JPH0243676Y2 - - Google Patents

Description

[Detailed description of the invention] (Field of industrial application) This invention relates to a small chuck device that can be attached to the tip of a robot's arm.

(Prior art) As a parallel chuck, a rack or male threaded portion is formed at the lower end of the cylinder or at the tip of the rotating shaft of a control motor whose rotation is controlled, and the left and right pinions that mesh with the rack or male threaded portion are connected to the racks below each pinion. There is a chuck configured to push open the claw member in the left-right direction and also to grip it. In this case, the shape of the claw member is an inverted L-shape, with both upper ends facing outward.

(Problems to be solved by the invention) However, the above chuck has the following problems. That is, when an object is attempted to be gripped with the claws, the reaction force is transmitted to the claws, causing the claws to lose their parallel state and resulting in a decrease in accuracy. Also, the nails are easily twisted. Furthermore, since the upper part of the claw faces outward, the outer shape of the chuck is large, and since gears are used, energy loss is large.

SUMMARY OF THE INVENTION The present invention solves these problems by providing a small chuck device that has good accuracy, can easily maintain a parallel state, and can prevent twisting and rattling.

(Means for Solving the Problem) The inventor of the present invention proposes a chuck device that can solve the problems of conventional chuck devices, in which the approaching and separating movements of the claw members for grasping and releasing an object are After considering whether it would be effective to use an inclined surface for this purpose, we arrived at the chuck device of the present invention.

The chuck device of the present invention has the configuration shown in FIGS. 1 and 2.

That is, one end side of the two claw members 12 and 14 that freely grip and release an object is located within the housing 30, and the claw members 12 and 14 are guided by a guide member and can freely move toward and away from each other while maintaining a parallel state. In the chuck device provided in the housing 30, the chuck device includes pawl members 12,
A chevron-shaped inclined surface consisting of an inner inclined surface facing inward of the housing 30 and an outer inclined surface facing the wall surface of the housing 30 is integrally formed on each end surface on one end side of the housing 4, and the inner inclined surfaces of each other are integrally formed. Two claw members 12, 1 are positioned so that they face each other.
4, and claw members 12 and 14 in the deep part of the housing 30.
Two partition plates 32 and 34 that are slidably provided in a direction perpendicular to the direction of contact and separation of the housing 30 and partition the inner part of the housing 30 into two chambers, and the two partition plates 3
2, 34, and is provided in the housing 30 so as to be movable together with the partition plate 32 in a direction perpendicular to the direction of contact and separation of the claw members 12, 14, and the inner slope of each of the two claw members 12, 14 is an inner pressing member 38 that is in sliding contact with the surface and presses the claw members 12, 14 in a direction away from each other; and the partition plates 32, 3.
4 and the claw member 1 together with the partition plate 34.
The two claw members 1 are provided within the housing 30 so as to be movable in a direction perpendicular to the direction of contact and separation of the two claw members 1.
2 and 14, and an outer pressing member 36 that presses the claw members 12 and 14 in a direction toward each other, a housing 30, and two partition plates 32 and 34. It is characterized by comprising two flow paths 30A and 30B for supplying and discharging fluid to the two chambers.

(Embodiments) Below, preferred embodiments embodying the present invention will be described in detail with reference to the drawings.

The chuck used in the chuck device of this embodiment is shown in FIG.

The chuck 10 shown in FIG.
4 are erected in parallel and form chuck surfaces 16 on the inner surfaces of the pawl members 12 and 14, facing each other.

In addition, each end face of the claw members 12, 14 on the opposite side to the grip side end face for grasping an object (claw members 12, 14
A mountain-shaped inclined surface is formed at the top of each of the above.

Chuck surface 1 that constitutes this mountain-shaped slope
Inner inclined surfaces 12a and 14a located on the 6 side and outer inclined surface 1 located on the outer surface side of the claw members 12 and 14.
2b and 14b refer to the claw members 12,
14 (hereinafter, the inner inclined surfaces 12a and 14a will be referred to as the pressure receiving surface 12).
a, 14a, and the outer inclined surfaces 12b, 14b are sometimes referred to as pressure receiving surfaces 12b, 14b).

