺動を確保できる。このシャッタ板には、螺旋状のカム溝と交差する曲線ガイド溝が形成され、把持部材のそれぞれのカムフォロアは、これらカム溝と曲線ガイド溝との交差部においてこれらに摺動自在に嵌合し、カム部材が回転してカムフォロアが直線摺動すると、シャッタ板もカム溝との交差部を移動させながら、従動回転する。すなわち、シャッタ板はカムフォロアの直線摺動を許容しながら、カム溝の開口面を覆う。カム溝の開口面と曲線ガイド溝の開口面とが互いに重なり合う面積は常に少なく、カム溝が螺旋状であっても、カム溝の開口面をシャッタ板にて支障なく適切に覆うことができる。   According to the present invention, the opening surface of the spiral cam groove of the cam member is covered with the shutter plate, and dust and foreign matter are prevented from entering the spiral cam groove of the cam member. Smooth sliding of the gripping member can be ensured. The shutter plate is formed with a curved guide groove that intersects with the spiral cam groove, and each cam follower of the gripping member is slidably fitted to the intersection of the cam groove and the curved guide groove. When the cam member rotates and the cam follower slides linearly, the shutter plate also rotates while moving the intersection with the cam groove. That is, the shutter plate covers the opening surface of the cam groove while allowing the cam follower to slide linearly. The area where the opening surface of the cam groove and the opening surface of the curved guide groove overlap each other is always small, and even if the cam groove is spiral, the opening surface of the cam groove can be appropriately covered with the shutter plate without any trouble.

請求項２に係る発明によると、カム部材は台板の凹部内に配置され、螺旋状のカム溝の開口面が露呈するのは、台板に形成された直線ガイド溝の長さ範囲内のみとなるが、この直線ガイド溝もシャッタ板にて覆われ、実質的に露呈するのはシャッタ板の曲線ガイド溝との交差部分のみに局限されるので、カム溝に塵埃や異物などが入り込む確率は一層少なくなる。   According to the invention of claim 2, the cam member is disposed in the recess of the base plate, and the opening surface of the spiral cam groove is exposed only within the length range of the linear guide groove formed in the base plate. However, this linear guide groove is also covered with the shutter plate, and since the exposure is limited only to the intersection with the curved guide groove of the shutter plate, the probability of dust or foreign matter entering the cam groove Are even less.

請求項３に係る発明によると、複数の把持部材のそれぞれのカムフォロアの直線摺動を案内する直線ガイド溝を有するガイド板が、シャッタ板と把持部材との間に固定設置されているので、シャッタ板の揺動をガイド板にて防止できるとともに、カムフォロアの直線摺動を一層安定させることができる。   According to the invention of claim 3, since the guide plate having the linear guide groove for guiding the linear sliding of each cam follower of the plurality of gripping members is fixedly installed between the shutter plate and the gripping member, the shutter The swing of the plate can be prevented by the guide plate, and the linear sliding of the cam follower can be further stabilized.

次に、本発明の好適な実施例を図面に基づいて詳細に説明する。   Next, preferred embodiments of the present invention will be described in detail with reference to the drawings.

本実施例の電動グリッパ装置は、図１〜図４に示すように、台板１の片面にモータ２を取り付け、反対面に２本の棒状レール３を平行に固着し、これらレール３に一対の板状把持部材４を装着している。各把持部材４は、それに備えた一対のスライダ５をレール３に摺動自在に嵌合させることにより、レール３に沿って直線摺動可能となっている。   As shown in FIGS. 1 to 4, the electric gripper device of the present embodiment has a motor 2 attached to one side of a base plate 1, two rod-like rails 3 fixed in parallel to the opposite side, and a pair of these rails 3. The plate-shaped gripping member 4 is mounted. Each gripping member 4 is slidable along the rail 3 by fitting a pair of sliders 5 provided in the gripping member 4 to the rail 3 so as to be slidable.

台板１には、図６の断面図に示すように、円形凹部６が形成され、モータ２により回転される円形のカム部材７が、この円形凹部６内に配置されている。カム部材７はカム軸８に固定され、モータ２の回転を減速して伝達される。その際、円形凹部６の底面６ａにより揺動を防止される。円形凹部６の底部には、この円形凹部６に連通して台板１の反対面（レール３側の面）に開口する一対の直線ガイド溝６ｂが、円形凹部６の中心を通る直線に沿って形成されている。   As shown in the sectional view of FIG. 6, the base plate 1 is formed with a circular recess 6, and a circular cam member 7 that is rotated by the motor 2 is disposed in the circular recess 6. The cam member 7 is fixed to the camshaft 8, and the rotation of the motor 2 is decelerated and transmitted. At that time, the bottom surface 6a of the circular recess 6 prevents the rocking. A pair of linear guide grooves 6 b that communicate with the circular recess 6 and open on the opposite surface (surface on the rail 3 side) of the circular recess 6 are formed along the straight line passing through the center of the circular recess 6. Is formed.

