JPH0526242U - Gripping device - Google Patents

Abstract

(57) [Summary] [Purpose] To simplify the configuration, prevent the position of the target object from shifting, and obtain a highly efficient and reliable gripping force. [Structure] Since the driving force of the cylinder 9 is converted into the opening / closing operation of the opening / closing arm 9 by the cam body 2, the device can be simplified. Further, when the work 8 is held by the opening / closing arm 9, the pressing means 6 and 12 hold the force acting in the direction of escaping the work 8 from the holding direction, so that the position of the work 8 can be prevented from shifting. When the claw 14 of the opening / closing arm 9 grips the work from the side surface, the claw 14 grips the work over the entire surface by the biasing means 16, and the work can be accurately gripped, and a highly efficient holding force can be obtained.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a gripping device provided in an automatic machine, a machine tool or the like, and more particularly to a gripping device suitable for securely gripping a work or the like without displacement by using a drive source that moves linearly. Is.

[0002]

[Prior Art]

 As a conventional gripping device, there is a gripping device that grips a target object by sandwiching the target object from above and below, and various devices have been devised so that the target object can be reliably gripped.

[0003]

[Problems to be solved by the device]

 By the way, in the conventional technology for gripping the target object, not only are there few structures that are complicated, but the position of the target object may shift when gripped. As a result of the gripping force not being sufficiently transmitted to the target object, the gripping force varies.

An object of the present invention is to provide a gripping device capable of simplifying the configuration in view of the above-mentioned problems of the conventional art, and another object is to shift the position of the target object when gripping. Another object of the present invention is to provide a gripping device that can obtain a highly efficient and reliable gripping force.

[0005]

[Means for Solving the Problems]

 According to the present invention, a drive source that moves forward and backward in a linear direction and a drive source that is openable and closable in a direction in which an object can be grasped from both side surfaces are disposed. , And a cam body that converts the driving force of the driving source into the opening / closing operation of the opening / closing arm. Further, in the present invention, in addition to the drive source, the opening / closing arm, and the cam body, when the opening / closing arm grips an object, a holding means for holding a force acting in a direction of escaping the object from the holding direction of the opening / closing arm is provided. have. Further, in the present invention, in addition to the drive source, the opening / closing arm, and the cam body, the claws that are tiltably supported by the tip ends of the pair of arms and that project inwardly of the arms, and the claws are mutually separated. Urging means for urging inward.

[0006]

[Action]

 As described above, in the present invention, the drive source, the opening / closing arm, and the cam body are provided, and the driving force of the driving source is converted into the opening / closing operation of the opening / closing arm by the cam body, so that the apparatus can be simplified. It can be planned. Further, in the present invention, in addition to the drive source, the opening / closing arm, and the cam body, there is a holding means, and when holding the target object by the opening / closing arm, the holding means acts in the direction of escaping the target object from the holding direction. Since it is configured to hold down the force, it is possible to reliably prevent the position of the target object from shifting. Further, in the present invention, when the claw provided on the opening / closing arm grips the work from the side surface, the claw grips the work over the entire surface by the biasing means, so that the side surface of the work is not perpendicular to the lower surface. Even in this case, the work can be grasped accurately and a highly efficient holding force can be obtained.

[0007]

