JPH058065Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an oscillating chuck used for gripping a workpiece in an industrial machine such as an industrial robot.

[Prior Art] In Utility Application No. 78398/1987, the inventor of the present invention proposed that the fingers be placed in a parallel state using a pair of pistons that have pressure chambers between them and are arranged concentrically and slidably relative to each other. We proposed a parallel opening/closing chuck that opens and closes while maintaining the

The previously proposed chucks have the advantage that the fingers are driven by a pair of pistons, so the fingers have a large gripping force and are compact. However, since the fingers open and close in parallel, depending on the shape of the workpiece, There is a problem that it is difficult to grasp.

[Problems to be solved by the invention] The invention aims to solve the problem of opening and closing the fingers in a swinging chuck that has a large gripping force and is compact by being driven by a pair of pistons. points.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a swinging chuck in which a pair of fingers swings open and close by a fluid pressure actuator provided in the body.
The above-mentioned fluid pressure actuator has a cylinder provided in the body, and a pressure chamber between the cylinders, and the rod of the inner piston is inserted into the outer piston so that the cylinder can be slid concentrically and relative to each other. The inner end of the base of the pair of fingers is connected to the inner piston by a center pin so as to be able to swing relative to the piston and drive integrally with the piston, and the intermediate part of the base of both fingers is connected to the body. The piston is pivotally mounted, and the base outer ends of both fingers are in contact with the guide portion of the outer piston.

[Operation] When pressure fluid is supplied to the pressure chamber between the pair of pistons, the pair of pistons are driven in opposite directions, and the center pin pivotally connected to one piston drives the inner ends of the fingers of the pair, while the other The piston presses the outer ends of the fingers in contact with the piston in opposite directions, so that the pair of fingers swings in the closing direction about the pivot portion and grips the workpiece.

In this case, since a large force consisting of the sum of the driving forces of the pair of pistons acts on the fingers, the workpiece can be gripped reliably.

In addition, since the pair of pistons are disposed concentrically and slidably relative to each other, the hydraulic actuator that drives the chuck can be made smaller even though the fingers are opened and closed by the driving force of the two pistons. I can do it.

When one piston is driven toward the other piston by discharging the pressure fluid from the pressure chamber, the inner ends of the pair of fingers are driven in the same direction, and the other end of the fingers presses the other piston to move in the opposite direction. drive it. Therefore, the pair of fingers swings in the opening direction about the pivot portion to release the workpiece.

[Embodiment] Figures 1 to 4 show a first embodiment of the present invention, in which a body 1 of this rocking chuck includes a cylinder 2 with one end open and a skirt portion extending on the open side of the cylinder. 3, and grooves 4, 4 are formed in the skirt portion 3 to face each other.

The pair of pistons 6 and 7 that slide inside the cylinder 2 are arranged concentrically and slidably relative to each other by the rod 8 of the piston 6 passing through a through hole formed in the piston 7 in an airtight manner. , the piston 7 has guide parts 9, 9 that slide in the grooves 4, 4 downwardly, and a space between the pistons 6, 7 in the cylinder 2 and near the bottom wall is defined by the pistons 6, 7. Ports 12 and 13 for supplying and discharging pressure fluid to and from the pressure chambers 10 and 11 are opened, respectively.

A pair of fingers 15, 15 loosely fitted into the grooves 4, 4
The intermediate portions of the base portions 15a, 15a are pivotally connected to the skirt portions 3, 3 by finger shafts 16, 16, and the thin overlapping portions 17, 17 formed at the inner ends of the base portions 15a, 15a are overlapped. It is inserted between a pair of support members 8a, 8a extending in the axial direction of the rod 8 (see FIGS. 2 and 4).
(see figure). The overlapping parts 17, 17 have notch grooves 18, 18 that are open on the inside, and the notch grooves 18, 1
8, the center rollers 20, 20 are connected to the center pin 19
The center pin 19 is rotatably supported in contact with the groove wall by the supporting members 8a, 8a.
By being pivotally connected to the rod 8, the overlapping parts 17, 17 can be driven integrally with the rod 8 and are connected to be able to swing relative to each other. In addition, the bases 15a, 15a of the finger
A side roller 22 that comes into contact with the end surface of the guide portions 9, 9 is rotatably attached to the outer end of the roller pin 23 by a roller pin 23.

