JPH0553882U - Chuck device - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a chuck device that can obtain a large working stroke, has no problem of rigidity, and can obtain high positioning accuracy. A fixed member 13 and a movable member 14, both of which have a substantially U-shaped cross-section, are fitted together such that their bottom surfaces face each other, and are engraved in the longitudinal direction of opposing side wall surfaces where the fixed member 13 and the movable member 14 overlap each other. The movable member 14 is made slidable with respect to the fixed member 13 by interposing a plurality of steel balls in the formed raceway groove to form the linear motion guide member 12, and the linear motion guide member 12 is fixed to the fixed member 13 side. By being fixed to the apparatus main body 3A, the pair of linear motion guide members 12
By arranging the slide shafts 5 facing each other and fixing the slide shafts 5 with the arms 6 projecting in the longitudinal direction of the movable members 14 of the linear motion guide members 12, linear motion is imparted to each slide shaft 6. While keeping the pair of arms 6 parallel to each other, the linear motion guide member 12 guides and opens and closes them, and the arms 6 hold and release the object.

Description

[Detailed description of the device]

[0001]

[Industrial application]

 The present invention relates to a chuck device that is attached to, for example, the tip of an arm of a work robot and is used for gripping a work and carrying or assembling the work, and in particular, an arm opening / closing guide part for guiding the opening / closing of the arms in parallel. The present invention relates to an improved chuck device with improved opening / closing position accuracy of the arm.

[0002]

[Prior Art]

 A parallel opening / closing chuck device that opens and closes an arm in parallel is known to be able to reliably hold a work piece by the arm and to accurately position the held work piece. FIG. 12 shows a conventional example of such a chuck device. In this figure, a guide rail 31 is fixed between the side walls 30a protruding from the main body of the swing actuator 30 by screws 32, and a cross roller bearing is provided between the guide rails 31 and 31. A pair of slide shafts 34 and 34 are arranged in series via 33. Arms 35, 35 for gripping the work are projected on these slide shaft surfaces. The slide shaft 34 is connected to the output shaft of the swing actuator 30 via a cam plate. When the output shaft swings and rotates in the clockwise direction or the half-clock direction, the pair of arms 35, 35 moves. It is opened and closed in parallel, and the work W can be gripped by these arms 35, 35 as shown in FIG.

On the other hand, in the chuck device shown in FIG. 14, slide shafts 37, 37 are arranged in parallel between the guide rails 31, 31 with a cross roller bearing 36 interposed therebetween. A pair of arms 38, 38 for gripping the work are provided in a protruding manner.

[0004]

[Problems to be solved by the device]

 In the chuck device shown in FIG. 12, when the gripping force of the work W is strong, a force F1 for rotating the slide shaft 34 acts as shown in FIG. 13, and the slide shaft 34 can withstand the rotational force F1. A length L is needed. As a result, the operation stroke is shortened, and the range of the work size that can be gripped by the arm 35 is limited. This difficulty becomes more remarkable as the gripping force becomes stronger. Further, since the pressurizing screw 39 applies an appropriate pressurizing force to eliminate the play of the slide shaft 31, there is a problem that it takes time to assemble and adjust. On the other hand, in the chuck device shown in FIG. 14, the problem that the allowable work size is small can be solved, but the slide shafts 37, 37 are arranged in parallel between the guide rails 31, 31 via the bearing 36. Therefore, there is a problem that it is structurally weak. Therefore, when a strong gripping force is required, or when the work W is heavy as shown in FIG. 15, a force F2 that deforms the slide shaft 37 is exerted to position the work W gripped by the arms 38, 38. There is a problem in that the accuracy of is impaired. In the figure, F 3 indicates the weight of the work. Further, as in the case of FIG. 12, since a proper pressure is applied by the pressure screw 39 to eliminate the play of the slide shaft 37, there is a problem that it takes time to assemble and adjust.

The present invention has been proposed in order to solve the problems of the prior art, and a chuck that can take a large working stroke, has no problem of rigidity, and has a high positioning accuracy. The purpose is to provide a device.

[0006]

[Means for Solving the Problems]

 In order to achieve the above object, the chuck device according to the present invention is such that a fixed member and a movable member, both of which have a substantially U-shaped cross section, are fitted so that their bottom surfaces face each other, and the fixed member and the movable member are opposed to each other. A linear motion guide member is formed by slidably moving a movable member with respect to a fixed member by interposing a plurality of steel balls in an orbit groove formed in the longitudinal direction of the side wall surface. A pair of linear motion guide members are disposed so as to face each other by fixing the fixed member side of the linear motion guide member to the main body of the apparatus, and slide shafts provided with protruding arms are fixed in the longitudinal direction of the movable members of these linear motion guide members. By applying a linear motion to each slide shaft, the pair of arms are held in parallel with each other while being guided and opened and closed by the linear motion guide members, and these arms hold and release the object. And it has a formation.

