JPH0422950Y2 - - Google Patents

Description

[Detailed description of the invention] Industrial field of application The invention relates to a chuck used in equipment for supplying and discharging parts, robots, etc., in which the claws open and close in parallel and open outward to grip objects. It is characterized by

BACKGROUND TECHNOLOGY Rotating claw type chucks are often used for robots because of their simple structure, but parallel opening/closing chucks, which are advantageous in terms of grip reliability, are also often used.

A patent application was filed in 1983 for an example of this parallel opening/closing chuck.
The present applicant had previously proposed this in No. 195968 and Utility Model Application No. 1983-76470.

However, this chuck is opened and closed by fluid, and the piping and control are complicated.Also, although the patent application No. 110426/1987 by the present applicant uses a spring drive in one direction, it opens outward to grip the article. Not used as an inward opening method.

Problems to be Solved by the Invention This invention aims to solve the above-mentioned drawbacks of the parallel opening/closing chuck, and to provide a compact, lightweight, simple structure, and smooth inward opening chuck operation.

Means for Solving the Problems In order to achieve the above object, the present invention uses a spring to move one side of the chuck opening/closing movement so that the article is gripped by the pressure of the expanding member, and the direction of movement of the cylindrical pressing member is Two slide pawls facing each other so as to be openable and closable in intersecting linear directions, an expanding member of the slide pawl supported by the main body and slidable in the moving direction of the cylindrical pressing member and having a flat tip, and a rotating member that rotates on the main body. freely supported,
An action lever that contacts the pressing member, the expanding member, and the sliding pawl and transmits the displacement of the pressing member and the expanding member to the sliding pawl; a spring that urges the pressing member or the expanding member to advance; and a spring that urges the pressing member or the expanding member to move forward; The purpose was achieved by a parallel opening/closing inward opening chuck consisting of a fluid passageway for advancing.

Embodiment An embodiment of the present invention will be described with reference to FIGS. 1 to 8. A cylinder 1 provided with a fluid passage 10 is provided with a center hole opening downward, and cylinder chambers with decreasing diameters are arranged in order. 12 and 11 are formed. A closing shaft 2 is slidably fitted into the cylinder chamber 12.

An expansion piston 9 is slidably fitted into the upper side of the cylinder chamber 12 while being guided by the center hole 21 of the closing shaft 2, and the upper side communicates with the fluid passage 10. A compression coil spring 8 is provided between the spring seat 22 and the expansion piston 9.

Below the closing shaft 2, pressing pieces 20, 20 extending on both sides and bent downward are fitted between the notched guide surfaces 14, 14 of the cylinder 1 and prevented from rotating.
The diagram shows vertical guidance.

Further, an air inlet/outlet groove 23 is formed on the side of the closing shaft 2 and communicates with the notch guide surface 14.

Further, a V-packing 92 is fitted into the groove of the expansion piston 9 in the direction shown.

The lower part of the cylinder 1 has a wide notch 15 into which the later-described action levers 3, 3 and slide claws 4, 4 are inserted, and the side surfaces 13, 13 guide the slide claws 4, 4.

Holes 1 are provided on both sides of the notch 15 of the cylinder 1.
6, 16 are provided, through which the shafts 5, 5 pass through through the sleeves 6, 6, and both ends are E-rings 51,
51 prevents it from coming off.

The action levers 3, 3 are rotatably fitted onto the shafts 5, 5, and guide elongated holes 41, 41 provided in the reference pieces 40, 40 of the slide claws 4, 4 are formed on both sides of the shafts through bearings 7, 7. It is slidably fitted.
(See FIG. 4) The action lever 3 has a substantially triangular shape, one end surface 33 contacts the pressing piece 20, the opposite end surface 32 contacts the tip flat surface 91 of the expansion piston 9, and the lower end notch 31 The pin 42 of the slide claw 4 is fitted into the hole.

As shown in FIG. 1, the end surfaces 32 and 33 become inwardly downward slopes so as to be parallel to and contact the pressing piece 20 and the tip plane 91, respectively, when the shaft 2 piston 9 is fully advanced. It is beveled.

The slide claw 4 is centered above the action lever 3.
A notch 44 with the same width is formed, and a pin 42 is supported here, and a guide elongated hole 41 in the sliding direction is formed in a reference piece 40 that is biased upward on one side, so that the gap between the shafts 5, 5 is the same. It is formed in two places.

These sliding claws 4 are common to the left and right, and when they are opposed to each other (turned by 180°), the reference pieces 40 are inserted into the respective notches 4.
The action lever 3 is assembled so as to form an opening/closing pawl, and the action lever 3 is rotatably inserted into the notch 44 between the opening and closing pawls.
A pin 42 is fitted into the notch 31, so that the slide pawl 4 is interlocked with the rotation of the action lever 3.

Note that the fluid passage 10 may be provided on the side of the cylinder chamber 11.

Operation In steady state, the closing shaft 2 is closed by the spring 8 as shown in the first figure.
is lowered, the expansion piston 9 is raised, and the two slide claws 4, 4 are closed.

Here, pressurized air is sent to the fluid passage 10, and the groove 2
When exhaust is exhausted from the notch 14 through the piston 9
advances (descends in Figure 1), and action lever 3
The guide slot 41 is guided by the bearing 7 and moves, and the slide claws 4, 4 move in the opposite direction to open the claws 4, 4, and grip the parts.