A guide member that guides the claw members 12 and 14 so that they can be assembled into and separated from each other will be explained with reference to FIGS. 4 and 5.

At the upper part of the front end surface of the claw member 12, a rod-shaped dovetail member 20 extending perpendicularly to the prismatic portion is diagonally rearward in the figure. At the upper part of the rear end surface of the claw member 12, a receiving part 22 that extends perpendicularly to the prismatic part and engages with the dovetail member 20 extends in the same direction as the dovetail member 20. The dovetail member 20 and the receiving part 22 are integral with the claw member 12, and are formed by metal cutting, wire electric discharge machining, lost wax, etc., and the shape of the dovetail member 20 is similar to that of the receiving part 2.
The shape may be any shape, such as trapezoidal, prismatic, cylindrical, etc., as long as it can slide in close contact within the dovetail grooves 24 of No. 2. The two claw members 12 and 14 are configured such that the receiving portion 22 and the dovetail member 20 engage with each other, so that the claw members 12 and 14 can be gripped.

The parallel chuck 10 has a cylindrical housing 30.
It is housed inside to be guided so that it can be freely approached and separated. Next, referring to FIG. 1, the means for moving the claw members 12 and 14 that make up the parallel chuck 10 toward and away from each other will be explained.

Two partition plates 32 and 34 are provided in the inner part (upper part) of the housing 30.

Of these two partition plates 32 and 34, the first partition plate 32 and the second partition plate 3 are
Set it to 4. A groove 32a is provided on the side surface of the first partition plate 32, and an O-ring 33 is disposed therein. Further, a notch 34a is provided at the peripheral edge of the upper surface of the second partition plate 34, and an O-ring 35 is disposed in this notch 34a.

Pressing members 36 extend from both ends of the lower surface of the first partition plate 32 . This pressing member 36 has an outer surface 36a along the inner surface 30a of the housing 30, while the inner surface has an inclined surface facing downward (pressing surface 3).
6b, 36b) are formed. The pressing surfaces 36b, 36b press the pressure receiving surfaces 12a, 14b of the claw members 12, 14 to close the claw members 12, 14 in the gripping direction.

Reference numeral 38 denotes a pressing member, which has a trapezoidal front shape. The opposing inclined surfaces (pressing surfaces 38a, 38a) of this pressing member 38 are the opposing inner pressure receiving surfaces 12a, 14 of each claw member 12, 14.
Press a to open the claw members 12 and 14. Further, the pressing member 38 and the first partition plate 32 are connected to the second partition plate 34
The connecting rod 40 is connected to both ends of the connecting rod 40 passing through the through hole 34b by bolts 42, 42. A sealing O-ring 37 is disposed in the groove 34c of the through hole 34b.

FIG. 1 shows the parallel chuck 10 in an open state, and a first flow path 30 is located at the innermost part of the housing 30.
A is provided, and a second flow path 30B is provided which opens at the position of the notch 34a of the second partition plate 34 when the parallel chuck 10 is open.

Note that the two claw members 12 and 14 have their receiving portions 22 supported by a support member 40 fixed to the housing 30.
installed within the housing.

Next, the operation of the chuck device constructed as described above will be explained.

FIG. 1 shows the parallel chuck in the open position. In this state, when compressed air is injected from the second flow path 30B on the side surface of the housing 30 of the chuck device 28, the first partition plate 32 and the second partition plate 34 slide in the direction of separation. Then, the housing 30 and the first
The air in the first space S in the inner part partitioned by the partition plate 32 flows out from the first flow path 30A, and
hits the ceiling surface 30b at the back of the housing 30. On the other hand, the second partition plate 34 is pushed down, and the side surface of the housing 30 and the first and second partition plates 32,
The volume of the second space T formed by 34 is expanded.

