JPH0357398Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] This invention relates to a gripping device for workpieces, parts, etc. used in various automatic machines. It is characterized by certain things.

[Prior Art] Conventionally, as a gripping device for workpieces, parts, etc., there has been provided a device in which gripping claws provided facing each other are slid symmetrically using an air cylinder or the like (Japanese Utility Model Publication No. 126586/1986). The sliding device of the gripping claws and the entire device are large in size, and it may be difficult to incorporate it into an assembly machine for small precision products, and it is also expensive.

In general, the use of air cylinders necessarily requires the construction of two cylinders, two pistons, or even two piston rods.

[Problems to be solved by the invention] As mentioned above, conventional devices have problems in terms of miniaturization and cost, and are sometimes difficult to incorporate into assembly machines for small precision products.

The present invention is an attempt to solve the upper device problem, and a cylinder is directly constructed on the back side of the rear end of one gripping claw, facing toward the opposite gripping claw.
A fixed piston with a working fluid passage constructed on the main body side is fitted into the piston, and the other gripping claw provided facing the piston is configured to slide symmetrically, eliminating the need for a cylinder cover, piston rod, etc. Moreover, it is made up of one cylinder and piston.

[Means for Solving the Problems] In order to solve the above-mentioned problems, the present invention provides an elastic spring between the rear ends of the gripping claws whose rear ends are respectively supported on the movable body side so as to be able to move freely in opposite directions. are held, a rack is formed on the rear end surface of each of the gripping claws, a pinion is meshed with each of the racks, and both pinions are meshed with each other, and the rear end of one of the gripping claws is A cylinder is formed on the back surface of the part and faces toward the opposing gripping claws, and a fixed piston, which is formed on the movable main body side and has a working fluid passage, is fitted into the cylinder.

[Function] In the present invention, on the main body side, that is, on the movable main body side that can be freely moved up and down, left and right, etc., there is an opposing gripper on the back side of one rear end of the gripping claws that are provided so as to be movable in opposite directions. A cylinder facing the direction of the claw is constructed directly into which a stationary piston, which is constructed on the side of the movable body and has a passage for the working fluid, is fitted.

Therefore, when a working fluid, for example compressed air, is supplied to the working fluid passage of the fixed piston formed on the movable body side, one gripping claw having a cylinder slides toward the other gripping claw.

At the same time, the slide of one of the gripping claws is transmitted to the rack provided on the rear end surface, two pinions that perform synchronization and conduction functions, and the rack on the rear end surface of the other gripping claw, and the gripping claws provided facing each other are symmetrical. to grip the workpiece, parts, etc. with a predetermined gripping force.

Next, when releasing the grip on the workpiece, parts, etc., if the air supply is stopped and released to the atmosphere, the gap between the gripping jaws will be expanded by the elastic spring installed between the rear ends of the gripping jaws provided facing each other. It is used to release workpieces, parts, etc.

〔Example〕

A movable main body 1 is shown in FIGS. 1 and 2. FIG. In the case of the embodiment shown in the drawings, the movable main body 1 is configured to rotate by a predetermined angle, which will be described later.

Further, although not shown, the support portion 1a of the movable main body 1 is also configured to move in a predetermined manner, such as vertically and horizontally.

First, the gripping device of the present invention will be described. As shown in FIGS. 3 and 4, gripping claws 2, whose rear ends are supported on the movable body 1 side so as to be able to move freely in opposite directions,
A resilient spring 4 is sandwiched between the rear ends of the gripping claws 2 and 3, and is configured to press the gripping claws 2 and 3 outward, respectively.

The gripping claws 2 and 3 are fitted onto the movable body 1 side so as to slide symmetrically.

Next, racks 5 and 6 are provided on the rear end surfaces of the gripping claws 2 and 3, respectively.

Further, pinions 7 and 8 are engaged with the outer racks 5 and 6, respectively, and both pinions 7 and 8 are engaged with the outer racks 5 and 6, respectively.
are interlocked with each other.

Note that the pinions 7 and 8 are provided on the movable main body 1 side.

Further, on one of the gripping claws 2 and 3, that is, in the case of the embodiment shown in the drawings, on the rear surface of the rear end of the gripping claw 2, a cylinder 9 is formed which faces toward the opposing gripping claw 3. A fixed piston 11 that is constructed on the side of the movable body 1 and has a passage 10 for a movable fluid is fitted therein.

In the figure, a indicates a workpiece, a part, etc.

In the present invention having the above structure, the gripping claws 2 and 3 are normally in a state where the gripping claws 2 and 3 are widened by the force of the spring 4 as shown in the third figure.

Next, when gripping a workpiece, component, etc. a, the movable main body 1 is moved to a location where the workpiece, component, etc. a is, or the workpiece, component, etc. a is fed between the gripping claws 2 and 3, and then After confirming that the working fluid passage 10 is supplied with working fluid, for example compressed air. As a result, the fixed piston 11 is moved by the movable body 1
Since it is arranged on the side, the gripping claw 2 with the cylinder 9 is pushed out.