At this time, the closing shaft 2 rises against the spring 8, and the spring 8 is compressed.

When releasing the article, the pressure in the fluid passage 10 is released, and when the pressure is set to atmospheric pressure, the spring 8 opens, the closing shaft 2 advances in the opposite direction to the above, and the piston 9 retreats in the opposite direction.

That is, by advancing the closing shaft 2, both pressing pieces 20, 2
0 is the end surface 33, 33 of both action levers 3, 3
Press and rotate and press each pin 42, 42.

Therefore, the sliding claws 4, 4 are guided by bearings 7, 7 fitted on the shafts 5, 5, and the sliding surfaces 43, 4
3 is guided by the side surfaces 13, 13, and the guide elongated hole 41
Close in the direction of.

Although not shown, finger portions for gripping parts and the like are fixed to the outside of the slide claws 4, 4.

Also, the reason why V packing is used is to reduce the sliding resistance, and an O-ring may also be used.

Each movement is a line contact when the closing shaft and the expansion piston move, and a surface contact when the piston is moved forward, which is a force, so that smooth movement with less wear is possible, and the end surface 32 of the action lever is located at the tip of the piston. Since it touches the plane 91, the maximum rotational moment can be extracted.

Modified Example FIG. 9 shows a modified example of the present invention, in which an article or the like is gripped by a sliding claw 4 using a spring 8, and the same reference numerals as in the above example indicate the same thing.

An expansion piston 900 is slidably fitted into the cylinder chamber 111 of the cylinder 100 and is biased downward by the expansion biasing coil spring 8 .

The cylinder chamber 112 communicates with the fluid passage 110, the closing piston 200 is slidably fitted below the cylinder chamber 112, and the pressing surface 21 is fitted into the notched guide surface 114.
0 is in contact with action lever 3.

113 is a hole through which air enters and exits when the piston 900 moves.

Action The illustration shows the sliding claws 4 and 4 due to the expanding force of the spring 8.
is open and shows a state in which an item (not shown) is being grasped,
The fluid passage 110 is at atmospheric pressure.

Therefore, the gripping force becomes the force of the spring 8, and unlike the fluid pressure in the above example, the pressure becomes constant and the gripping state is stabilized by the downward force of the piston 900.

The movement of each slide pawl 4 is the same as in the above example.

On the other hand, when releasing an article, pressurized air is sent to the fluid passage 110, the expansion piston 200 descends, and the opening piston 200 compresses the spring 8 via the action lever 3 and rises.

Therefore, the slide pawls 4, 4 are closed, and the pawls are in a state as shown in FIG.

That is, in the first to eighth illustrated examples, the slide claws are expanded (opened inward) using fluid pressure to grasp the article, and in the ninth illustrated example, the article is grasped by spring force. The latter uses fluid pressure to release the sliding claws, and one can be selected depending on the object to be grasped, the purpose, etc.

Of course, the gripping force can be adjusted to suit the application by appropriately setting the fluid pressure and spring force.

Effects of the invention: The number of parts is small, and since guide bars and sliding grooves are not used, the workability and assemblage of parts are good, and the product is small and
It is lightweight and has a parallel opening/closing chuck that opens inward.

By using an expanding shaft and a piston, and controlling the opening and closing of the chuck with a spring and fluid pressure (drive source), it is possible to stably grasp objects by opening inward.

Furthermore, in the configuration of the embodiment, all the slide claws, shafts, etc. are made of common parts for the left and right sides, and fluid control such as air, which is often used in chucks, can be used as is.

The displacement of the piston (pressing member) is converted by the rotation of the action lever to change the direction of action and open/close the slide claws, so the direction change is efficient and the gripping force is large. It is 1.5 to 2 times as much as the parallel opening/closing chuck.

[Brief explanation of the drawing]

Fig. 1 is a sectional view of the main part of an embodiment of the present invention with the chuck closed, Fig. 2 is its top view, Fig. 3 is its bottom view, Fig. 4 is a sectional view of the shaft portion, and Fig. 5 is Figure 6 is a parts diagram of the cylinder (front view, side view), Figure 6 is a parts diagram of the sliding claw (front view, side view), Figure 7 is an outline diagram of the sliding jaw, and Figure 8 is a parts diagram of the closing shaft ( (front view, side view), Fig. 9 shows a sectional view of the main parts of a modified example, 1 is a cylinder, 2 is a closing shaft, 20 is a pressing piece,
4 is a slide claw, 5 is a fulcrum and a shaft for guiding, 7 is a bearing, and 9 is an expansion piston.

Claims (1)

[Claims for Utility Model Registration] Two sliding claws that are guided by the main body and face each other so that they can be opened and closed in a straight line, and a cylindrical pressing member that is supported by the main body and can be slid in a direction intersecting the opening and closing of the sliding claws. an expanding member that is supported by the main body and has a sliding claw with a flat tip that slidably fits into the center hole of the pressing member; an action lever that contacts the pawl and transmits the displacement of the pressing member or the expanding member to the slide pawl; a spring that is provided in the main body and urges the pressing member or the expanding member to move forward; A parallel opening/closing chuck consisting of a fluid passage for advancing a pressing member.