カム部材７には、図４及び図７に破線で示し、図６に断面を示してあるように、一対のカム溝９が従来と同様に、カム部材７の回転中心を中心とするアルキメデスの渦巻き線に沿って、一端から他端へと回転中心から遠ざかるように形成されている。従って、これらカム溝９と、台板１に形成された上記一対の直線ガイド溝６ｂとは、カム部材７の直径線上において交差する関係となる。   4 and 7, the cam member 7 has a pair of cam grooves 9 as shown in FIG. 6 and a cross-section in FIG. Along the spiral line, it is formed so as to move away from the center of rotation from one end to the other end. Therefore, the cam grooves 9 and the pair of linear guide grooves 6 b formed on the base plate 1 intersect with each other on the diameter line of the cam member 7.

台板１のレール３側の面には、ガイド板１０が、２本のレール３の間においてこれらと平行にして固着されている。このガイド板１０は、円形凹部６の外側でこれを横断するようにその両側方に延びている。このガイド板１０には、図８に示すように、一対の直線ガイド溝１１が、レール３と平行な１本の直線に沿って直線状に、しかも、互いに間隔をおいて形成されている。   On the surface of the base plate 1 on the rail 3 side, a guide plate 10 is fixed between the two rails 3 in parallel with them. The guide plate 10 extends on both sides so as to cross the outside of the circular recess 6. As shown in FIG. 8, a pair of straight guide grooves 11 are formed in the guide plate 10 along a straight line parallel to the rail 3 and at intervals from each other.

円形凹部６の外側において、それよりも少し外径が大きい円形のシャッタ板１２がカム軸８に回転自在に軸支され、カム部材７と間隔をおいて円形凹部６の内外で重なり合っている。このシャッタ板１２は、台板１とガイド板１０の間に位置し、ガイド板１０には、図８に示すように、シャッタ板１２の厚み分を受け入れる凹部１０ａが形成されているため、シャッタ板１２は、この凹部１０ａと台板１とで挟まれて、これらで揺動を防止される。   Outside the circular recess 6, a circular shutter plate 12 having a slightly larger outer diameter is rotatably supported by the cam shaft 8 and overlaps with the cam member 7 inside and outside the circular recess 6 with a gap. The shutter plate 12 is located between the base plate 1 and the guide plate 10, and the guide plate 10 is formed with a recess 10a for receiving the thickness of the shutter plate 12 as shown in FIG. The plate 12 is sandwiched between the recess 10a and the base plate 1 and is prevented from swinging.

シャッタ板１２には、図８及び図９に示すように、その中心の軸孔１２ａに近いところから曲線を描いて遠ざかる一対の曲線ガイド溝１３が、互いに対称に形成されている。これら曲線ガイド溝１３は、カム部材７の一対のカム溝９にそれぞれ対応し、カム溝９に対してその一端から他端まで交差する曲線長さとなっている。   As shown in FIGS. 8 and 9, the shutter plate 12 is formed with a pair of curved guide grooves 13 that are curved away from a portion close to the central shaft hole 12 a and are symmetrical to each other. The curved guide grooves 13 respectively correspond to the pair of cam grooves 9 of the cam member 7 and have a curved length that intersects the cam groove 9 from one end to the other end.

一対の把持部材４にそれぞれ植設されたピン状の一対のカムフォロア１４は、図６に示すように、ガイド板１０の一対の直線ガイド溝１１をそれぞれ摺動自在に貫通するとともに、シャッタ板１２の一対の曲線ガイド溝１３もそれぞれ摺動自在に貫通している。さらに、これらカムフォロア１４は、台板１の円形凹部６の底部に形成された一対の直線ガイド溝６ｂにも摺動自在に貫通してから、一対の曲線ガイド溝１３とカム部材７の一対のカム溝９とのそれぞれの交差部において、一対のカム溝９にそれぞれ摺動自在に嵌合している。   A pair of pin-shaped cam followers 14 respectively implanted in the pair of gripping members 4 slidably penetrate the pair of linear guide grooves 11 of the guide plate 10 as shown in FIG. Each of the pair of curved guide grooves 13 also slidably penetrates. Further, these cam followers 14 also slidably pass through a pair of linear guide grooves 6 b formed at the bottom of the circular recess 6 of the base plate 1, and then a pair of curved guide grooves 13 and a pair of cam members 7. At each intersection with the cam groove 9, the pair of cam grooves 9 are slidably fitted.