【Example】

 An embodiment of the present invention will be described below with reference to FIGS. 1 and 2 show a first embodiment of a gripping device according to the present invention. In the gripping device shown in FIGS. 1 and 2, the cam body 2 is fixed to the bottom of the die set 1 with a bolt or the like, and when the die set 1 is pressed by the forward movement of the cylinder 3 (the downward direction shown by the arrow). The die set 1 and the cam body 2 are movable in the same vertical direction. The cam body 2 is formed into a tapered disc having a narrowest width at the lower end, which is the forward end thereof, and widening from the lower end to the upper portion. A hole 1a is vertically penetrated through the right end portion of the die set 1, and a linear bush 5 is attached to the hole 1a and an upper portion of the shaft 4 so that the die set 1 can extend the length of the shaft 4 through the linear bush 5. I try to move along the direction. Further, a work holder 6 is attached to the die set 1 via a work driving shaft 7. The work driving shaft 7 includes a large diameter portion 71 having a flange 72 at the tip, a head 74 having a washer at the tip, and a bolt 73 axially screwed to the large diameter portion 71. The large diameter portion 71 is inserted into the insertion hole 1b formed in the die set 1 to lock the collar portion 72 to the die set 1, and to the counterbore hole 6a provided on the outer peripheral portion of the work holder 6. The work holder 6 is attached to the die set 1 by inserting the bolt 73 and screwing the bolt 73 to the large diameter portion 71. On the other hand, the work presser 6 has a disc shape, and the counterbore holes 6a are formed at the same radial position, and three work holes are provided in this example. The work holder 6 is attached to the die set 1 by a work driving shaft 7 at a position corresponding to the cam body 2. Therefore, when the die set 1 is lowered by the forward movement of the cylinder 3, the work body drive shaft 7 and the work presser 6 are similarly lowered while the cam body 2 and the work holder 6 are kept at the illustrated intervals. When the work presser 6 hits the work 8 and stops when the work presses down, the die set 1 further moves down along the large diameter portion 71 of the work drive shaft 7 until the cam body 2 contacts the work presser 6. There is. On the other hand, an opening / closing arm 9 for gripping the work 8 is attached to the work retainer 6. The opening / closing arm 9 has an elongated shape, and a claw 9a is projectingly provided on a lower end portion thereof. The open / close arm 9 has its intermediate portion pivotally supported by the pin 10 on the attachment portion 6b of the work holder 6. As shown in FIGS. 1 and 2, the attachment portions 6b are formed by notching the outer periphery of the work presser 6 at equal intervals, and three attachment portions 6b are provided in this example. Therefore, the three opening / closing arms 9 can be opened / closed by moving around the respective pins 10. A roller 11 is rotatably attached to the upper part of the opening / closing arm 9 and a compression spring 13 is provided as a biasing means for biasing the roller 11 to the tapered surface of the cam body 2. As shown in FIG. 1, the compression spring 13 is contracted between the work retainer 6 and the opening / closing arm 9, and the spring force of the compression spring 13 causes the opening / closing arm 9 to expand and the roller 11 to urge the cam body 2. I am letting you. When the die press 1 comes into contact with the work 8 when the die set 1 descends, and the die set 1 and the cam body 2 further descend, the taper surface of the cam body 2 contacts the roller 11 and the roller 11 becomes the taper surface. When the work 8 is pushed and spread out, the claws 9a of the respective open / close arms 9 rotate in the direction of closing each other, and the work 8 is gripped from the side surface. The claw 9a needs to have sufficient strength to continue gripping the work 8. Therefore, it is preferable to perform heat treatment and hard chrome plating. Further, as shown in FIG. 1, concave portions (not shown) are formed in the upper portion of the work holder 6 and the bottom portion of the die set 1, respectively, and at the positions corresponding to the respective concave portions in the cam body 2, there is an axial direction. A through hole (not shown) is formed along the through hole, and the compression spring 12 is contracted between the recessed portions through the through hole. Then, when the work 8 is gripped by the pawl 9a, a force tends to act on the work 8 in a direction of escaping upward from the gripping direction, and the force of the escaping direction is converted into the spring force of the compression spring 12 by the work retainer 6. Therefore, I try to hold it down. Therefore, the work pressing member 6 and the compression spring 12 constitute a pressing member.

Next, the operation of the gripping device of the embodiment will be described. First, the rod of the cylinder 3 advances and hits the die set 1, and when it further advances, the die set 1 descends along the shaft 4. At that time, as the die set 1 is lowered, the cam body 2, the work holder 6, and the opening / closing arm 9 attached to the die set 1 are also integrally lowered, and the work holder 6 strikes the work 8. When the cylinder 3 advances further relative to the die set 1, the die set 1 descends along the large diameter portion 71 of the work pressing drive shaft 7, and the cam body 6 at the bottom of the die set 1 also descends. Then, the cam body 6 spreads the roller 11 of the opening / closing arm 9 to rotate the opening / closing arms 9 so as to close each other inwardly, and the claw 9a at the tip of the opening / closing arm grips the work 6 from the side surface. In this case, since the claw 9a at the tip of the opening / closing arm grips the work 8 so as to scoop it up from the side surface, the work 8 tries to escape upward, but the work retainer 6 is provided on the top surface of the work 8 with the compression spring. Since the work piece 8 is pressed by the spring force of 12, it is possible to suppress the force of the work piece 8 escaping upward, and the work piece 8 can be gripped by the opening / closing arm 9 more accurately.

As a result, the work 8 is gripped by the opening / closing arm 9 and is pressed by the pressing means including the work presser 6 and the compression spring 12, so that the position of the work 8 can be reliably prevented from being displaced. Moreover, as described above, the gripping device is configured to open / close the opening / closing arm 9 by lowering the cam body 2 by driving the cylinder 3, so that the structure can be simplified. In the illustrated embodiment, three opening / closing arms 9 are provided, but the number of opening / closing arms 9 is not limited, and a plurality of opening / closing arms 9 may be provided so that the work 8 can be gripped.