In the chuck device according to the present invention, a cam plate is attached to the output shaft of the swing actuator, and two pins projecting in the axial direction are provided on the outer peripheral portion of the cam plate so as to face each other. A linear motion is imparted to each slide shaft by engaging with the respective pin holes opened in the slide shaft.

[0008]

[Action]

 According to the configuration corresponding to claim 1 described above, the mechanical strength of the linear motion guide member can be increased, and the slide shaft fixed to the movable member can be guided by the fixed member to slide stably. The opening and closing accuracy of can be increased.

According to the structure according to claim 2, when the output shaft of the swing actuator swings and rotates clockwise or counterclockwise, the arms move in and out while maintaining parallelism. Can hold and release objects.

[0010]

【Example】

 Hereinafter, a specific embodiment of the chuck device according to the present invention will be described in detail with reference to the drawings. FIG. 1 shows a usage state of the chuck device, and FIG. 2 shows a disassembled perspective view of the chuck device. In these drawings, the chuck device 1 includes a swing actuator 3 as a drive source capable of taking out a swinging rotary motion from an output shaft 2, and a power conversion transmitting portion 4 for converting the swinging rotary motion of the output shaft 2 into a rectilinear reciprocating motion. And an arm opening / closing guide portion 7 for guiding the linear movement of the slide shafts 5 and 5 coupled to the power conversion transmission portion 4 and opening and closing a pair of arms 6 and 6 provided on the slide shafts 5 and 5. Has been done.

In the swing actuator 3, the working fluid is supplied and discharged from the ports 8 and 9 provided on one side of the main body 3A by the control of the switching valve, and the output shaft 2 is rotated clockwise or counterclockwise together with the swing vane. It is rocked and rotated in the direction. In the power conversion transmission unit 4, a cam plate 10 is connected to an output shaft 2 that projects into a groove at the tip of the main body of the swing actuator 3, and two pins 11, 11 are opposed to the outer peripheral portion of the cam plate 10. It is configured to be projected. The arm opening / closing guide portion 7 includes a linear motion guide member 12 and a slide shaft 5 attached to the linear motion guide member 12. As shown in FIG. 3, the linear motion guide member 12 has a rectangular parallelepiped shape as a whole, and a movable member 14 having an inverted U-shaped cross section is fitted to a fixed member 13 having a U-shaped cross section so that the movable members 14 face the bottom surfaces. .. Further, as shown in FIG. 4, a steel ball 16 with a retainer is fitted into a raceway groove portion 15 formed in the longitudinal direction on the side wall surface portions facing each other between the fixed member 13 and the movable member 14. Reference numeral 16a is a cage. As a result, the fixed member 13 and the movable member 14 can slide relatively stably, which has a structurally strong rigidity and a high sliding precision.

In this linear motion guide member 12, screws 18, 18 inserted from the side wall of the actuator body 3A are tightened in screw holes 17, 17 (see FIG. 5) formed in the fixing member 13. And are fixed to the inner step portions 19 and 19 of the opposing side walls, respectively. Further, by screwing the screws 21 and 21 inserted into the slide shaft 5 into the screw holes 20 and 20 (see FIG. 6) formed in the movable member 14, the slide shaft 5 is moved in the longitudinal direction of the movable member 14. Is fixed. Arms 6 and 6 are provided on the upper surfaces of the slide shafts 5 and 5 with their work gripping surfaces facing each other. A pair of claws 23, 23 for holding the work W can be attached to the arms 6, 6 through the attachment holes 22. Pin holes 24, 24 are formed in the lower surface portions of the slide shafts 5, 5 facing the cam plate 10 side, respectively, and these pin holes 24, 24 are formed in the cam plate 10 as shown in FIG. The protruding pins 11, 11 are engaged with each other via ring bearings 25, 25. FIG. 8 shows a plan view of the chuck device 1 having this structure, and FIG. 9 shows a side view of the device 1. As a result, the oscillating rotary motion of the output shaft 2 of the oscillating actuator 3 is transmitted to the arm opening / closing guide portion 7 via the cam plate 10 of the power conversion transmission portion 4, and the slide shafts 5 and 5 are connected to the linear movement guide member 12. Since the pair of arms 6 and 6 are opened and closed while being parallel to each other by being guided by 12 and reciprocating in a straight line, the work W can be grasped and released freely by the claws 23 and 23 attached to the arms 6 and 6. You can 10 shows a state in which the arms 6 and 6 are open, and FIG. 11 shows a state in which the arms 6 and 6 are closed.

