JPH0560785U - Parallel hand device - Google Patents

Abstract

(57) [Abstract] [Purpose] In a parallel hand device, a gripped work is released in a centered state to improve centripetality when the work is released. A parallel hand device that closes a work with the first hand part by closing the first hand part after stopping it at a reference position by closing the first hand part. Therefore, a delay mechanism 20 that delays the closing time of the second hand unit from the closing time of the first hand unit is provided.
0 has a variable structure of the orifices of the third and fourth supply / discharge ports 7c, 7d communicating with the third cylinder chamber 5c, and this variable structure has a structure of a combination of a needle valve 14 and a check valve 15. ..

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a parallel hand device, and particularly to a technique effectively applied to a structure for holding a work in a centered state.

[0002]

[Prior Art]

 Examples of parallel hand devices of this type include those disclosed in Japanese Utility Model Publication No. 63-103933 and Japanese Utility Model Publication No. 59-74079.

That is, in each of the parallel hand devices, the pair of cylinders have different diameters, the pistons are housed in the respective cylinders, and air of the same pressure is supplied to the cylinders to move the piston on the large diameter side first. Then, the hand part connected to this piston is stopped at the reference position by the operation of the stopper, and then the work is gripped in the centering state with the other hand part that closes, and the pair of hands are returned by the restoring force of the compression spring. It opens the part.

[0004]

[Problems to be solved by the device]

 However, in all of the structures of the parallel hand device described above, the hand part is opened by the restoring force of the compression spring, so if the hand part connected to the piston on the large diameter side opens first, the other hand There is a problem in that the work is pushed by the part, the center is displaced on the stopper side, and the centripetality is lowered.

An object of the present invention is to provide a parallel hand device capable of eliminating the misalignment of the work that occurs when the work is released and improving the centripetal property when the work is released.

The above and other objects and novel features of the present invention will be apparent from the description of the present specification and the accompanying drawings.

[0007]

[Mechanism for Solving the Problems] The outline of a typical one of the inventions disclosed in the present application will be briefly described as follows.

That is, the parallel hand device of the present invention includes the first and second fluid pressure cylinder parts for closing the first hand part before closing the second hand part, and the first hand part as a reference position. And a stopper for stopping the work, the first hand part is closed to stop at the reference position, and then the second hand part is closed to align the work with the first hand part. The parallel hand device gripping the first hand part has a delay mechanism that delays the closing time of the second hand part more than the closing motion of the first hand part.

In this case, the delay mechanism has a variable structure of the orifice of the supply / discharge port of the second fluid pressure cylinder part, and this variable structure of the orifice is a structure of a combination of a needle valve and a check valve. is there.

[0010]

[Action]

 According to the parallel hand device of the present invention described above, the structure is provided with the delay mechanism that delays the closing time of the second hand part than the closing motion of the first hand part. When disengaged, the second hand portion can be opened and then the first hand portion can be opened.

Therefore, it is possible to eliminate the misalignment of the work that occurs when the work is detached, and improve the centripetal property when the work is detached.

In this case, the delay mechanism has a variable structure of the orifice of the supply / discharge port of the second fluid pressure cylinder portion, and the variable structure of the orifice is a structure of a combination of a needle valve and a check valve. The simple structure can reduce the cost.

[0013]

1 is a front view showing a parallel hand device according to an embodiment of the present invention, FIG. 2 is a sectional view taken along line II-II of FIG. 1, and FIG. 3 is an enlarged sectional view taken along line III-III of FIG. 4 is a plan view showing the parallel hand device of FIG. 1, FIG. 5 is an enlarged cross-sectional view taken along line VV of FIG. 4, FIG. 6 is a bottom view of the parallel hand device of FIG. 1, and FIG. 7 is a parallel hand of FIG. It is a rear view which shows an apparatus.

The parallel hand device in this embodiment includes first and second pneumatic cylinder parts (fluid pressure cylinder parts) 1a and 1b facing each other.

That is, the shaft hole 3 common to the apparatus main body 2 is formed, and the cylinder chamber 5 is formed by the shaft hole 3 and the first and second rod covers 4a and 4b that cover both open end portions thereof. Has been. First and second pistons 6a and 6b are slidably installed in the cylinder chamber 5 and face each other.