カム部材７とシャッタ板１２とガイド板１０とカムフォロア１４とは上記のような関係になっているので、モータ２によりカム部材７が正転される場合は、その一対のカム溝９に対して一対のカムフォロア１４が、カム溝９の中心より遠いところから近い方へ摺動する動きとなって、ガイド板１０の一対の直線ガイド溝１１及び台板１の一対の直線ガイド溝６ｂに沿って互いに接近するように直線摺動し、一対の把持部材４がレール２に沿って互いに接近する。このとき、シャッタ板１２は、その一対の曲線ガイド溝１３とカム部材７の一対のカム溝９とのそれぞれの交差部を、中心より遠いところから近い方へと移動させながら回転するので、一対のカム溝９及び一対の直線ガイド溝６ｂがシャッタ板１２にて覆われない部分は、常にこの交差部のみであり、他の部分は全てシャッタ板１２にて覆われる。   Since the cam member 7, the shutter plate 12, the guide plate 10, and the cam follower 14 are in the relationship as described above, when the cam member 7 is rotated forward by the motor 2, The pair of cam followers 14 slides from a position far from the center of the cam groove 9 to a direction closer to the near direction, along the pair of linear guide grooves 11 of the guide plate 10 and the pair of linear guide grooves 6b of the base plate 1. The pair of gripping members 4 approach each other along the rail 2 by sliding linearly so as to approach each other. At this time, the shutter plate 12 rotates while moving the intersections between the pair of curved guide grooves 13 and the pair of cam grooves 9 of the cam member 7 from a position far from the center to a position closer to the pair. The portion where the cam groove 9 and the pair of linear guide grooves 6b are not covered by the shutter plate 12 is always only this intersection, and all other portions are covered by the shutter plate 12.

一方、モータ２によりカム部材７が逆転される場合は、その一対のカム溝９に対して一対のカムフォロア１４が、カム溝９の中心に近いところから遠い方へ摺動する動きとなって、ガイド板１０の一対の直線ガイド溝１１及び台板１の一対の直線ガイド溝６ｂに沿って互いに離隔するように直線摺動し、一対の把持部材４がレール２に沿って互いに離隔する。このとき、シャッタ板１２は、その一対の曲線ガイド溝１３とカム部材７の一対のカム溝９とのそれぞれの交差部を、中心に近いところから遠い方へと移動させながら上記とは逆に回転するので、この場合も、一対のカム溝９及び一対の直線ガイド溝６ｂがシャッタ板１２にて覆われない部分は、常にこの交差部のみであり、他の部分は全てシャッタ板１２にて覆われる。   On the other hand, when the cam member 7 is reversely rotated by the motor 2, the pair of cam followers 14 moves with respect to the pair of cam grooves 9 to slide away from a position close to the center of the cam groove 9. The pair of linear guide grooves 11 of the guide plate 10 and the pair of linear guide grooves 6 b of the base plate 1 slide linearly so as to be separated from each other, and the pair of gripping members 4 are separated from each other along the rail 2. At this time, the shutter plate 12 is opposite to the above while moving the intersection between the pair of curved guide grooves 13 and the pair of cam grooves 9 of the cam member 7 from a position close to the center to a position far from the center. In this case as well, the portion where the pair of cam grooves 9 and the pair of linear guide grooves 6b are not covered by the shutter plate 12 is always only this intersection, and all other portions are formed by the shutter plate 12. Covered.

従って、カム部材７の一対のカム溝９及び一対の直線ガイド溝６ｂは、カムフォロア１４をカム溝９に嵌合させるために、シャッタ板１２の曲線ガイド溝１３と交差する部分だけは覆われないものの、それ以外の部分は、台板１の円形凹部６の外側からシャッタ板１２にて覆われるので、塵埃や異物などが入り込むのを防止することができる。   Accordingly, the pair of cam grooves 9 and the pair of linear guide grooves 6b of the cam member 7 are not covered only in a portion that intersects the curved guide groove 13 of the shutter plate 12 in order to fit the cam follower 14 to the cam groove 9. However, since the other portions are covered with the shutter plate 12 from the outside of the circular recess 6 of the base plate 1, it is possible to prevent dust and foreign matters from entering.

なお、上記の実施例では、把持部材４が一対であるのに対応させて、カム部材７のカム溝９を一対とし、それに伴いシャッタ板１２の曲線ガイド溝１３も一対としたが、把持部材４の数が３個以上の場合、その数に合わせてカム部材７のカム溝９、及びシャッタ板１２の曲線ガイド溝１３を増やせばよい。また、ガイド板１０は省略しても構わない。   In the above-described embodiment, the cam member 9 has a pair of cam grooves 9 corresponding to the pair of gripping members 4, and the curve guide grooves 13 of the shutter plate 12 are also paired accordingly. When the number of 4 is three or more, the cam groove 9 of the cam member 7 and the curved guide groove 13 of the shutter plate 12 may be increased according to the number. Further, the guide plate 10 may be omitted.

