JPH07246585A - Parallel opening/closing chuck device - Google Patents

Abstract

PURPOSE:To omit the trouble to change the whole body of a chuck device even though the form of a work to be grasped is changed, by connecting a guide member to guide a pair of fingers movable in the opposing direction, allowable to mount and demount on/from a body with cams or screws. CONSTITUTION:A pair of fingers 14 opposing each other are provided, and a guide member 13 to guide the fingers 14 movable in the opposing direction, and a body 1 having a cylinder 2 and a thrust transmitter 7 to transmit the thrust of the cylinder 2 to the fingers 14 are provided The guide member 13 is connected allowable to mount and demount on/from the body 1 with four cams 24. Consequently, the parts including the guide member 13 to be connected newly are positioned by the fitting of the guide member 13 and the body 1, and the cams 24 can be engaged to a hook by rotating 180 deg. the four cams 24. As a result, it is not necessary to correct the piping and the wiring one by one in a change work, and the change work can be carried out easily.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parallel opening / closing chuck device. The parallel opening / closing chuck device of the present invention is mounted on an industrial machine such as a robot and holds a work piece in a freely releasable manner as the pair of fingers move.

[0002]

2. Description of the Related Art A known parallel opening and closing chuck device has a body integrally provided with a guide portion for guiding a pair of fingers. In addition, the known chuck device, depending on its type,
Some are directly attached to the industrial machine and some are directly attached to the industrial machine via a tool changer.

However, in the conventional chuck device,
There are the following problems. A. With the above, every time the shape of the work to be gripped changes, the chuck device must be replaced with another standard chuck device. Therefore, every time the chuck device is replaced, the piping and wiring must be redone as a part of the work. In addition, since a plurality of chuck devices must be prepared for actual work, the cost increases and maintenance and maintenance also take a lot of time. B. In the above, there is no reproducibility of the mounting position when mounting the chuck device on the industrial machine. Therefore, each time the chuck device is attached to the industrial machine, it is necessary to perform teaching work with great effort. C. In the above, the reproducibility of the mounting position is ensured by the tool changer, but the cost is increased because the tool changer is used. In addition, the tool changer increases the size and weight of the industrial machine, thus degrading the machine performance. D. In the above, the tool changer itself
It operates by receiving the supply of compressed air. Therefore, the replacement work is troublesome because compressed air must be supplied to the tool changer every time the chuck device is replaced.

In addition, the inventor of the present application has previously proposed the actual Kaihei 5-
In the invention of No. 80691, since the number of parts of the snap lock forming the connecting portion is large, there is a problem that the snap lock is easily broken by repeated opening and closing operations.

[0005]

In view of the above points, the present invention does not require replacement of the entire chuck device even when the shape of the work to be grasped changes, and the chuck device is mounted when mounted on an industrial machine. It is an object of the present invention to provide a parallel opening / closing chuck device that has position reproducibility, does not require a tool changer, and has a connection portion that is not easily broken.

[0006]

In order to achieve the above object, a parallel opening / closing chuck device of the present invention comprises a pair of fingers facing each other, a guide portion for movably guiding the fingers in the facing direction, and a cylinder. And a body having a built-in thrust transmitting portion for transmitting thrust of the cylinder portion to the finger, the guide portion is detachably connected to the body by a cam or a screw.

[0007]

When the guide portion for guiding the pair of fingers is detachably connected to the body by the cam or the screw, when the shape of the work to be grasped is changed, the body, piping and wiring are left as they are. , The guide part and the finger only need to be replaced with another one. Also, since the body remains the same, the reproducibility of the mounting position is ensured and the tool changer is unnecessary. Also, the cam or screw has a smaller number of parts than the snap lock, has a simple structure, and is hard to break.

[0008]

Embodiments of the present invention will now be described with reference to the drawings.