The cylinder chamber 5 is partitioned into first to third cylinder chambers 5a to 5c by the first and second pistons 6a and 6b, and the first cylinder chamber 5a is divided into the first supply / discharge port 7a. The second cylinder chamber 5b communicates with the second supply / discharge port 7b, and the third cylinder chamber 5c communicates with the third and fourth supply / discharge ports 7c, 7d, respectively. The other supply / discharge ports 7a, 7c, 7d other than the port 7b communicate with each other via the flow path 13.

The first and second piston rods 8a and 8b fixed to the first and second pistons 6a and 6b extend in directions opposite to each other and penetrate the first and second rod covers 4a and 4b. Then, first and second hand portions 10a and 10b are attached to the rod-side end portions, and female screw portions 9 for attaching the not-shown claw portions by screwing to the first and second hand portions 10a and 10b, respectively. Are formed.

Further, a fitting portion 11 is formed on the apparatus main body 2, and the parallel hand device is attached to the robot arm via the fitting portion 11.

By the way, in the above-mentioned configuration, the first hand portion 10a is closed to stop at the reference position, and then the second hand portion 10b is closed to move the work with the first hand portion 10a. The structure is such that it is held in the extended state.

That is, the second piston rod 8b has a larger diameter than the first piston rod 8a. This makes the pressure receiving area of the first piston 6a larger than that of the second piston 6b, and makes the moving force of the first piston rod 8a in the closing direction larger than that of the second piston rod 8b. This is because.

A stopper bolt 12 is screwed to the side of the first hand portion 10a, and the stopper bolt 12 has a function of stopping the first hand portion 10a at a reference position and adjusting the reference position. There is.

The present embodiment is characterized in that a delay mechanism 20 that delays the closing time of the second hand part 10b compared to the closing time of the first hand part 10a is provided.

That is, the first supply / discharge port 7a has an orifice having a fixed structure, and the orifices of the third and fourth supply / discharge ports 7c, 7d have a variable structure. A check valve 15 is provided in the third supply / discharge port 7c, and the check valve 15 has a valve body 15a that maximizes the orifice when exhausting and zeros the orifice when supplying air. A needle valve 14 is provided at the port 7d, and the needle valve 14 has a needle valve body 14a for adjusting an orifice.

Reference numeral 16 is a magnet, 17a and 17b are first and second position sensors, 18 is a linear guide mechanism, and 19a and 19b are first and second side covers.

Next, the operation of this embodiment will be described.

FIG. 8 is an explanatory diagram showing the operation of the parallel hand device of FIG.

In the above configuration, when gripping a work, the second piston rod 8b has a diameter larger than that of the first piston rod 8a, so that the pressure receiving area of the first piston 6a is equal to that of the second piston rod 8a. It is larger than the pressure receiving area of 6b, and the moving force of the first piston rod 8a in the closing direction is larger than that of the second piston rod 8b.

Therefore, the first hand portion 10a first closes, hits the stopper bolt 12 and stops at the reference position, and the work is centered.

After that, the second hand portion 10b is closed, and the work in the centered state is gripped by the first hand portion 10a.

At this time, since the second hand portion 10b grips with a gripping force smaller than that of the first hand portion 10a, the centered work is not moved to the first hand portion 10a side.

When the workpiece in the gripped state is released, the air is supplied into the second cylinder chamber 5b and the air is exhausted from the first and third cylinder chambers 5a and 5c. The air in 5c is discharged at a large flow rate through the needle valve 14 and the check valve 15, and the air in the first cylinder chamber 5a is discharged at a small flow rate from the first supply / discharge port 7a.

As a result, the second hand unit 10b first opens and separates from the work in the centered state, and then the first hand unit 10a opens and separates from the work in the centered state.

Therefore, it is possible to eliminate the misalignment of the work that occurs when the work is released, and improve the centripetal property when the work is released.

Further, the delay mechanism 20 has a variable structure of the orifices of the third and fourth supply / discharge ports 7c and 7d communicating with the third cylinder chamber 5c, and this variable structure includes a needle valve 14 and a check valve 15. Since the structure is composed of the combination of, the cost can be reduced with a simple structure.

Although the invention made by the present inventor has been specifically described based on the embodiments, the present invention is not limited to the above-mentioned embodiments, and various modifications can be made without departing from the scope of the invention. Needless to say.

For example, in the above-described embodiment, the first and second piston rods are different from each other as the first and second pneumatic cylinder portions that close the first hand portion before the second hand portion. Although the case where the diameter is set has been described, the present invention is not limited to this, and large and small air pressures can be supplied to the first and second cylinder chambers by the pressure reducing valve.