For this reason, the pressing surfaces 36b, 36 of the pressing member 36
b presses the pressure receiving surfaces 12b, 14b of the claw members 12, 14, and the chuck surfaces 16, 14 of the claw members 12, 14
16 approaches, the pressing member 38 is pulled upward via the connecting rod 40 as the first partition plate 32 rises. (See Figure 2).

Next, the operation of opening the parallel chuck 10 will be explained. In the state shown in FIG. 2, the first flow path 30A
When compressed air is injected into the first space S, the volume of the first space S is expanded, and the air in the second space T flows into the second flow path 30B.
leaked from. The first partition plate 32 is lowered due to the increase in the volume of the first space S, and the pressing member 38 is lowered accordingly, so that the pressing surfaces 38a, 38a of the pressing member 38 are pressed against the inner side of the claw members 12, 14. By pressing the pressure receiving surfaces 12a, 14a, the chuck surfaces 16, 16 of the claw members 12, 14 move in the direction of separation (opening). Then, as the claw members 12, 14 are opened, the pressure receiving surfaces 12b, 14b of the claw members 12, 14 press the pressing surfaces 36a, 16a of the pressing member 36,
The second partition plate 34 is raised, the air in the second space T flows out from the second flow path 30B, and the air in the descending first
It comes into contact with the partition plate 32 (the volume of the second space T is almost zero) (see FIG. 1).

In the above embodiment, the second partition plate and the pressing member 38 are formed integrally, but they may be formed separately.
Furthermore, various guide members can be used to guide the claw members 12 and 14 in a manner that allows them to move toward and away from each other. For example, as shown in Japanese Utility Model Application Publication No. 52-126586, claw members may be pivotally attached to a rod-shaped body whose both ends are fixed to the wall surface of the housing 30 so as to be able to move toward and away from each other.

(Effects of the invention) This invention is constructed as described above, and the two claw members are brought into contact and separated by using the inclined surfaces of the claw members and by sliding the two partition plates. Easy to control. Furthermore, since the claw members are opened and closed by two pressing members, the chuck device can be made compact. Furthermore, it has remarkable effects such as less energy loss.

Although the present invention has been variously explained above with reference to preferred embodiments, the present invention is not limited to these embodiments. Of course, many modifications can be made without departing from the spirit of the invention.

[Brief explanation of the drawing]

1 and 2 are longitudinal sectional front views of the chuck device, FIG. 3 is a perspective view of the chuck, FIG. 4 is a partially omitted perspective view of the claw member, and FIG. 5 is a right side view of the claw member. 10... Parallel chuck, 12, 14... Claw member, 1
6... chuck surface, 20... dovetail member, 22... receiving part,
24...Dovetail groove, 28...Chuck device, 30...Housing, 32...First partition plate, 34...Second partition plate, 3
6, 38...pressing member, 40...connecting rod.

Claims (1)

[Claims for Utility Model Registration] One end side of two claw members that freely grip and release objects are located within the housing, and each of the claw members is guided by a guide member so that they approach and separate while remaining parallel to each other. In the chuck device which is movably provided, the chuck device has an inner inclined surface facing inward of the housing and an outer inclined surface facing toward the wall surface of the housing on each end surface of one end side of the claw member located in the housing. two claw members each having an integrally formed mountain-shaped inclined surface and positioned such that their inner inclined surfaces face each other; two partition plates that are provided so as to be slidable in the directions in which the claw member approaches and separates the claw member; an inner pressing member that is provided in the housing so as to be movable in orthogonal directions, that simultaneously slides into sliding contact with the inner inclined surfaces of each of the two claw members and presses the claw members in a direction away from each other; and the other of the partition plates. is connected to the partition plate and is provided in the housing so as to be movable together with the partition plate in a direction perpendicular to the direction of contact and separation of the claw members, and simultaneously slides into contact with the outer inclined surface of each of the two claw members to move the claw members closer to each other. 1. A chuck device comprising: an outer pressing member that presses in a direction; and two channels that supply and discharge fluid to and from two chambers formed by a housing and two partition plates.