JPH0616691Y2 - Clamp device - Google Patents

Description

[Detailed Description of the Invention] {Industrial application field} The present invention relates to various loaders, such as a loader for holding a part when moving the part for assembly in a product assembly factory. The present invention relates to a clamp device used as a hand part of a robot.

{Prior Art} As a clamp device used as a loader or a hand part of a robot, for example, the one shown in FIG. 12 is known.

In FIG. 12, reference numeral 31 is a drive rack, and teeth 32a and 32b are provided on respective surfaces facing each other. The drive rack 31 is configured to reciprocate in the vertical direction by an air cylinder (not shown) connected to the upper end of the drive rack 31.

33a and 33b are drive pinions engaged with teeth 32a and 32b, and 35a and 35b.
Reference numeral b is a slide rack that meshes with the drive pinions 33a and 33b. These slide racks are configured to be slidable along the guide bar 36, and the slide racks 35a and 35b are provided with holding arms 37a and 37b, respectively.

In this clamp device, when the drive rack 31 is reciprocally moved by an air cylinder, the drive pinions 33a and 33b rotate correspondingly, and the drive pinions 33a and 33b slide.
5a, 35b, along the guide bar 36 in the direction toward each other,
Alternatively, since it slides in a direction away from each other, the holding arms 37a and 37b projecting from the slide racks 35a and 35b hold or separate the parts and other parts.

{Problems to be solved by the invention} In the conventional clamp device, the drive pinions 33a and 33b are engaged with the drive rack 31 and the slide racks 35a and 35b, respectively.
b moves the same distance.

Therefore, it is difficult to change the interval between the holding arms 37a and 37b during clamping and change the size of the article that can be clamped by these.

The present invention is to solve the above problems,
An object of the present invention is to obtain a clamp device capable of holding articles of different sizes.

{Means for Solving the Problems} A clamp device according to a first aspect of the present invention is a drive rack which is reciprocated by a fluid cylinder and provided with teeth on each surface facing each other, and each tooth of the drive rack and the drive rack are close to each other. Direction, and a pair of pinion members that engage with each of a pair of slide racks that slide in a direction away from each other, and a gripping arm is provided in parallel with each slide rack,
The pair of pinion members or the drive rack is slidable in the axial direction of the pinion member, and the sliding of the pinion member or the drive rack releases the engagement between the pinion member and the slide rack or the drive rack and the pinion member. It is characterized by being configured as possible.

A clamp device according to a second aspect of the present invention comprises a drive rack which is reciprocally moved by a fluid cylinder and which has teeth on respective surfaces facing each other; A pair of pinion members that engage with each of the slide racks are provided, and a gripping arm is provided in parallel with each of the slide racks, and the pair of pinion members are individually slidable in the axial direction thereof. With the slide of this pinion member,
It is characterized in that the engagement between the pinion member and the slide rack can be released.

In the clamp device of the third invention, a pair of drive racks, which are reciprocally moved by a fluid cylinder at the same time, are arranged with their respective teeth in parallel and on opposite sides, and these drive racks are close to each other. And a pair of pinion members that engage with a pair of slide racks that slide in a distant direction are provided, and a holding arm is projected in parallel to each slide rack, and the pair of drive racks are provided. Each of them is slidable in the axial direction of the pinion member, and the engagement of the drive rack and the pinion member can be released by sliding the drive rack.

According to a fourth aspect of the present invention, a clamp device is reciprocated by a fluid cylinder and has drive racks provided with teeth on opposite surfaces thereof, and the teeth of the drive rack, and slides in a direction closer to each other and a direction farther from each other. A pair of pinion members that engage with each of the pair of slide racks is provided, and a holding arm is provided in parallel with each slide rack,
The pair of pinion members or the drive rack is slidable in the axial direction of the pinion member, and the sliding of the pinion member or the drive rack releases the engagement between the pinion member and the slide rack or the drive rack and the pinion member. It is characterized in that auxiliary slide means for a slide rack is provided in addition to the pinion member.

As the fluid of the fluid cylinder, either air or oil can be used.

{Action} In this clamp device, the holding and releasing of the article are performed by the rotation of the pinion member accompanying the reciprocating movement of the drive rack due to the operation of the fluid cylinder, sliding the pair of slide racks, and projecting them. The distance between the pair of holding arms is reduced or increased to hold the article between them or release it.