First Embodiment: As shown in FIGS. 1 to 7, the parallel opening / closing chuck device includes a pair of fingers 14 facing each other and a guide for movably guiding the fingers 14 in the facing direction. It is provided with a portion 13 and a body 1 having a cylinder portion 2 and a thrust transmission portion 7 for transmitting the thrust of the cylinder portion 2 to the fingers 14, and a work (not shown) is directly attached to the pair of fingers 14. A pair of attachments 19 to be gripped are attached.
The attachment 19 has a shape that matches the shape of the work to be gripped (a shape that differs depending on the shape of the work) so that the work 19 can be gripped properly, and is attached to the finger 14 once. It is something that cannot be removed.

In the internal structure of FIG. 1, when compressed air (working pressure) is alternately supplied to the cylinder chamber 4 from a pair of pressure supply ports 3 (see FIG. 2) opened in the front of the body 1 having a substantially box shape, The piston 5 reciprocates, and the rod 8 connected to the piston 5 reciprocates in the axial direction. When the rod 8 reciprocates, the pair of levers 10 symmetrically reciprocally rotate (swing) at a predetermined rotation angle about the fulcrum pin 6 provided upright on the body 1. The rod 8 and the lever 10 are connected to each other by converting a linear motion into a rotary motion by engaging a drive pin 9 protruding from the rod 8 and a notch 11 formed in the lever 10. When the lever 10 reciprocally rotates, the pair of fingers 14 linearly and symmetrically reciprocate in the mutually opposing direction, that is, in the direction toward and away from each other (see FIG. 5). The lever 10 and the finger 14 respectively have an action pin 12 protruding from the lever 10 and a notch 15 formed in the finger 14.
Are engaged to convert rotational movement into linear movement. Each finger 14 is supported by a guide portion 13 and is linearly reciprocally connected to the guide portion 13 via a linear motion bearing 17 (see FIG. 3) having a large number of rolling elements 18. The attachments 19 are respectively positioned with respect to the fingers 14 by the positioning pins 16 and fixed by the mounting bolts 20.

A guide portion 1 for guiding the pair of fingers 14.
The cam 3 is detachably connected to the body 1 by a cam 24. That is, a pair of adapters 22 are attached to the left and right of the upper portion of the guide body 21 of the guide portion 13, and a pair of hooks 23, which are arcuate recesses, are provided on each of the adapters 22, while the left and right side surfaces of the body 1 are provided. Two cams 24 are rotatably attached to each. Each of the cams 24 is provided with a flat portion 25 on a part of the outer peripheral surface of the cylindrical shape, and engages with the hook portion 23 on the outer peripheral surface of the cylindrical portion other than the flat portion 25 by a rotation operation every 180 degrees, thereby providing a guide. The portion 13 is connected to the body 1 (see FIGS. 1 to 5), and the flat portion 25 is disengaged from the hook portion 23 so that the guide portion 13 is disengaged from the body 1 (see FIGS. 6 and 7). . Body 1
The guide portion 13 separated from the main body 13 falls with its own weight together with the linear motion bearing 17 and the fingers 14 assembled to the guide portion 13 and separates from the body 1 (see FIGS. 6 and 7). Each of the front end faces of the cams 24 is provided with a groove-shaped engaging portion 26 for engaging a jig (not shown) such as a driver when the cam 24 is rotated.

On the left and right sides of the body 1, pistons 5 are provided.
A pair of mounting grooves 27 are provided along the reciprocating direction of (1), and a sensor (magnetic proximity switch, not shown) for detecting the position of the piston 5 during operation is attached to the mounting groove 27. ing.

