JP5489814B2 - Opening and closing chuck - Google Patents

Description

  The present invention relates to an opening / closing chuck.

  When transporting workpieces in industrial facilities or the like, industrial robots are widely used, and these industrial robots grip a workpiece by an open / close chuck attached to an arm. As such an open / close chuck, for example, Patent Document 1 proposes one that operates by an air cylinder mechanism. The open / close chuck has first and second cylinder chambers, and first and second pistons are slidably installed in the respective cylinder chambers. In this open / close chuck, when compressed air is supplied between the right end of the first cylinder chamber and the first piston, the compressed air also flows between the left end of the second cylinder chamber and the second piston, The first piston moves to the left and the second piston moves to the right. On the other hand, when compressed air is supplied between the right end of the second cylinder chamber and the second piston, the compressed air also flows between the left end of the first cylinder chamber and the first piston. The piston moves to the right and the second piston moves to the left. As described above, when the first and second pistons move in opposite directions, the gripping member interlocked with the first and second pistons via the connecting member opens and closes, and the workpiece can be gripped.

JP 2002-79486 A

  However, the open / close chuck as described above has a demand for downsizing because the size of the open / close chuck is increased due to the two pistons installed therein. Then, this invention makes it a subject to provide a small opening / closing chuck | zipper.

  The open / close chuck according to the present invention has been made to solve the above-described problems, and has a cylinder chamber and a housing space inside, and a first elongated hole and an outside that communicate the outside with the cylinder chamber. And a housing formed with a second elongated hole communicating with the housing space, a piston rod sliding in the cylinder chamber and having a first rack portion, and provided at both ends of the piston rod A piston having a first and a second piston head, and a second rack portion formed in the housing space so as to be movable in parallel with the piston and extending in parallel with the first rack portion are formed. A rack member, a pinion meshing with the first and second rack portions, a first slider connected to the piston via the first elongated hole, and via the second elongated hole A second slider coupled to the rack member, wherein a first sealed space is defined between the first piston head and one end of the cylinder chamber, and the second piston A second sealed space is defined between the head and the other end of the cylinder chamber.

  The opening / closing chuck slides the piston in the cylinder chamber by supplying compressed air to the first or second sealed space. When the piston slides, the rack member moves in the accommodation space in the opposite direction to the piston by the pinion, and as a result, the first and second sliders approach and separate. As described above, the rack member is moved by the rotation of the pinion and is not operated by the compressed air like the piston. Therefore, it is not necessary to determine the size in consideration of the pressure of the compressed air. For this reason, the dimension of a rack member can be made small and the dimension of an accommodation space can also be made small according to this rack member. Thereby, it can be reduced in size compared with the conventional open / close chuck which used two pistons.

  In the opening / closing chuck, the piston, the rack member, and the first and second sliders can be arranged in this order in the height direction. According to this configuration, the dimension of the opening / closing chuck in the depth direction can be reduced, and the first slider and the piston, and the second slider and the rack member can be connected without using a connecting member. Can do.

  In the opening and closing chuck, the rack member can be accommodated in the second elongated hole by using the second elongated hole as the accommodating space. According to this structure, the dimension of the opening / closing chuck in the height direction can be reduced.

  In the opening / closing chuck, the cylinder chamber is provided with a removable first sealing member at one end and a removable second sealing member at the other end. The second piston head may be separable from the piston rod. According to this configuration, only the first and second piston heads can be taken out from the cylinder chamber, and maintenance of the first and second piston heads is facilitated.

  The opening / closing chuck may be configured such that a guide rail that protrudes outward and extends parallel to the piston is formed in the housing, and the first and second sliders slide on the guide rail. According to this configuration, since the housing and the guide rail are integrally formed, the rigidity of the opening / closing chuck can be increased.

  When the guide rail and the recess are formed, a circulating ball bearing can be incorporated in the side walls of the first and second sliders. A part of the ball group of the circulating ball bearing is exposed on a surface facing the guide rail, engages with a rolling groove formed on the guide rail, and rolls on the rolling groove. According to this configuration, the first and second sliders can be moved smoothly, and the rigidity of the open / close chuck can be increased by contacting a large number of balls with the housing.

  According to the present invention, the open / close chuck can be reduced in size.