The size of the article held by the pair of holding arms is changed by sliding the pinion member or the drive rack and releasing the engagement between the pinion member and the slide rack or the drive rack and the pinion member.

In the first invention, when the interval between the holding arms in the clamped state is increased, an article having a size corresponding to the interval is clamped. Next, for example, by sliding the pinion member,
The engagement between it and the slide rack is released, and the slide rack cannot be slid by the operation of the fluid cylinder. Then, since the holding arm clamps the article, the piston stopped in the middle of the stroke of the fluid cylinder is moved to the stroke end in the clamping direction, and then the pinion member released from the engagement is engaged with the slide rack, The pair of slide racks are slid in the unclamping direction by the operation of the fluid cylinder.

That is, since the position of the pinion member that engages with the slide rack is changed when the piston is located at the stroke end of the fluid cylinder in the clamping direction, the spacing between the clamping arms in the subsequent clamped state is the size of the clamped article. Will be changed.

When changing the spacing of the holding arms in the clamped state to a smaller value, for example, after setting the holding arms in the clamped state,
Release the engagement between the pinion member and the slide rack. Next, the fluid cylinder is operated in the unclamping direction, the pinion member is engaged with the slide rack, and the fluid cylinder is operated to clamp the small article. Then, the engagement between the pinion member and the slide rack is released again, the piston is moved to the stroke end in the clamp direction, and then the pinion member is engaged with the slide rack.

In the second invention, the pair of pinion members can be slid separately.

To change the spacing of the holding arms during clamping, clamp the article with the holding arm, release the engagement of one pinion member, remove the clamped article, and move the piston to the stroke end in the clamping direction. Slide only one slide rack in the clamping direction. Next, the pinion member whose engagement is released is engaged with the slide rack. Then, make a difference in the distance of each holding arm from the axis of the fluid cylinder,
The distance between the pair of holding arms changes.

It is also possible to slide the pair of pinion members at the same time to change the distance between the holding arms.

A third aspect of the invention is to slide one or both of a pair of drive racks instead of the slidable pinion member of the second aspect.

The fourth invention is different from the first to third inventions in that each slide rack is further provided with auxiliary slide means.

To change the holding arm at the time of clamping, for example, after releasing the engagement between the pinion member and the slide rack, slide one or both of the pair of slide racks by the auxiliary slide means to change the holding arm at the time of clamping. Adjust the spacing. Next, the engagement of the pinion member whose engagement has been released is restored.

{Embodiment} An embodiment of the clamp device of the present invention will be described with reference to FIGS.

In FIGS. 1 to 8, reference numeral 1 denotes a hollow housing having an air cylinder 2 at its end and air circulation holes 3a, 3b at its both ends. 4 is a piston, the drive rod 5 of which is inserted into the housing 1. Reference numeral 6 denotes a drive rack fixed to the drive rod 5, and the projecting walls 7a and 7b projecting on the respective surfaces facing each other and the projecting walls 8a and 8b projecting parallel to these, respectively, Teeth 7c, 7d, 8c, 8d are formed. (See Fig. 3) 9a and 9b are drive pinions that mesh with 7c and 7d, 10a and 10b are teeth 8c,
8d is a drive pinion that meshes with the driven pinion 11a between the drive pinions 9a and 10a, and the driven pinion 11b is coaxially provided integrally between the drive pinions 9b and 10b to form the pinion members 13a and 13b. . Then, the drive pinions 9a, 9b, the drive pinions 10a, 10b and the driven pinions 11a,
11b is formed with a difference in each pitch circle diameter.

Therefore, the drive pinions 9a, 9b and the drive pinions 10a, 10b
The heights of the projecting walls 7a and 7b and the projecting walls 8a and 8b are different according to the difference in pitch circle diameter. And the projecting walls 7a, 7b and the projecting wall 8a,
Since the drive pinions 9a, 9b and the drive pinions 10a, 10b are spaced from each other so that they can be engaged with each other, as shown in FIG.
When b meshes with teeth 7c, 7d, drive pinions 10a, 10b engage teeth 8c,
Separate from 8d.

Reference numerals 12a, 12b are shafts mounted on the housing 1 so as to be slidable in the axial direction, and the drive pinions 9a, 9b,
10a, 10b and driven pinions 11a, 11b are mounted so as not to slide in the axial direction. 14 is a bearing.

