JPH0680583U - Parallel open / close chuck - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a parallel opening / closing chuck capable of stably gripping a work. [Structure] A fluid pressure actuator 7 having a pressure chamber 10 between a pair of pistons 4, 5, three fingers 23, ... Arranged at substantially equal intervals in the circumferential direction of the body 1, and a pin 25. Each of the swinging members 2 is provided with three swinging members 24 pivotally attached to a fixed portion (adapter 18) of the chuck.
The outer radial tip of 4 abuts on the enlarged diameter portion 5a of the piston 5, the inner tip of the rod 4 on the swing locking portion 15 and the lower tip of the swing locking portion on the upper surface of each finger. 23a, respectively, so as to be swingable. [Effect] Since the three fingers are driven toward the center of the body, the gripping posture of the work is stable, and the work can be gripped substantially concentrically with the body.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a parallel opening / closing chuck used for gripping a work in an industrial machine such as a robot.

[0002]

[Prior art]

 A hydraulic actuator having a cylinder and a pair of pistons arranged concentrically and relatively movably, and a pair of fingers arranged to face each other in the radial direction are provided, and the driving force of the hydraulic actuator is transmitted by a power transmission mechanism. A parallel opening / closing chuck that transmits to the fingers and opens / closes these fingers in a parallel state is already known (for example, see Japanese Utility Model Laid-Open No. 63-186587). The above-mentioned known parallel opening and closing chuck has an advantage that the gripping force of the workpiece by the fingers is large because the fingers are driven by the fluid pressure actuator having a pair of pistons. Since the fingers grip the work, the gripping posture of the work tends to be unstable, and it may be difficult to grip the work concentrically with the chuck.

[0003]

[Problems to be solved by the device]

 The problem to be solved by the present invention is to provide a parallel opening / closing chuck capable of stably gripping a work.

[0004]

[Means for Solving the Problems]

 In order to solve the above-mentioned problems, the parallel opening / closing chuck of the present invention has a fluid pressure actuator provided in a body, a cylinder formed in the body, and a pressure chamber in the cylinder, and a pressure chamber inside the cylinder. It is composed of a pair of pistons that are concentrically and slidably arranged by fitting the rod to the outer piston, and the driving force of the fluid pressure actuator is transmitted to the finger by the power transmission mechanism, and the finger is A parallel opening / closing chuck for opening / closing in a radial direction of the body while maintaining a parallel state, wherein the parallel opening / closing chuck includes three fingers arranged at substantially equal distances from a center and at substantially equal angles in a circumferential direction, The power transmission mechanism includes three swing members pivotally mounted on a pin attached to the fixed portion of the chuck so as to swing outside of each swing member. Of the rocker engages the outer piston, the inner tip of the rocker locks on the outer peripheral surface of the rod, and the axial tip of the rocker locks on the upper surface of each finger. It is characterized in that the stoppers are respectively swingably locked.

[0005]

[Action]

 When pressure fluid is supplied to the pressure chamber between the pair of pistons, the outer piston presses the radial outer ends of the three rocking members, and the rocking lock portion provided on the rod of the inner piston Since the inner tip of the swinging member is moved in the opposite direction, all three swinging members swing about the pin and move in the axial direction that is locked to the swinging lock portion of each finger. The three fingers move in the closing direction by the tip to grip a work (not shown). In this case, since a large force, which is the sum of the driving forces of the pistons, acts on each of the rocking members that drive the three fingers in pairs, the gripping force of the fingers is increased and the workpiece is securely gripped. You can

Further, since the three fingers are arranged at substantially the same distance from the center of the chuck and at substantially the same angle in the circumferential direction, these fingers are driven toward the center of the chuck. The gripping posture of the work is stable, and the work can be gripped almost concentrically with the chuck. Further, since the rocking members that drive these fingers are pivotally attached to the fixed portion of the chuck, the fingers can be surely moved by the same distance as compared with the case where the pivoting portion of the rocking member moves together with the fingers. As a result, the work can be gripped almost concentrically with the chuck.

[0007]

【Example】

 The drawings show an embodiment of the present invention. The body 1 of this three-jaw parallel opening / closing chuck is provided with a cylinder 3 concentric with the body 1 closed at one end by an end cover 2, and slides in the cylinder 3. The pistons 4 and 5 are concentrically and movable relative to each other by the rod 6 of the inner piston 4 penetrating the through hole of the outer piston 5 airtightly. The fluid pressure actuator 7 is constituted by. In addition, supply / discharge ports 11 and 12 for supplying / discharging compressed air to / from the pressure chamber 9 between the piston 4 and the end cover 2 and the pressure chamber 10 between the pistons 4 and 5 are provided on the plane portion 1a formed on the body 1. (See FIG. 3), mounting grooves 13, 13 for mounting position detection switches (not shown) for detecting the positions of the pistons 4 and 5 are formed in the other flat surface portions 1b, 1b (FIG. 5). reference). Further, a swinging locking portion 15 in the circumferential direction is formed on the outer peripheral surface of an extension rod 14 which is screwed to the lower end of the rod 6 and which constitutes an extension portion of the rod 6. The enlarged diameter portion 5a located below is integrally formed.