Further, in the above-described embodiment, the first and second piston rods are different from each other as the first and second pneumatic cylinder portions for closing the first hand portion before closing the second hand portion. Although the case of using the diameter has been described, the present invention is not limited to this, and the first and second pistons can have different diameters.

Further, in the above-described embodiment, the case where the first and second pneumatic cylinder parts are opposed to each other by sharing the second cylinder chamber has been described, but the present invention is not limited to this, and the first and second pneumatic cylinder parts are not limited to this. The pneumatic cylinders of can be installed separately in a staggered manner.

Further, in the above-described embodiment, the case where the delay mechanism has the variable structure of the orifices of the third and fourth supply / discharge ports has been described, but the present invention is not limited to this, and the third and fourth supply / discharge ports are provided. By providing the solenoid valve for the port and delaying the opening time of this solenoid valve, the closing time of the first hand portion can be delayed more than the closing time of the second hand portion.

In the above description, the case where the invention made by the present inventor is mainly applied to the parallel hand device that operates by air pressure, which is the field of use of the invention, is not limited to this, and the parallel hand device that operates by hydraulic pressure is not limited to this. It can also be applied to devices.

[0041]

[Effect of the device]

 The effects obtained by the typical ones of the inventions disclosed in the present application will be briefly described as follows.

(1). Since the structure is provided with a delay mechanism that delays the closing time of the second hand part from the closing time of the first hand part, when the work in the gripping state is released, The second hand portion can be opened and then the first hand portion can be opened.

(2) By the effect of the above (1), it is possible to eliminate the deviation that occurs when the work is separated, and improve the centripetal property when the work is separated.

(3) In the case of the above (1), the delay mechanism is composed of a variable structure of the orifices of the supply and discharge ports of the first and second fluid pressure cylinder parts, and the variable structure of the orifice is a needle structure. Since the structure is composed of the combination of the valve and the check valve, the cost can be reduced by the simple structure.

[Brief description of drawings]

FIG. 1 is a front view showing a parallel hand device according to an embodiment of the present invention.

FIG. 2 is a sectional view taken along line II-II in FIG.

FIG. 3 is an enlarged sectional view taken along line III-III in FIG.

FIG. 4 is a plan view showing the parallel hand device of FIG. 1.

5 is an enlarged sectional view taken along line VV of FIG.

FIG. 6 is a bottom view showing the parallel hand device of FIG. 1.

7 is a rear view showing the parallel hand device of FIG. 1. FIG.

FIG. 8 is an explanatory diagram showing an operation of the parallel hand device of FIG. 1.

[Explanation of symbols]

1a 1st pneumatic cylinder part (1st fluid pressure cylinder part) 1b 2nd pneumatic cylinder part (2nd fluid pressure cylinder part) 2 Device main body 3 Shaft hole 4a 1st rod cover 4b 2nd rod cover 5 Cylinder chamber 5a 1st cylinder chamber 5b 2nd cylinder chamber 5c 3rd cylinder chamber 6a 1st piston 6b 2nd piston 7a 1st supply / discharge port 7b 2nd supply / discharge port 7c 3rd supply Exhaust port 7d Fourth supply / exhaust port 8a First piston rod 8b Second piston rod 9 Female thread portion 10a First hand portion 10b Second hand portion 11 Fitting portion 12 Stopper bolt 13 Flow path 14 Needle valve 14a Needle valve body 15 Check valve 15a Valve body 16 Magnet 17a First position sensor 17b Second position sensor 18 Linear guide mechanism 19 a first side cover 19b second side cover 20 delay mechanism

Claims (3)

[Scope of utility model registration request] 1. A first and a second fluid pressure cylinder part for closing the first hand part before closing the second hand part,
A stopper for stopping the first hand portion at the reference position, closing the first hand portion to stop at the reference position, and then closing the second hand portion for closing the first hand. A parallel hand device for gripping a workpiece in a centered state with a part, wherein a delay mechanism for delaying the closing time of the second hand part compared to the closing motion of the first hand part is provided. Parallel hand device. 2. The parallel hand device according to claim 1, wherein the delay mechanism has a variable structure of an orifice in a supply / discharge port of the second fluid pressure cylinder portion. 3. The parallel hand device according to claim 2, wherein the variable structure of the orifice comprises a combination of a needle valve and a check valve.