It is front sectional drawing which shows one Embodiment of the opening / closing chuck | zipper which concerns on this invention. It is a front view showing one embodiment of an opening and closing chuck concerning the present invention. It is a bottom view showing one embodiment of an opening-and-closing chuck concerning the present invention. It is (a) left view and (b) right view which show one Embodiment of the opening-and-closing chuck | zipper which concerns on this invention. 1 is a plan view showing an embodiment of an open / close chuck according to the present invention.

  Hereinafter, an embodiment of an open / close chuck according to the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the open / close chuck 1 according to this embodiment includes a housing 2, a piston 3 and a rack member 4 accommodated in the housing 2, and first and second sliders that slide on the housing 2. 5a and 5b. In FIG. 1, the horizontal direction is referred to as the width direction, the vertical direction is referred to as the height direction, and the direction perpendicular to the width direction and the height direction is referred to as the depth direction.

  As shown in FIGS. 1 and 2, the housing 2 is formed with a guide rail 21 that protrudes upward and extends in the width direction. First and second guide rails 21 communicate with cylinder chambers to be described later on the upper surface of the guide rail 21. Two long holes 22a and 22b are formed. As shown in FIG. 2, a rolling groove 23 for rolling a ball group of a circulating ball bearing 52 described later is formed on the side surface of the guide rail 21. Further, as shown in FIG. 1A, the housing 2 is formed with a cylinder chamber 24 penetrating in the width direction, and first and second sealing members 6a are formed at both ends of the cylinder chamber 24. 6b are detachably mounted. The first and second sealing members 6a and 6b are formed with annular grooves on the outer peripheral surfaces, and are formed on the inner surface of the cylinder chamber 24 by the first and second O-rings 61a and 61b accommodated in the annular grooves. Airtight contact. In order to supply compressed air, which is a power source, into the cylinder chamber 24, the housing 2 has first and second supply ports 25a and 25b formed on the front surface and a bottom surface as shown in FIGS. Third and fourth supply ports 25c and 25d are formed. Further, a pinion 7 is attached to the inside of the housing 2 so as to be rotatable around a rotation shaft 71, and the piston 3 and the rack member 4 are interlocked with each other via the pinion 7.

  As shown in FIG. 1, the piston 3 is slidably accommodated in the cylinder chamber 24 and includes a piston rod 31. First and second piston heads 32 a and 32 b are disposed at both ends of the piston rod 31, and the first and second piston heads 32 a and 32 b are separated from the piston rod 31. The first piston head 32a has an annular groove on the outer peripheral surface, and the first packing 33a is accommodated in the annular groove. As a result, the first piston head 32a is in airtight contact with the inner surface of the cylinder chamber 24 and defines a first sealed space 26a with the first sealed member 6a (FIG. 1B). . The first sealed space 26a communicates with the outside through the first and third supply ports 25a and 25c of the housing 2 so that compressed air can be supplied and exhausted. Similarly, in the second piston head 32b, a second packing 33b is accommodated in an annular groove on the outer peripheral surface, and the second packing 33b comes into air-tight contact with the inner surface of the cylinder chamber 24, and the second packing 33b A second sealed space 26b is defined with the sealing member 6b (FIG. 1A). The second sealed space 26b communicates with the outside through the second and fourth supply ports 25b and 25d of the housing 2 so that compressed air can be supplied and exhausted. The piston rod 31 has a first rack portion 34 formed on the upper surface thereof, and the first rack portion 34 meshes with the pinion 7 in the housing 2.

  As shown in FIG. 1, the rack member 4 is accommodated in the second elongated hole 22 b of the housing 2 so as to be movable in parallel with the piston 3. A second rack portion 41 is formed on the lower surface of the rack member 4, and the second rack portion 41 meshes with the pinion 7 in the housing 2. In the present embodiment, the second long hole 22b is also used as the accommodation space.