The parallel opening / closing chuck device is directly mounted on an industrial machine (not shown) with the body 1. And when the shape of the work to be gripped changes,
With the body 1 attached to the industrial machine and further with the pressure supply pipe and the sensor signal wiring (both not shown) connected to the body 1, the parts below the guide portion 13 (the guide portion 13,
The linear bearing 17, the finger 14 and the attachment 19) are replaced by another with an attachment 19 of another shape. For replacement work, first, the four cams 24
180 degrees to remove the cam 24 from the hook portion 23 and drop the parts below the guide portion 13 by its own weight,
Remove from body 1. Then, the guide part 1 to be newly connected
The parts of 3 or less are positioned by fitting the guide part 13 and the body 1, and the four cams 24 are rotated 180 degrees again to engage the cams 24 with the hook parts 23.

The embodiment has the following effects. A. When the shape of the work to be gripped changes,
With the body 1 attached to the industrial machine, and further with the pressure supply pipe and the sensor signal wiring connected to the body 1, the parts below the guide portion 13 are attached to the attachment 19 of another shape.
You can replace it with another one equipped with. Therefore, it is not necessary to re-install the pipes and wires for this replacement work. Further, at the time of actual work, only one body 1 is required, and a plurality of parts below the guide portion 13 may be prepared as an assembly, so that the cost can be kept low. In addition, maintenance management can be performed easily. B. Since the body 1 is still attached to the industrial machine during the replacement work, reproducibility of the attachment position is ensured. Therefore, in the replacement work, it is not necessary to perform the teaching work with much labor as in the conventional case. C. The tool changer is not required because the body 1 is not scheduled to be replaced. Therefore, the cost can be kept low by this amount. Also, the industrial machine is large and heavy, and thus the performance of the machine is not deteriorated. In addition, because it is not necessary to supply compressed air during replacement work,
The replacement work can be easily performed. D. Since the connecting portion using the cam 24 has a small number of parts and its structure is simple, it is hard to break.

Second Embodiment: As shown in FIGS. 8 to 14, the parallel opening / closing chuck device includes a pair of fingers 14 facing each other and a guide for movably guiding the fingers 14 in the facing direction. Part 13 and cylinder part 2
And a body 1 having a thrust transmission portion 7 for transmitting the thrust of the cylinder portion 2 to the fingers 14,
A pair of attachments 19 for directly gripping a work (not shown) are attached to the pair of fingers 14. The attachment 19 has a shape that matches the shape of the work to be gripped (a shape that differs depending on the shape of the work) so that the work 19 can be gripped properly, and is attached to the finger 14 once. Cod,
It cannot be removed.

In the internal structure of FIG. 8, when compressed air (working pressure) is alternately supplied to the cylinder chamber 4 from a pair of pressure supply ports 3 (see FIG. 9) opened on the front surface of the body 1 having a substantially box shape, The piston 5 reciprocates, and the rod 8 connected to the piston 5 reciprocates in the axial direction. When the rod 8 reciprocates, the pair of levers 10 symmetrically reciprocally rotate (swing) at a predetermined rotation angle about the fulcrum pin 6 provided upright on the body 1. The rod 8 and the lever 10 are connected to each other by converting a linear motion into a rotary motion by engaging a drive pin 9 protruding from the rod 8 and a notch 11 formed in the lever 10. When the lever 10 is reciprocally rotated, the pair of fingers 14 reciprocate linearly and symmetrically in the mutually opposing directions, that is, in the directions toward and away from each other (see FIG. 12).
The lever 10 and the finger 14 respectively have an action pin 12 projecting from the lever 10 and a notch 1 formed in the finger 14.
The engagement of 5 is connected to convert rotational movement into linear movement. Each finger 14 is supported by a guide portion 13 and is linearly reciprocally connected to the guide portion 13 via a linear motion bearing 17 (see FIG. 10) having a large number of rolling elements 18. Attachment 19
Are positioned with respect to the fingers 14 by positioning pins 16 and fixed by mounting bolts 20.