On the opening side of the cylinder 3 in the body 1, there are provided a cover 17 having an opening through which the outer piston 5 passes, a cylindrical adapter 18, and a finger sliding portion 19 on which a finger described later slides. , And mounting bolts 20, ..., 21 (see FIGS. 3 and 4). The finger sliding portion 19 is provided with three finger sliding grooves 22 formed in a substantially T-shape in a radial direction in a side view, and these finger sliding grooves 22 ,. The three fingers 23 of the same shape, which are slidably inserted, have gripping surfaces of the work located at substantially the same distance from the axis of the body 1. Each swing member 24 for opening and closing the fingers 23, ... Has a swing side 24a and a drive side 24b that is substantially orthogonal to the swing side 24a, and is formed in a substantially T shape. At the intersection of the sides, both ends are pivotally attached by pins 25 attached to the adapter 18 so as to be swingable. The roller 26, which is rotatably supported on the outside of the swing side 24a, comes into contact with the enlarged diameter portion 5a of the piston 5, and the inner end enlarged portion is the swing locking portion of the extension rod 14. An enlarged tip portion of the driving side 24b, which swingably engages with the finger 15, and passes through the radial groove 27 formed in the finger sliding portion 19, swings with the swing engaging portion 23a formed on the upper surface of the finger 23. Locked as possible.

Reference numeral 30 in FIG. 4 is an end cover that closes the lower opening of the finger sliding portion 19, and reference numerals 31 and 31 in FIG. 5 are captive screws that are screwed to the adapter 18 and that prevent the pin 25 from coming off. Is.

In the above-described embodiment, in the state shown in the left side of FIG. 1 in which compressed air is supplied to the pressure chamber 9, the pistons 4 and 5 approach each other, and the swing side 24 a of each swing member 24 moves. The inside is inclined downward, and the fingers 23, ... Are open. When the compressed air in the pressure chamber 9 is discharged and the compressed air is supplied to the pressure chamber 10, the piston 4 moves upward and the piston 5 moves downward in the figure, whereby each swing member 24 swings about the pin 25. As shown in the right side of FIG. 1, each finger 23 slides toward the center of the body 1 and grips a work (not shown).

Since these fingers 23, ... Slide in the closing direction due to the sum of the driving forces of the pistons 4 and 5, the pressure receiving area by the rod 6 is larger than that in the case of sliding by one piston. Since it is possible to compensate for this loss, the gripping force of the work can be increased. Further, since the three fingers 23, ... Arranged at substantially equal angles in the circumferential direction are driven toward the center of the body 1 to grip the work, the gripping posture of the work is stable, and the body 1 is stable. Can be gripped almost concentrically with. Further, since the pins 25, ..., Which swing the swinging members 24, ... Are attached to the adapter 18, which is a fixed portion, the centering of the three swinging members 24 ,. This also allows the work to be gripped almost concentrically with the body 1.

[0012]

[Effect of device]

 In the parallel open / close chuck of the present invention, three fingers are arranged at substantially equal angles in the circumferential direction, and all these fingers are driven toward the center of the chuck, so that the fingers hold the workpiece in a posture. It is stable and can be gripped almost concentrically with the body. Also, since the pin on which the swing member is pivotally attached is attached to the fixed part of the chuck, the swing center of the swing member for driving the finger does not move. Reliable centering.

[Brief description of drawings]

FIG. 1 is a vertical sectional view of an example.

FIG. 2 is a front view of the same.

FIG. 3 is a plan view of the same.

FIG. 4 is a rear view of the same.

5 is a side view in the direction of arrow A in FIG.

[Explanation of symbols]

 1 Body 2 Cylinder 4,5 Piston 6 Rod 9 and 10 Pressure Chamber 15 and 23a Swing Locking Part 23 Finger 24 Swing Member 25 Pin

Continued Front Page (72) Koichiro Ishibashi, 4-2-2 Kinnodai, Taniwahara-mura, Tsukuba-gun, Ibaraki Prefecture 4-2-2 SMC Tsukuba Technical Center (72) Susumu Takada 4-2 Kinanodai, Tawawa-mura, Tsukuba-gun, Ibaraki Prefecture -2 Tsukuba Technical Center, SMC Corporation

Claims (1)

[Scope of utility model registration request] 1. A fluid pressure actuator provided in a body, comprising a cylinder formed in the body and a pressure chamber between the cylinder and the rod of the inner piston fitted into the outer piston. It is composed of a pair of pistons arranged concentrically and relatively slidably, and the driving force of the fluid pressure actuator is transmitted to the finger by a power transmission mechanism to keep the finger in a parallel state in the radial direction of the body. A parallel open / close chuck for opening and closing, wherein the parallel open / close chuck includes three fingers arranged at substantially equal distances from a center and at substantially equal angles in a circumferential direction, and the power transmission mechanism is a fixed portion of the chuck. 3 swinging members pivotally attached to a pin attached to the inner side of the swinging member. The tip of the rod is swingably locked to the rocking locking portion formed on the outer peripheral surface of the rod, and the tip in the axial direction is rockably locked to the rocking locking portion formed on the upper surface of each finger. A parallel opening and closing chuck.