In the chuck device 1 configured as described above, since the slide shaft 5 is attached to the linear motion guide member 12 which is strong in strength and high in slide accuracy, when the gripping force is strong or the work W is heavy, Further, even when the claw 23 attached to the arm 6 is long, no force for deforming the slide shaft 5 is exerted at all, and the workpiece W grasped by the claws 23 of the arms 6 and 6 can be positioned with high accuracy. You can do it. Such a chuck device 1 is used by being attached to a vertical drive cylinder 27 or the like mounted on a horizontal drive slider 26 to which a mounting plate 28 is fixed as shown in FIG.

[0014]

[Effect of the device]

 As described above, according to the present invention, since the linear motion of the pair of slide shafts accompanied by the arms is guided by the linear motion guide members arranged facing each other, a large operation stroke can be taken. As a result, the length of the slide shaft required to suppress the rotational force generated when gripping the work can be sufficiently secured, and the problem of rigidity can be solved. As a result, even if a strong gripping force is required, the work is heavy, or the claw attached to the arm is long, the slide shaft will not be deformed and the work can be positioned with high positioning accuracy. Further, since the linear motion guide member has a small slide resistance, smooth operation can be ensured even when a small gripping force is required. In addition, unlike the conventional method, there is no need for means such as a pressurizing screw to suppress the rattling of the arm, time for adjustment is not required, and there is no variation due to adjustment workers, and products can be supplied stably. There is an advantage that. When assembling, the slide shaft with the arm is screwed to the linear motion guide member, and this linear motion guide member is screwed to the main body of the swing actuator, so that the arm opening / closing guide part of the chuck device can be easily assembled. As a result, the time required for assembling the chuck device can be shortened and the cost of the chuck device can be reduced.

[Brief description of drawings]

FIG. 1 is a perspective view showing a state of use of a chuck device according to the present invention.

FIG. 2 is an exploded perspective view of this chuck device.

FIG. 3 is a perspective view of a linear motion guide member used in the chuck device.

4 is a cross-sectional view taken along the line AA of FIG.

FIG. 5 is a plan view of the linear motion guide member.

FIG. 6 is a rear view of the linear motion guide member.

FIG. 7 is an exploded perspective view showing a swing actuator section and a slide shaft section.

FIG. 8 is a plan view of the chuck device.

FIG. 9 is a side view of the chuck device.

FIG. 10 is a perspective view of the chuck device showing a state in which an arm is opened.

FIG. 11 is a perspective view of the chuck device showing a state in which an arm is closed.

FIG. 12 is a plan view showing a conventional chuck device.

FIG. 13 is a diagram for explaining a problem of the conventional chuck device.

FIG. 14 is a plan view showing another conventional chuck device.

FIG. 15 is a diagram for explaining a defect of a conventional chuck device.

[Explanation of symbols]

 1 chuck device 2 output shaft 3 swing actuator 4 power conversion transmission unit 5 slide shaft 6 arm 7 arm open / close guide unit 8, 9 port 10 cam plate 11 pin 12 linear motion guide member 13 fixed member 14 movable member 15 raceway groove 16 holding Steel ball with device 17,20 Screw hole 23 Claw 24 Pin hole 25 Ring bearing

Claims (2)

[Scope of utility model registration request] 1. A track formed in a longitudinal direction of opposing side wall surfaces where a fixed member and a movable member, both of which are substantially U-shaped in cross section, are fitted to each other so that their bottom surfaces face each other, and where the fixed member and the movable member overlap each other. A plurality of steel balls are interposed in the groove to make the movable member slidable with respect to the fixed member to form a linear motion guide member, and the fixed member side of the linear motion guide member is fixed to the apparatus main body. By arranging a pair of linear motion guide members so as to face each other, and fixing the slide shafts provided with arms in the longitudinal direction of the movable members of these linear motion guide members respectively, and imparting linear motion to each slide shaft. A chuck device characterized in that a pair of arms are guided in parallel by a linear motion guide member while being kept parallel to each other to open and close, and an object is gripped and released by these arms. 2. A cam plate is attached to an output shaft of a swing actuator, and two pins projecting in the axial direction are provided on an outer peripheral portion of the cam plate so as to face each other, and the pins are opened in the slide shaft. The chuck device according to claim 1, wherein each slide shaft is linearly moved by being engaged with each of the holes.