Reference numerals 15a, 15b and 15c are recessed grooves provided at intervals in the shafts 12a and 12b (see FIG. 3), and 16 is provided in the housing 1 so as to be embedded in the recessed groove 15a of the shaft 12a. A lock ball (see FIG. 2) biases the spring 17 toward the recess 15a. Although illustration is omitted, the lock ball 16 is also provided on the shaft 12b.

Reference numeral 18 is a connecting rod that connects the ends of the shafts 12a and 12b to each other. Reference numeral 19 is a lever having an intermediate portion attached to the connecting rod 18, and a bracket 20 having an end portion projecting from the housing 1.
(See FIG. 2), the shafts 12a and 12b slide simultaneously when the lever 19 is operated.

The shafts 12a and 12b can be slid separately as shown in FIG.

Reference numerals 21a and 21b are slide racks that mesh with the driven pinions 11a and 11b, which are slidably attached to a guide bar 22 (see FIG. 1) provided on the housing 1 and follow the rotation of the driven pinions 11a and 11b. It is configured to slide. Then, the slide racks 21a, 21b have two rows of teeth 22a, 22b, 22c, 22d (third row) at intervals.
(See the figure) and between these teeth 22a, 22b and the teeth 22
Neutral part 23a, 23b formed in each of c and 22d
By driven pinions 11a, 11b and slide racks 21a, 2
It is configured so that the engagement with 1b can be released.

Reference numerals 24a and 24b are holding arms that are provided so as to project in parallel from the slide racks 21a and 21b.

The ends of 25a and 25b are fixed to the slide racks 21a and 21b,
Projecting plates as auxiliary slide means projecting from the outside of the housing 1, and the outer surfaces of both ends of the housing 1 are used as reference surfaces.
Scales 27a and 27b (see FIG. 3) are provided as 26a and 26b so that the distance by which the slide racks 21a and 21b are slid by the projecting plates 25a and 25b can be determined. 28 is an article to be held.

This clamp device is configured as described above. For example, as shown in FIG. 5, when the piston 4 moves from the solid line to the position indicated by the chain line and the drive rack 6 also rises, the drive pinions 9a and 9b meshing with the teeth 7c and 7d rotate,
The driven pinions 11a and 11b are rotated in the clamp direction.

Therefore, the slide racks 21a and 21b engaged with the driven pinions 11a and 11b slide in the direction from the solid line to the chain line, and the held arms are clamped by the holding arms 24a and 24b.

Next, when the piston 4 descends from the chain line to the solid line position,
Since the drive pinions 9a, 9b and the driven pinions 11a, 11b rotate in the opposite direction to the above case and slide the slide racks 21a, 21b in the direction in which they are separated from each other, the holding arms 24a, 24b release the held object. is there.

Then, change each moving distance of the holding arms 24a, 24b,
When changing the size of the object to be held that is held by the holding arms 24a and 24b, operate the lever 19 to move the shafts 12a and 12b.
Slide to the right in Fig. 3 and lock the ball
The shafts 12a and 12b are fixed by engaging the groove 15c with the groove 16. Then, the drive pinions 9a, 9b shown in FIG. 5 are separated from the teeth 7c, 7d of the drive rack 6, and the drive pinions 10a, 10b are moved by the teeth 8c, 8d of the drive rack 6, as shown in FIG. Mesh with.

When the piston 4 (not shown) is raised in the state shown in FIG. 6, the drive rack 6 rotates the drive pinions 10a, 10b, and the pitch circle diameters of the drive pinions 10a, 10b are shown in FIG. It is larger than the pitch circle diameter of the drive pinions 9a, 9b.

Therefore, the driven pinions 11a, 11 shown by the arrows in FIG.
The rotation angle of b is the driven pinion 11a, 1 shown by the arrow in FIG.
It is smaller than the rotation angle of 1b. Therefore, the holding arm 24
Since the moving distances of a and 24b become smaller, the held object to be clamped by these becomes larger than in the case of FIG. 5 corresponding to the difference in the pitch circle diameters.

In the clamp device of this embodiment, the gap between the holding arms 24a and 24b in the clamped state can be changed by changing the slide positions thereof.

For example, as shown by the solid line in FIG. 7, the drive pinion 9
From the state where a, 9b meshes with the drive rack 6, the holding arms 24a, 24b reciprocate at the slide position a ₁ shown by the solid line, and the holding arms 24a, 24b are clamped at a distance a.
When changing the distance a to the distance b, as shown by a chain line, the held article 28 having a size corresponding to the distance b is clamped by the holding arms 24a and 24b. At this time, the piston 4 is stopped during the stroke of the air cylinder 2, as indicated by the chain line.

