JPH0239712Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] The present invention relates to a gripping device for workpieces, parts, etc. used in various automatic machines, and is characterized by being compact and capable of complete gripping. It is.

[Conventional technology]

The present applicant has developed the device described in Utility Model Application No. 1983-58044, the Utility Model Application No. 60-128090, and the Utility Model Application No. 1987-151880 as a gripping device for this type of workpiece, parts, etc.
We have provided ideas related to this issue.

In each of the above-described inventions, a workpiece, a component, etc. is gripped by two gripping claws, but the present invention is intended to completely grip the workpiece by three or more gripping claws.

In the past, gripping devices of this type using three or more gripping claws have been provided, but all of them utilize a link mechanism or a cam mechanism.

[Problem that the invention attempts to solve]

The above-mentioned conventional gripping devices using a link mechanism or a cam mechanism and having three or more gripping claws have disadvantages in that the overall size is large and the gripping force is weak.

That is, since it is constructed by assembling various links or cams, there is a limit to miniaturization, and the frictional parts of the various links or cams reduce the force from the actuator, weakening the gripping force.

The present invention eliminates the above-mentioned drawbacks, and makes it possible to achieve complete gripping through miniaturization and strong gripping force.

[Means for solving problems]

In order to solve the above problem, the present invention has three or more gripping claws each having a piston and a guide roller arranged radially at the rear end, and each of the pistons fits into a cylinder provided radially inside the main body. A ventilation hole is communicated with the inner compartment and the outer compartment of the cylinder, and the guide roller is rotatably provided at the center of the gripping claw, and is gripped at an equal angular position with respect to the center of the gripping claw. The guide grooves are respectively engaged with the guide grooves of a cam, which is provided with guide grooves directed toward the center of the pawl and located at the same position in the circumferential direction.

[Effect]

According to the present invention, when performing a gripping operation, the outer compartment 1 is integrally communicated with the gripping ventilation hole 14.
2 is supplied with pressurized air, and the integrally communicated inner compartment 11 is opened to the atmosphere via the grip release vent 13.

As a result, the pistons 4 provided at the rear ends of the gripping claws 1, 2, and 3 are each moved inward, and at the same time, the gripping claws 1, 2, and 3 are also moved to perform a gripping operation.

Next, the gripping claws 1, 2, and 3 perform a return operation, that is,
When performing a grip release operation, pressurized air is supplied from the grip release vent 13 to the inner compartment 11 that is integrally communicated with, and the outer compartment 12 that is integrally communicated with.
is exposed to the atmosphere through the gripping ventilation hole 14.

As a result, the pistons 4 provided at the rear ends of the gripping claws 1, 2, and 3 are moved outward, and at the same time, the gripping claws 1, 2, and 3 are also moved to perform a gripping release operation.

In the gripping and gripping release operations described above, the present invention ensures that the gripping claws 1, 2, and 3 operate equally.

That is, in the gripping and gripping release operations described above, if the frictional resistance of each piston 4 is different or if there is a machining error in the vent holes 13 and 14, there is a possibility that the movements of the pistons 4 will be uneven. .

However, in the present invention, the above-mentioned non-uniformity is mechanically corrected. That is, in the present invention, the gripping claws are rotatably provided at the center positions of the gripping claws 1, 2, and 3, and are oriented toward the center of the gripping claws at equal angular positions with respect to the center of the gripping claws, and are at the same position in the circumferential direction. Since each guide roller 5 provided at the rear end of each of the gripping claws 1, 2, and 3 is engaged with the guide groove 20 of the cam 21 provided with the guide groove 20, the movement of each guide roller 5 is controlled by the cam 21. It is regulated to ensure equality.

Furthermore, the present invention does not utilize a link or cam mechanism, but instead uses a cylinder type, so it is possible to obtain the necessary strong gripping force.

〔Example〕

The present invention will be explained below based on embodiments shown in the drawings.

Although the gripping device of the present invention is not shown in detail, it is attached to the tip of a movable control rod of various automatic machines and used for transportation or as a chuck.

In the present invention, three gripping claws 1, 2, and 3 each having a piston 4 and a guide roller 5 at their rear ends are arranged radially as shown in FIG.

Next, the pistons 4 are respectively fitted into cylinders 6 provided radially within the body a.