本発明の実施例である電動グリッパ装置の全体斜視図である。1 is an overall perspective view of an electric gripper device that is an embodiment of the present invention. その正面図である。It is the front view. その側面図である。It is the side view. その一部を切欠した下面図である。It is the bottom view which notched the part. 図４よりガイド板を省略した下面図である。It is the bottom view which abbreviate | omitted the guide plate from FIG. 要部の断面図である。It is sectional drawing of the principal part. カム部材のカム溝と台板の直線ガイド溝とシャッタ板の曲線ガイド溝とカムフォロアとの関係を示す要部の下面図である。It is a bottom view of the principal part which shows the relationship between the cam groove of a cam member, the linear guide groove of a base plate, the curve guide groove of a shutter plate, and a cam follower. ガイド板とシャッタ板の斜視図である。It is a perspective view of a guide plate and a shutter plate. シャッタ板の斜視図である。It is a perspective view of a shutter board.

符号の説明Explanation of symbols

１ 台板
２ モータ
３ レール
４ 把持部材
５ スライダ
６ 円形凹部
６ａ 底面
６ｂ 直線ガイド溝
７ カム部材
８ カム軸
９ カム溝
１０ ガイド板
１０ａ 凹部
１１ 直線ガイド溝
１２ シャッタ板
１２ａ 軸孔
１３ 曲線ガイド溝
１４ カムフォロア 1 base plate 2 motor 3 rail 4 gripping member 5 slider 6 circular recess 6a bottom surface 6b straight guide groove 7 cam member 8 cam shaft 9 cam groove 10 guide plate 10a recess 11 linear guide groove 12 shutter plate 12a shaft hole 13 curved guide groove 14 Cam follower

Claims (3)

モータにて正逆回転されるカム部材と、レールに沿って直線摺動する複数の把持部材とを備え、前記カム部材に、前記複数の把持部材のそれぞれのカムフォロアを摺動自在に嵌合させる複数のカム溝が螺旋状に形成され、モータによるカム部材の正逆回転により複数の把持部材がレールに沿って互いに接近・離隔摺動する電動グリッパ装置において、前記複数のカム溝の開口面を覆う大きさのシャッタ板が、前記カム部材と回転中心は同じであるが、それとは独立して回転自在となるように軸支され、このシャッタ板に前記複数のカム溝と交差する複数の曲線ガイド溝が形成され、前記複数の把持部材のそれぞれの前記カムフォロアが、これら曲線ガイド溝のそれぞれに、前記カム溝との交差部において摺動自在に貫通し、カムフォロアの直線摺動に伴いシャッタ板が回転することを特徴とする電動グリッパ装置。   A cam member that is rotated forward and backward by a motor and a plurality of gripping members that linearly slide along the rail, and each cam follower of the plurality of gripping members is slidably fitted to the cam member. In the electric gripper device in which a plurality of cam grooves are formed in a spiral shape, and the plurality of gripping members slide toward and away from each other along the rail by forward and reverse rotation of the cam member by a motor, the opening surfaces of the plurality of cam grooves are formed. A shutter plate of a size to cover has the same rotation center as that of the cam member, but is pivotally supported so as to be rotatable independently of the cam member, and a plurality of curves intersecting the plurality of cam grooves on the shutter plate. Guide grooves are formed, and each of the cam followers of the plurality of gripping members penetrates each of the curved guide grooves so as to be slidable at intersections with the cam grooves, so that the cam followers are directly connected to the cam followers. Electric Gripper device shutter plate with the sliding characterized by rotating. カム部材が台板に形成された凹部内に配置され、台板にはこの凹部に連通する直線ガイド溝が形成され、カム部材とシャッタ板とが間隔をおいて凹部の内外で重なり合い、複数の把持部材のそれぞれのカムフォロアが、台板に形成された前記直線ガイド溝を貫通してカム部材のカム溝に嵌合していることを特徴とする請求項１に記載の電動グリッパ装置。   The cam member is disposed in a recess formed in the base plate, and a linear guide groove communicating with the recess is formed in the base plate, and the cam member and the shutter plate overlap each other inside and outside the recess with a plurality of intervals. 2. The electric gripper device according to claim 1, wherein each cam follower of the gripping member is inserted into the cam groove of the cam member through the linear guide groove formed on the base plate. 複数の把持部材のそれぞれのカムフォロアの直線摺動を案内する直線ガイド溝を有するガイド板が、シャッタ板と把持部材との間に固定設置されていることを特徴とする請求項１又は２に記載の電動グリッパ装置。   The guide plate having a linear guide groove for guiding the linear sliding of each cam follower of the plurality of gripping members is fixedly installed between the shutter plate and the gripping member. Electric gripper device.
JP2008094810A 2008-04-01 2008-04-01 Electric gripper device Expired - Fee Related JP4856670B2 (en)

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