Next, in FIG. 3, the shafts 12a and 12b are slid to the right, and the groove 15b is engaged with the lock ball 16. Then, the driven pinions 11a, 11b are separated from the teeth 22a, 22c of the slide racks 21a, 21b and are located in the neutral portions 23a, 23b, and the engagement between the drive pinions 9a, 9b, 10a, 10b and the drive rack 6 is also made. Since it is released, the slide racks 21a and 21b do not move even if the air cylinder 2 operates.

In this state, move the piston 4 shown by the chain line in FIG. 7 to the position of the piston 4 shown by the solid line, and then move the shaft 12
Slide a and 12b to the left in FIG. 3 to engage the driven pinions 11a and 11b with the teeth 22a and 22c of the slide racks 21a and 21b and the drive pinions 9a and 9b with the drive rack 6, respectively.

Then, the solid-line piston 4 in FIG. 7 slides the holding arms 24a, 24b at the positions shown by the chain lines in the direction of unclamping, so that thereafter, the holding arms 24a, 24b move at the sliding positions shown by the chain lines. It reciprocates with b ₁ and holds the holding arm 24a,
The interval during clamping of 24b is increased to b.

Conversely, when changing the clamping interval of the holding arms 24a, 24b from b to a, the holding arms 24a, 24b are reversed.
Move the others from the chain line to the position of the solid line. (First Invention) As shown in FIG. 4, also when the shafts 12a and 12b are individually slid, the holding arms 24a and 24b are similarly moved as described above.
You can change the slide position of.

Further, when the shafts 12a and 12b shown in FIG. 4 are slid separately, it is possible to change only one of the sliding positions of the holding arms 24a and 24b.

That is, as shown by the solid line and the chain line in FIG. 8, in the operation of FIG. 7, for example, by sliding only the shaft 12a in FIG. 4, the driven pinion 11a slide rack 2
Separated from teeth 22a of 1a and located on Neutram 23a.
Then, the driven pinion 11b is engaged with the slide rack 21b.

Then, only the solid line slide position a ₁ of the holding arm 24a is changed to the chain line slide position b ₁ , and the holding arm 24a
The clamp interval of a and 24b is changed from a to b.

Therefore, even if the clamp portion of the held object is eccentric, it can be clamped smoothly. (Second Invention) In the embodiment shown in FIGS. 1 to 8, the pinion members 13a and 13b are slid by the shafts 12a and 12b.
Instead of sliding a and 13b, the drive rack 6 can be slid as in another embodiment shown in FIGS.

9 to 10 show an embodiment of a main part, in which the drive rod 5 and the drive rack 6 are separately formed, and a rod-shaped guide member 29 is fixed to the end portion of the drive rod 5, and the guide member 29 is attached to the guide member 29. The provided dovetail 29a is provided with a dovetail groove 29b formed at the end of the drive rack 6.
Has been inserted into. Then, the drive rack 6 is provided with a sliding means (not shown) such as the shafts 12a and 12b.
Is provided. (First Invention) In this embodiment, it is not necessary to provide the teeth 22b and 22d of the slide racks 21a and 21b and the neutral portions 23a and 23b.

FIG. 11 shows a main part of another embodiment. A rod-shaped guide member 29 is fixed to the end of the drive rod 5, and two rows of dovetails 29a, 29a provided on the guide member 29 are The drive racks 6a, 6b are inserted into dovetail grooves 29b, 29b. Then, the drive racks 6a, 6b are provided with slide means (not shown) such as the shafts 12a, 12b for individually sliding the drive racks 6a, 6b.

In this embodiment, as shown in FIGS.
When changing the slide position of 24a, 24b, pinion member 1
Instead of sliding the 3a and 13b, the drive racks 6a and 6b are slid to release the engagement between these and the pinion members 13a and 13b. (Third Invention) In each of the above embodiments, the clamp interval shown in FIGS. 7 to 8 can be changed without operating the air cylinder 2.

That is, when the clamp interval is changed as shown in FIGS. 7 to 8, in each of the embodiments shown in FIGS.
Either or both of the pinion members 13a, 13b or the drive racks 6a, 6b are slid, or the slide of the drive rack 6 disables the movement of both or one of the slide racks 21a, 21b by the air cylinder 2.