FIG. 3 shows a second embodiment of the gripping device according to the present invention. In this embodiment, the cam body 2 is attached to the tip of the rod of the cylinder 3. Similar to the first embodiment, the cam body 2 is formed so that both side surfaces are tapered. On the other hand, the opening / closing arm 9 is attached by a fixing portion (not shown). The open / close arm 9 is pivotally supported by pins 10 on both fixing portions. A roller 11 is rotatably attached to the upper end of each opening / closing arm 9 so as to be in contact with the tapered surface of the opening / closing arm 9, and the lower tip end side of the opening / closing arm 9 is expanded between the rollers 11 and 11. A tension spring 13 as a biasing means for biasing in the direction is mounted. Both ends of the tension spring 13 are locked to the respective rollers 11, 11. Further, a claw 14 is attached to the lower end of the opening / closing arm 9 by a pin 15 so as to tilt about the pin 15. Further, a biasing means 16 for biasing the claws 14 inwardly is provided at the tip of the opening / closing arm 9. Although not shown in detail, the biasing means 16 is for inserting a compression spring into a through hole formed at the tip of the opening / closing arm 9 toward the claw 14 and for locking one end side of the compression spring. A plunger is constituted by a bolt screwed to one end of the through hole of the opening / closing arm 9, and the claws 14 are urged inward toward each other by the spring force on the other end side of the compression spring. I am trying to let you. Therefore, since the claw 14 tilts around the pin 15 and is biased by the spring force of the compression spring of the biasing means, when gripping the workpiece from the side surface, the workpiece is surely brought into contact with the side surface. I am trying to do it. According to this embodiment, the claw 14 provided on the opening / closing arm 9 grips the work from the side surface, and at that time, the claw 14 grips the work over the entire surface by the biasing means 16, so that the side surface of the work is round. Of course, even if it is not a right angle to the lower surface, the work can be gripped accurately, and a highly efficient holding force can be obtained. Moreover, in the gripping device of the embodiment, since the cam body 2 is directly attached to the cylinder 3, compared to the first embodiment, the die set 1, the shaft 4 and the like are unnecessary, and the structure is simplified. Can be further enhanced.

In each of the illustrated embodiments, the opening / closing arms 9 are used only as a set of two, but it is even more beneficial if two or more sets are used. Further, in the present proposal, the gripping mechanism of the embodiment can be used for a machine tool, an automatic machine, or the like. For example, it can be used not only for a jig for positioning a work when processing it, but also for various devices having a chuck function.

[0012]

[Effect of the device]

 According to claim 1 of the present invention, the drive source, the opening / closing arm, and the cam body are provided, and the linear driving force of the driving source is converted into the opening / closing of the opening / closing arm by the cam body. According to the second aspect of the present invention, the holding means is also provided, and when the work is gripped, the pressing means is configured to hold the force in the direction in which the work escapes from the gripping direction. As a result, the position of the work can be surely prevented from being displaced, and as a result, there is an effect that the work can be gripped with higher accuracy. According to claim 3, the claw supported by the arm is biased by the biasing means, Since the claws are configured to grip the side surface of the workpiece as a whole, even if the side surface of the workpiece is not at a right angle to its lower surface, a highly efficient holding force can be obtained, and the reliability is improved accordingly. The effect that can be increased That.

[Brief description of drawings]

FIG. 1 is an explanatory sectional view showing a first embodiment of a gripping device according to the present invention.

FIG. 2 is a sectional view taken along the line AA of FIG.

FIG. 3 is a partially broken explanatory view showing a second embodiment of the gripping device according to the present invention.

[Explanation of symbols]

2 ... Cam body, 3 ... Cylinder, 6 ... Work holder, 12 ...
Compression springs, 9 ... Opening / closing arms, 9a, 14 ... Claws, 16 ... Plungers as biasing means.

Claims (3)

[Scope of utility model registration request] 1. A drive source that moves back and forth in a straight line direction, a plurality of open / close arms mounted to be openable / closable in a direction in which an object can be gripped from a peripheral side surface side, and arranged between the open / close arm and the drive source, A gripping device, comprising: a cam body that converts a driving force of a driving source into an opening / closing operation of an opening / closing arm. 2. A drive source which moves back and forth in a straight line direction, a plurality of open / close arms mounted to be openable / closable in a direction in which an object can be gripped from a peripheral side surface side, and arranged between the open / close arms and the drive source. A cam body that converts the driving force of the drive source into the opening / closing operation of the opening / closing arm, and when the opening / closing arm grips the target object,
A holding device for holding a force acting in a direction in which the object escapes from a holding direction of the arm. 3. A drive source which moves back and forth in a straight line direction, a plurality of open / close arms mounted to be openable / closable in a direction in which an object can be gripped from the peripheral side surface side, and arranged between the open / close arm and the drive source, A cam body for converting the driving force of the drive source into an opening / closing operation of the opening / closing arm, a claw that is tiltably supported by the tip of the opening / closing arm, and protrudes inwardly of the arms, and the claws inward with respect to each other. A gripping device having a biasing means for biasing.