When the gripping claw 2 is pushed out, the pinion 7 meshed with the rack 5 on the rear end face is rotated counterclockwise in FIG. 3, the pinion 8 meshed with it is rotated counterclockwise, and the pinion The gripping pawl 3 is slid symmetrically toward the gripping pawl 2 by the rack 6 on the rear end surface of the gripping pawl 3 that is engaged with the gripping pawl 8, and the gripping pawls 2 and 3 move oppositely to grip a workpiece, component, etc. a. It is.

After that, if the movable body 1 is moved to a predetermined position and the working fluid passage 10 is opened to the atmosphere, the gripping claws 2 and 3 are returned to their original states by the action of the elastic spring 4, and the workpieces, parts, etc. grip is released.

Next, a mechanism for rotating the movable body 1, specifically the gripping claws 2 and 3 by a predetermined angle, will be described.

This is used, for example, when gripping a workpiece on a table, rotating it 90 degrees to a horizontal position, and automatically mounting it on the chuck of a lathe or the like.

As shown in the first figure, a rod 12 is connected to the back surface of the movable main body 1, and the rod 12 is rotatably supported by the support portion 1a. That is, bearing 1
3 and a screw 14 at the rear end.
is configured.

Furthermore, as shown in FIGS. 1 and 5, the support portion 1
A cylinder 16 is constructed at a position eccentric to the rod 12 extending inside the rod 1.
The screw 14 part at the rear end of 2 is the cylinder 16.
and the screw 1
A nut 15 is screwed into the four parts, and the nut 15 is fixed to the piston 17. That is, Natsu 1
5 is fixed at an eccentric position of the piston 17.

In the figure, reference numerals 18 and 19 are supply and exhaust ports formed at both ends of the cylinder 16.

Furthermore, the rod 12 is constructed so as to rotate at a predetermined position without moving laterally in FIG. 1.

In the embodiment shown in the drawings, the cam 20 is fixed to approximately the middle of the rod 12, and its both sides are restricted to prevent it from moving laterally. Furthermore, the cam 20 is configured to regulate the rotation angle of the rod 12, that is, the rotation angle of the movable body 1.

That is, as shown in FIG. 6, adjustable stopper screws 21 and 22 are provided on both end surfaces of the cam 20 from the support portion 1a, and by adjusting the stopper screws 21 and 22, the rod 12 can be adjusted. The movable main body 1, more specifically, the gripping claws 2 and 3 can be rotated by a predetermined angle.

The above rotation is performed by supplying or exhausting air from the supply/exhaust port 18 or 19 of the cylinder 16 and moving the piston 17.

That is, since the cylinder 16 and the piston 17 are eccentric with respect to the rod 12, the piston 17 and the nut 1 fixed to the piston 17 are
5 does not rotate during movement, so the rod 12 having the screw 14 is rotated, and the movable body 1, specifically the gripping claws 2 and 3, are rotated.

The rotation angle is adjusted by the cam 20 and stopper screws 21 and 22.

Furthermore, in the embodiments shown in FIGS. 1 and 2, a plurality of gripping claws 2 and 3 are formed on the movable main body 1.

That is, the gripping claws 2 and 3 are each provided at right angle positions.

This is intended to improve work efficiency, and allows one gripping claw to grip a workpiece, component, etc., and at the same time, the other gripping claw can release the gripping of the workpiece, component, etc.

[Effect of the invention] In the present invention, a cylinder facing toward the opposing gripping claw is directly constructed on the back surface of one of the rear ends of the gripping claws provided on the movable body so as to be movable in opposite directions, and the movable body Because it has a structure in which a fixed piston with a working fluid passage constructed on the main body side is fitted, there is no need for a cylinder cover, piston rod, etc., unlike conventional products, and since there is only one cylinder and piston, the device can be made smaller. The present invention has the advantage that it can be easily incorporated into assembly machines for small precision products, and can be provided at low cost.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 is a partially sectional front view, Fig. 2 is a left side view of Fig. 1, and Fig. 2 is a left side view of Fig. 1.
Figure 3 is a longitudinal cross-sectional view of the gripping claw drive section, and Figure 4 is the third
5 is a sectional view taken along the line B--B in FIG. 1, and FIG. 6 is a sectional view taken along the line C--C in FIG. 1. 1... Movable main body, 1a... Support surface, 2, 3...
Gripping claw, 4... Resilience spring, 5, 6... Rack, 7, 8... Pinion, 9... Cylinder, 1
0... Working fluid passage, 11... Fixed piston,
a...Works, parts, etc.

Claims (1)

[Scope of utility model registration request] An elastic spring is sandwiched between the rear end portions of the gripping claws whose rear end portions are supported on the movable body side so as to be able to move freely in opposite directions, and a rack is formed on the rear end surface of each of the gripping claws. A pinion is meshed with each of the racks, and both pinions are meshed with each other.Furthermore, a cylinder is formed on the back of the rear end of one of the gripping claws, and is directed toward the opposite gripping claw. A device for gripping workpieces, parts, etc., characterized in that a fixed piston configured on the side of the movable body and having a passage for working fluid is fitted into the movable body.