Then, the slide racks 21a, 21b are directly slid on either or both of the projecting plates 25a, 25b to change the distance between the holding arms 24a, 24b. The slide distance of the slide racks 21a and 21b is the scale of the protruding plates 25a and 25b.
Check with 27a, 27b and the reference surfaces 26a, 26b of the housing 1.
(Fourth Invention) {Effect of the Invention} As described above, the clamp device of the present invention slides the pinion member or the drive rack to release the engagement between the pinion member and the slide rack or the drive rack and the pinion member. Makes it possible.

Therefore, the pinion member and slide rack, or the drive rack and pinion member can be disengaged from each other by clamping the article of the required size between the pair of slide rack holding arms before operating the fluid cylinder. Since it is possible to change the slide position of the slide rack to change the interval when the holding arms are clamped, it is possible to clamp an article of almost any size.

Then, if one of the pair of pinion members or the drive rack is made a pair and one of them is slid, only the slide position of the one slide rack can be changed to change the interval at the time of clamping the holding arm. because there is,
It is also easy to smoothly clamp an eccentric clamp part.

Furthermore, by providing auxiliary slide means on the slide rack,
If it is used, the slide racks can be slid directly and their slide positions can be changed. Therefore, it is easy to arbitrarily set the spacing of the holding arms, and it is possible to set almost any size. It is possible to reliably clamp a shaped article.

[Brief description of drawings]

1 to 8 show an embodiment of the present invention, FIG. 1 is a sectional front view, FIG. 2 is a side view in which a part is cross-sectioned, FIG. 3 is a sectional plan view of an essential part, and FIG. FIG. 5 is a sectional plan view of the embodiment, FIG. 5 and FIG. 6 are explanatory views of the moving state of the holding arm, FIG. 7 and FIG. 8 are explanatory views of the sliding position change of the holding arm, and FIGS. FIG. 9 is a side view, FIG. 10 is a perspective view of a drive rack, FIG. 11 is a side view of a main part of another embodiment, and FIG. 12 is a main part of another embodiment. It is a perspective view. 2: Air cylinder, 4: Piston, 6: Drive rack, 13
a, 13b: Pinion member, 21a, 21b: Slide rack, 22a,
22b, 22c, 22d: teeth, 23a, 23b: neutral part, 24a, 24
b: Holding arm, 25a, 25b: Projecting plate.

Claims (4)

[Scope of utility model registration request] 1. A drive rack which is reciprocally moved by a fluid cylinder and which has teeth on each surface facing each other, each tooth of the drive rack, and a pair of slides which slide in a direction closer to each other and a direction farther from each other. A pair of pinion members that engage with each of the racks are provided, and a holding arm is provided in parallel with each of the slide racks so that the pair of pinion members or the drive rack can slide in the axial direction of the pinion members. A clamp device configured such that the engagement between the pinion member and the slide rack or the engagement between the drive rack and the pinion member can be released by the slide of the pinion member or the drive rack. 2. A drive rack which is reciprocally moved by a fluid cylinder and which has teeth on respective surfaces facing each other, and each drive rack,
And, a pair of pinion members that engage with a pair of slide racks that slide in a direction closer to each other and a direction farther from each other are provided, and a holding arm is projected in parallel to each slide rack, and the pair of pinion members are provided in parallel with each other. A clamping device configured such that each pinion member is slidable in its axial direction, and that the sliding of the pinion member can release the engagement between the pinion member and the slide rack. 3. A pair of drive racks, which are reciprocally moved simultaneously by a fluid cylinder, are arranged with their respective teeth parallel and opposite to each other. A pair of pinion members that engage with each of a pair of slide racks that slide in the distant direction are provided, and a holding arm projects in parallel with each of the slide racks, and the pair of drive racks individually has a pinion. A clamp device configured to be slidable in the axial direction of a member and capable of releasing the engagement between the drive rack and the pinion member by sliding the drive rack. 4. A drive rack which is reciprocally moved by a fluid cylinder and which has teeth on each surface facing each other, each tooth of the drive rack, and a pair of slides which slide in a direction closer to each other and a direction farther from each other. A pair of pinion members that engage with each of the racks are provided, and a holding arm is provided in parallel with each of the slide racks so that the pair of pinion members or the drive rack can slide in the axial direction of the pinion members. In addition, with this slide of the pinion member or the drive rack, the engagement between the pinion member and the slide rack, or the engagement between the drive rack and the pinion member can be released, and in addition to the pinion member, auxiliary slide means of the slide rack is provided. Clamp device provided.