  The first and second sliders 5a and 5b are attached with claws for gripping the workpiece, and are slidably installed on the housing 2 as shown in FIGS. More specifically, the first and second sliders 5a and 5b have concave guide grooves 51a and 51b formed on the lower surface, and the guide rail 21 of the housing 2 is accommodated in the guide grooves 51a and 51b. Slide on the guide rail 21. In the first and second sliders 5a and 5b, first and second circulating ball bearings 52a and 52b are incorporated in side walls, and the ball groups of the first and second circulating ball bearings 52a and 52b are included. A part is exposed on the inner surface of the guide grooves 51a and 51b. As the exposed ball group rolls on the rolling groove 23 of the guide rail 21, the first and second sliders 5a and 5b move smoothly.

  As shown in FIG. 1, the first slider 5 a is connected to the piston rod 31 through the first long hole 22 a by the connecting pin 8, and interlocks with the piston 3. Further, the second slider 5 b is connected to the rack member 4 in the second long hole 22 b by the connecting screw 9 and interlocks with the rack member 4. As shown in FIG. 4, first and second magnets 10a and 10b are attached to the lower surfaces of the side walls of the first and second sliders 5a and 5b, and the first and second magnets 10a. 10b and the proximity sensor 11 attached to the back surface of the housing 2 detect the positions of the first and second sliders 5a and 5b.

  Next, the operation of the open / close chuck 1 configured as described above will be described. In the present embodiment, since the first and second supply ports 25a and 25b of the housing 2 are used, a compressed air supply source (not shown) is connected to the first and second supply ports 25a and 25b via a joint (not shown). (Not shown) are connected, and the third and fourth supply ports 25c, 25d are sealed. Note that the third supply port 25c may be used instead of the first supply port 25a, and both the first and third supply ports 25a and 25c may be used. Further, the fourth supply port 25d may be used instead of the second supply port 25b, or both the second and fourth supply ports 25b and 25d can be used.

  First, a case where compressed air is supplied from the second supply port 25b to the second sealed space 26b to separate the first and second sliders 5a and 5b from each other will be described. When compressed air is supplied from the second supply port 25b to the second sealed space 26b, the second piston head 32b is pushed by the compressed air, and the piston 3 and the first slider 5a move to the left. At this time, the air in the first sealed space 26a is pushed by the first piston head 32a and discharged from the first supply port 25a. As the piston 3 moves to the left side, the pinion 7 rotates clockwise about the rotation shaft 71 in FIG. 1 to guide the rack member 4 to the right side. As a result, the second slider 5b moves to the right together with the rack member 4, and the first and second sliders 5a and 5b are separated from each other (FIG. 1A).

  Next, a case where compressed air is supplied from the first supply port 25a to the first sealed space 26a to bring the first and second sliders 5a and 5b close to each other will be described. When compressed air is supplied from the first supply port 25a to the first sealed space 26a, the first piston head 32a is pushed by the compressed air, and the piston 3 and the first slider 5a move to the right. At this time, the air in the second sealed space 26b is pushed by the second piston head 32b and discharged from the second supply port 25b. As the piston 3 moves to the right, the pinion 7 rotates counterclockwise in FIG. 1 about the rotation shaft 71 and guides the rack member 4 to the left. As a result, the second slider 5b moves to the left together with the rack member 4, and the first and second sliders 5a and 5b come close to each other (FIG. 1B).

  As described above, the open / close chuck 1 according to the present embodiment operates when the piston 3 and the rack member 4 work together. The rack member 4 does not need to be dimensioned in consideration of the pressure of compressed air, etc. unlike a piston, and can be reduced in size. Therefore, the open / close chuck 1 is a conventional one that uses two pistons. The dimensions are smaller than. Further, the opening / closing chuck 1 can reduce the dimension in the depth direction by arranging the piston 3, the rack member 4, and the first and second sliders 5 a and 5 b in the height direction. The height dimension can be reduced by accommodating the second elongated hole 22b. Further, since the first and second sealing members 6a and 6b at both ends of the cylinder chamber 24 can be removed and the first and second piston heads 32a and 32b can be separated from the piston rod 31, Only the first and second piston heads 32a and 32b can be taken out from the end, and maintenance of the first and second piston heads 32a and 32b, such as replacement of the first and second packings 33a and 33b, is possible. It becomes easy.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to these, A various change is possible unless it deviates from the meaning of this invention. For example, in the above embodiment, the piston 3 and the rack member 4 are arranged in the height direction in the housing 2, but the present invention is not limited to this, and the piston and the rack member may be arranged in the depth direction. Good.