Reference numeral 25 in FIG. 2 is a mounting hole for attaching a suitable gripping tool (not shown) to the gripping portion 15b of the finger 15.

Next, the operation of the first embodiment will be explained.

FIG. 1 shows a state in which the port 12 communicates with the outside and the piston 6 is lowered in the figure by the pressure fluid supplied from the port 13 to the pressure chamber 11. ,1
7 is lowered from the finger shaft 16, the tips of the fingers 15, 15 are expanded, and the side roller 22 at the outer end of the base is in contact with the guide portion 9 of the piston 7.

When pressure fluid is supplied to the pressure chamber 10 from the port 12 and the fluid in the pressure chamber 11 is discharged to the outside, the piston 6 rises in the figure and the piston 7 descends, so the overlapping parts 17, 17 are pulled up and the finger 15 , 15 are pressed by the descending guide parts 9, 9, and the fingers 15, 15 swing in the closing direction around the finger shaft 16, gripping a desired workpiece 26, and acting on the pistons 6, 7. This state is maintained by fluid pressure (third
(see figure).

In this case, the fingers 15, 15 are swung by the sum of the driving forces of the pistons 6, 7, so they can reliably grip the workpiece with a large gripping force.
Further, since the driving force of the pistons 6, 7 is transmitted to the fingers 15, 15 via the pivot portion and the rotating portion, there is less wear on the contact portions and the life of the chuck can be extended.

When the supply and discharge of pressure fluid to the pressure chambers 10 and 11 is reversed, the overlapping parts 17 and 17 are pushed down by the descending piston 6, so that the fingers 15 and 15
swings in the expansion direction to release the grip on the workpiece 26, and the side rollers 2 in contact with the guide parts 9, 9
2 and 22 press and raise the piston 7, so that the pistons 6 and 7 return to the state shown in FIG.

FIG. 5 shows a second embodiment in which the finger is swung by a single-acting fluid pressure cylinder. Breathing port 32 is open.

Since the other configurations of the second embodiment are the same as those of the first embodiment, the same reference numerals are given in the drawings and detailed explanations will be omitted.

In the second embodiment, the piston 6 moves upward in the figure while compressing the return spring 31 by the pressure fluid supplied to the pressure chamber 10, and when the pressure fluid in the pressure chamber 10 is discharged to the outside, the piston 6 returns. spring 31
Since it is the same as the first embodiment except that it returns by the urging force of , detailed explanation will be omitted.

[Effects of the invention] The rocking chuck of the invention transmits the driving force of a pair of pistons that slide in opposite directions to the fingers through pressure chambers provided between them. Since the fingers are swung with a large force resulting from the sum of the driving forces of the pistons, the workpiece gripping force is large and the workpiece can be stably gripped.

In addition, by arranging a pair of pistons so that they can concentrically slide relative to each other, the fluid pressure actuator can be made smaller and the chuck can be made more compact, even though the gripping force of the workpiece is increased by the two pistons. can do.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal sectional front view of the main part of the first embodiment of the present invention, FIG. 2 is a top side view of the same, FIG. 3 is a longitudinal sectional front view of the main part showing the closed state of the finger, and FIG.
The enlarged sectional view taken along the line A-A in the figure, Fig. 5 is the second part of the present invention.
FIG. 3 is a longitudinal sectional front view of the main part of the embodiment. 2...Cylinder, 6,7...Piston, 10...
...Pressure chamber, 15...Finger, 15a...Base,
17... Polymerization part, 19... Centapin.

Claims (1)

[Claims for Utility Model Registration] In a rocking chuck that swings open and close a pair of fingers by a fluid pressure actuator provided in the body, the fluid pressure actuator is connected to a cylinder provided in the body, and a cylinder provided in the body. It consists of a pair of pistons that have a pressure chamber between them and are arranged so that the rod of the inner piston can be slid concentrically and relatively relative to each other by fitting the rod of the inner piston into the outer piston, and the inner end of the base of the pair of fingers. is connected to the inner piston by a center pin so as to be able to swing relative to the piston and drive integrally with the piston, the intermediate portions of the bases of the two fingers are pivotally connected to the body, and the outer ends of the bases of the fingers are connected to the guide portion of the outer piston. An oscillating chuck that is in contact with each other.