A guide portion 1 for guiding the pair of fingers 14.
The screw 3 is detachably connected to the body 1 by a screw 29. That is, a pair of adapters 22 are attached to the left and right of the upper portion of the guide portion main body 21 of the guide portion 13, and a pair of screw insertion portions 30 that are notch grooves are provided in each of the adapters 22, while the left and right side surfaces of the body 1 are provided. Two screws 29 are attached so that they can be screwed in freely. The screw insertion portion 30 has a width such that the male screw portion of the screw 29 allows it to pass therethrough, but the head portion does not allow it to pass therethrough. Each of the screws 29 clamps the adapter 22 between its head and the body 1 by tightening the screw 29, thereby connecting the guide portion 13 to the body 1 (see FIGS. 8 to 12).
), By loosening the screw 29, the guide portion 1
3 is removed from the body 1 (see FIGS. 13 and 14). The guide portion 13 separated from the body 1 falls by its own weight together with the linear motion bearing 17 and the fingers 14 and the like assembled to the guide portion 13 and separates from the body 1 (see FIGS. 13 and 14). A hexagonal hole-shaped engaging portion 3 for engaging a jig (not shown) such as a wrench when rotating the screw 29 is provided on each front end surface of the screw 29.
1 is provided.

On the left and right sides of the body 1, pistons 5 are provided.
A pair of mounting grooves 27 are provided along the reciprocating direction of (1), and a sensor (magnetic proximity switch, not shown) for detecting the position of the piston 5 during operation is attached to the mounting groove 27. ing.

The parallel opening / closing chuck device is directly mounted on an industrial machine (not shown) with the body 1. And when the shape of the work to be gripped changes,
With the body 1 attached to the industrial machine and further with the pressure supply pipe and the sensor signal wiring (both not shown) connected to the body 1, the parts below the guide portion 13 (the guide portion 13,
The linear bearing 17, the finger 14 and the attachment 19) are replaced by another with an attachment 19 of another shape. For replacement work, first, four screws 29
Is loosened, and the parts below the guide part 13 are dropped by its own weight and removed from the body 1. Next, the parts below the guide part 13 to be newly connected are positioned by fitting the guide part 13 and the body 1, and the four screws 29 are tightened.

The embodiment has the following effects. A. When the shape of the work to be gripped changes,
With the body 1 attached to the industrial machine, and further with the pressure supply pipe and the sensor signal wiring connected to the body 1, the parts below the guide portion 13 are attached to the attachment 19 of another shape.
You can replace it with another one equipped with. Therefore, it is not necessary to re-install the pipes and wires for this replacement work. Further, at the time of actual work, only one body 1 is required, and a plurality of parts below the guide portion 13 may be prepared as an assembly, so that the cost can be kept low. In addition, maintenance management can be performed easily. B. Since the body 1 is still attached to the industrial machine during the replacement work, reproducibility of the attachment position is ensured. Therefore, in the replacement work, it is not necessary to perform the teaching work with much labor as in the conventional case. C. The tool changer is not required because the body 1 is not scheduled to be replaced. Therefore, the cost can be kept low by this amount. Also, the industrial machine is large and heavy, and thus the performance of the machine is not deteriorated. In addition, because it is not necessary to supply compressed air during replacement work,
The replacement work can be easily performed. D. Since the number of parts of the connecting portion using the screw 29 is small and the structure is simple, it is hard to break.

[0021]

The present invention has the following effects. A. When the shape of the work to be gripped changes,
With the body attached to the industrial machine, and with the pressure supply pipe and the sensor signal wiring connected to the body, the parts below the guide portion may be replaced with those of other standards. Therefore, it is not necessary to re-install the pipes and wires for this replacement work. Further, in actual work, only one body is required, and a plurality of parts below the guide portion may be prepared as an assembly, so that the cost can be kept low. In addition, maintenance management can be performed easily. B. Since the body is still attached to the industrial machine during the replacement work, reproducibility of the attachment position is ensured. Therefore, in the replacement work, it is not necessary to perform the teaching work with much labor as in the conventional case. C. A tool changer is not required because the body is not scheduled for replacement. Therefore, the cost can be kept low by this amount. Also, the industrial machine is large and heavy, and thus the performance of the machine is not deteriorated. Further, since it is not necessary to supply compressed air during the replacement work, the replacement work can be easily performed. D. The number of parts of the connecting part using the cam or screw is small and the structure is simple, so the removable connecting part is not easily broken.