In the case of the embodiment shown in the drawings, the cylinder 6 is constructed inside the through holes 7 provided at the rear ends of the three gripping claws 1, 2, and 3, respectively. That is, a retainer 8 is fitted from the inside of each through hole 7, fixed to the main body a side, and provided radially in three directions, and is provided around the outer surface of the piston 4, inside the through hole 7. Gripping claws 1, 2,
The piston 4 is composed of a flange 9 fixed on the 3 side and a fitting part 10 on the main body a side that fits inside the flange 9 of the piston 4. As a result, piston 4
There are an inner compartment 11 and an outer compartment 12 on both sides of the
is configured.

Then, the guide roller 5 moves the gripping claws 1, 2,
3, specifically, provided outside the through hole 7, respectively.

Therefore, the gripping claws 1, 2, 3, the piston 4, and the guide roller 5 are integrated.

Next, a ventilation hole 1 for releasing the grip is provided in the inner compartment 11.
3 are communicated with each other, and a gripping vent 14 is communicated with the outer compartment 12.

In the case of the drawing embodiment, the above-mentioned grip release vent hole 1
3 is connected to each inner compartment 1 through a through hole 16 formed in a center guide 15 provided at the center of the main body a, and through holes 17 formed in a retainer 8 provided radially in three directions.
The ventilation hole 14 for gripping is connected to the communication hole 18 provided in the main body a, and the communication hole 1 provided in the compatible part 10.
9 to each outer compartment 12 .

Furthermore, in the present invention, three guide grooves 20 are provided at the center positions of the gripping claws 1, 2, and 3, which are oriented toward the center of the gripping claws at equal angular positions with respect to the center of the gripping claws, and are at the same position in the circumferential direction. A cam 21 is rotatably provided, and the guide rollers 5 are engaged with the guide grooves 20, respectively.

In the case of the embodiment shown in the drawings, the cam 21 is fitted into a cylindrical portion formed in the center guide 15 and is rotatable.

The attachment portion of the retainer 8 of the center guide 15 has a triangular cross-sectional shape and is integrated with the main body a side, so that the center guide 15 is configured not to rotate.

In the present invention having the above structure, the gripping operations and the gripping release operations of the gripping claws 1, 2, and 3 are performed at equal angles.

That is, by supplying pressurized air from the gripping ventilation hole 14 and opening the gripping release ventilation hole 13 to the atmosphere, the gripping claws 1, 2, and 3 are moved inward to perform the gripping operation. It is.

Next, by reversing the above-mentioned supply of pressurized air and release to the atmosphere, the gripping release operation is performed.

In the present invention, even if the gripping and gripping operations by each piston 4 are uneven, they are mechanically controlled uniformly by the cam 21.

That is, the guide groove 20 is rotatably provided at the center position of the gripping claws 1, 2, . cam 21 provided with
Each gripping claw 1, 2, 3 is attached to the guide groove 20 of
This is because the guide roller 5 provided at the rear end is engaged.

[Effect of idea]

According to the present invention, it has a small size and strong gripping force,
Furthermore, it is possible to provide a gripping device for works, parts, etc. that has a perfect gripping effect.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and FIG. 1 is a vertical cross-sectional view with the main parts in an expanded state, and FIG.
It is a sectional view taken along the line A-A. 1, 2, 3...Gripping claw, 4...Piston, 5...
...Guide roller, 6...Cylinder, 11...Inner compartment, 12...Outer compartment, 13, 14...Vent hole, 20...Guide groove, 21...Cam, a...Main body.

Claims (1)

[Scope of utility model registration request] Three or more gripping claws each having a piston and a guide roller at the rear end thereof are arranged radially, and the pistons are respectively fitted into cylinders disposed radially within the main body, and the gripping claws are arranged in a radial manner, and each of the gripping claws is fitted into a cylinder provided radially within the main body, and the gripping claws are arranged in a radial manner, and each of the gripping claws is fitted into a cylinder provided radially within the main body, and the gripping claws are arranged in a radial manner. A ventilation hole is made to communicate with the room, and
The guide roller is rotatably provided at the center of the gripping claw, and has guide grooves oriented toward the center of the gripping claw and at the same position in the circumferential direction at equal angular positions with respect to the center of the gripping claw. A gripping device for a workpiece, a component, etc., characterized in that the device is engaged with the guide grooves of a cam.