  Moreover, in the said embodiment, although the rack member 4 was accommodated in the 2nd long hole 22b, if a rack member can move in parallel with a piston, it will not be limited to this, A 2nd in a housing A storage space may be provided separately from the long hole, and the rack member may be stored in this storage space.

  Moreover, in the said embodiment, although the 1st and 2nd long hole 22a, 22b was formed in the housing 2, it is not limited to this, A 1st long hole and a 2nd long hole are connected, and one It may be one long hole.

  Moreover, in the said embodiment, although the 1st-4th supply ports 25a-25d were formed in the housing 2, if compressed air can be supplied to the 1st and 2nd sealed space, it will not be limited to this. For example, the supply port may be formed in the first and second sealing members.

  Moreover, in the said embodiment, although the cylinder chamber 24 penetrated the housing 2 and the 1st and 2nd sealing member 6a, 6b was mounted | worn at both ends, one end part of a cylinder and a 1st piston The first sealed space can be defined between the head and the second sealed space can be defined between the other end and the second piston head. For example, the cylinder chamber penetrates the housing. You don't have to.

  In the above embodiment, the first and second piston rods 32a and 32b are separated from the piston rod 31, but the present invention is not limited to this. The first and second piston heads can be separated into piston rods. It may be attached, and the first and second piston heads may be fixed to the piston rod.

  In the above embodiment, the first and second guide grooves 51a and 51b for accommodating the guide rail 21 are formed on the lower surfaces of the first and second sliders 5a and 5b. For example, the first and second sliders may be formed with claws for engaging the guide rails as long as the two sliders can slide on the housing.

  Moreover, in the said embodiment, although the 1st slider 5a and piston 3 were connected by the connection pin 8, if it can link a 1st slider and piston, it will not be limited to this, For example, 1st The slider and the piston may be formed integrally.

  Moreover, in the said embodiment, although the 2nd slider 5b and the rack member 4 were connected with the connection screw 9, if it can make a rack member and a 2nd slider interlock | cooperate, it will not be limited to this, For example, The rack member and the second slider may be integrally formed.

DESCRIPTION OF SYMBOLS 1 Opening / closing chuck | zipper 2 Housing 21 Guide rail 22a 1st long hole 22b 2nd long hole (accommodating space)
23 Rolling groove 24 Cylinder chamber 3 Piston 31 Piston rod 32a First piston head 32b Second piston head 4 Rack member 5a First slider 5b Second slider 52a First circulating ball bearing 52b Second circulating ball Bearing 6a First sealing member 6b Second sealing member 7 Pinion

Claims (6)

A housing having a cylinder chamber and a housing space inside, a first long hole communicating the outside and the cylinder chamber, and a second long hole communicating the outside and the housing space;
A piston sliding in the cylinder chamber and having a piston rod formed with a first rack portion and first and second piston heads provided at both ends of the piston rod;
A rack member that is housed in the housing space so as to be movable in parallel with the piston, and is formed with a second rack portion extending in parallel with the first rack portion;
A pinion that meshes with the first and second rack portions;
A first slider coupled to the piston through the first slot;
A second slider coupled to the rack member via the second elongated hole,
A first sealed space is defined between the first piston head and one end of the cylinder chamber, and a second sealed space is formed between the second piston head and the other end of the cylinder chamber. Opening and closing chuck with a sealed space defined.   The open / close chuck according to claim 1, wherein the piston, the rack member, and the first and second sliders are arranged in this order in a height direction.   The open / close chuck according to claim 1, wherein the rack member is accommodated in the second elongated hole. The cylinder chamber is equipped with a removable first sealing member at the one end, and a removable second sealing member at the other end,
The open / close chuck according to claim 1, wherein the first and second piston heads are separable from the piston rod. The housing is formed with a guide rail that protrudes outward and extends in parallel with the piston.
The open / close chuck according to claim 1, wherein the first and second sliders slide on the guide rail. In the first and second sliders, a circulation bearing is incorporated in a side wall portion, and a part of the ball group of the circulation bearing is exposed on a surface facing the guide rail,
The open / close chuck according to claim 5, wherein the guide rail is formed with a rolling groove for engaging with the exposed ball group to roll the ball group.

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