[Brief description of drawings]

FIG. 1 is an internal structure explanatory diagram of a parallel opening / closing chuck device according to a first embodiment of the present invention.

FIG. 2 is a front view of the parallel opening / closing chuck device.

FIG. 3 is a side view of the parallel opening / closing chuck device.

FIG. 4 is a plan view of the parallel opening / closing chuck device.

FIG. 5 is an explanatory diagram of an internal structure showing a finger open state of the parallel open / close chuck device.

FIG. 6 is a front view showing a state where a guide portion of the parallel opening and closing chuck device is removed.

FIG. 7 is a side view showing a state where the guide portion of the parallel opening / closing chuck device is removed.

FIG. 8 is an explanatory view of the internal structure of the parallel open / close chuck device according to the second embodiment of the present invention.

FIG. 9 is a front view of the parallel opening and closing chuck device.

FIG. 10 is a side view of the parallel opening and closing chuck device.

FIG. 11 is a plan view of the parallel open / close chuck device.

FIG. 12 is an internal structure explanatory diagram showing a finger open state of the parallel open / close chuck device.

FIG. 13 is a front view showing a state in which a guide portion of the parallel opening / closing chuck device is removed.

FIG. 14 is a side view showing a state in which the guide part of the parallel open / close chuck device is removed.

[Explanation of symbols]

 1 body 2 cylinder part 3 pressure supply port 4 cylinder chamber 5 piston 6 fulcrum pin 7 thrust transmission part 8 rod 9 drive pin 10 levers 11, 15 notch 12 action pin 13 guide part 14 finger 16 positioning pin 17 linear motion bearing 18 rolling element 19 Attachment 20 Mounting Bolt 21 Guide Body 22 Adapter 23 Hook 24 Cam 25 Flat 26, 31 Engagement 27 Mounting Groove 29 Screw 30 Screw Insert

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[Procedure amendment]

[Submission date] September 8, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0011

[Correction method] Change

[Correction content]

A guide portion 1 for guiding the pair of fingers 14.
The cam 3 is detachably connected to the body 1 by a cam 24. That is, a pair of adapters 22 are attached to the left and right of the upper portion of the guide body 21 of the guide portion 13, and a pair of hooks 23, which are arcuate recesses, are provided on each of the adapters 22, while the left and right side surfaces of the body 1 are provided. Two cams 24 are rotatably attached to each. Each of the cams 24 is provided with a flat portion 25 on a part of the outer peripheral surface of the cylindrical shape, and engages with the hook portion 23 on the outer peripheral surface of the cylindrical portion other than the flat portion 25 by a rotation operation every 180 degrees, thereby providing a guide. The portion 13 is connected to the body 1 (see FIGS. 1 to 5), and the flat portion 25 is disengaged from the hook portion 23 so that the guide portion 13 is disengaged from the body 1 (see FIGS. 6 and 7). . Body 1
The guide portion 13 separated from the body 1 is attached to the body 1 together with the linear motion bearing 17 and the fingers 14 and the like which are assembled to the guide portion 13.
(See FIGS. 6 and 7). Each of the front end faces of the cams 24 is provided with a groove-shaped engaging portion 26 for engaging a jig (not shown) such as a driver when the cam 24 is rotated.

Claims (1)

[Claims] 1. A pair of fingers (14) facing each other.
A guide part (13) for movably guiding the finger (14) in the opposite direction, a cylinder part (2) and a thrust transmission part for transmitting the thrust of the cylinder part (2) to the finger (14). Body (1) with built-in (7),
A parallel open / close chuck device comprising: a guide portion (13) detachably connected to the body (1) by a cam (24) or a screw (29).