JPH08243963A - Single cylinder clamp device - Google Patents

Abstract

PURPOSE: To clamp and carry a work by concentrically arranging a first shaft having a pawl on one end of a piston and a second shaft having a clamp cam on one end in a cylinder main body in a device which is installed on the tip of an arm or the like of a robot and clamps the work. CONSTITUTION: When air is filled from an air filling port 19, a piston 2 is moved leftward, and a first shaft 9 is also moved by interlocking with this, but in a second shaft 8, a movement is checked by force of a clamp adjusting spring 6. Therefore, a pawl 11 and a clamp cam 7 contact with each other, and the pawl 11 is closed, and a work 24 is gripped. When air is further filled, the piston 2 moves leftward together with a work 24, and the work 24 is carried. When the air is let out by moving a cylinder 1 to the other place, both the first and the second shafts 9 and 8 move rightward by force of an origin return spring 16, and when the second shaft 8 is stopped, in succession, only the first shaft 9 moves rightward, and the clamp cam 7 and the pawl 11 separate from each other, and the work 24 is released.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a clamp device which is attached to the tip of a robot arm or the like to clamp and pull up a work, and more particularly, to two or more motions by the movement of one cylinder. The present invention relates to an apparatus capable of sequentially performing. In recent years, production equipment has become complicated in structure and expensive. Therefore, there is a particular demand for a device that can perform complicated operations with a simple structure at low cost.

[0002]

2. Description of the Related Art Conventionally, a clamping device used for the above-mentioned applications requires a plurality of air cylinders, a complicated mechanism and control.

[0003]

In the prior art as described above, the clamp device becomes large and heavy, and therefore the whole production facility becomes large and the whole becomes very expensive. It is an object of the present invention to improve such a state, downsize the production facility, and reduce the cost.

[0004]

Means for Solving the Problems The means of the present invention for solving the above problems will be described below.

As a first means, a first shaft having a piston at one end and a claw at the other end is provided inside the cylinder body, and the first shaft is slidably fitted to the first shaft. The present invention provides a one-cylinder clamp device characterized in that a second shaft having a clamp cam and biased by a clamp adjusting spring is provided to limit the operation stroke of the second shaft.

As a second means, there is provided a one-cylinder clamp device characterized in that a swivel cam groove and a cam switching mechanism are provided in an outer diameter portion of the piston, and a cam roller is provided in the cylinder body. .

[0007]

The operation of the one-cylinder clamp device of the present invention will be described below.

In the one-cylinder clamp device constructed as described above, when air is injected into the cylinder through the air injection port, the first shaft operates due to the pressure, and the claw comes into contact with the clamp cam to clamp the work. . At this time, the second shaft also tries to operate, but since it is stopped by the force of the spring, that force becomes the clamping force.
Further, when air is injected, the pressure increases, and the second shaft operates together with the first shaft by the action of the stop ring provided on the interlocking pin. That is, the work can be linearly moved while being clamped.

Further, at this time, the first cam is rotated around the center axis of the cylinder at the same time as the first shaft is linearly moved by the twist cam groove and the cam switching mechanism provided on the outer diameter of the piston and the cam roller provided on the inner surface of the cylinder. Exercise,
By the cam switching mechanism, the cam is changed to the next cam and further rotated in the returning motion of the linear motion.

Further, when it expands and contracts next time, it returns to its original position.
During this time, the only power source required is air to expand and contract one cylinder. The details of the structure and operation will be described below with reference to the drawings.

[0011]

FIG. 1 is a side sectional view showing the structure of one embodiment of the present invention.

In FIG. 1, inside a cylinder body 1 having an air inlet 19, a first shaft 9 having a piston 2 at one end and a claw 11 at the other end is slidable with the first shaft 9. A movably fitted second shaft 8 having a clamp cam 7 at one end and biased to the right by a clamp adjusting spring 6 is provided.
A stop ring 4 is attached to the interlocking pin 3 implanted in the piston 2 in order to limit the operation stroke of the second shaft 8. 10 is a cover of the clamp adjusting spring, 1
Reference numerals 2, 13, and 14 are O-rings, 15 is a stopper, 17 is a nut for fixing the stopper, and 16 is an origin return spring for returning the piston 2 to the origin.

The operation of the present invention having the above structure will be described. When air is injected from the air injection port 19, the piston 2 moves leftward. Along with this, the first shaft 9 also moves, but the second shaft 8 does not move due to the force of the clamp adjusting spring 6. Therefore, the claw 11 and the clamp cam 7 contact each other, the claw 11 closes, and the work 24 is grasped. When air is further injected, the piston 2 moves to the left along with the work 24. In this way, the work 24 can be grasped and moved. During this time, all that is required is air to be injected into the cylinder 1, and control is extremely simple. If the cylinder 1 is moved to another place by a device (not shown) and the air is released, both the first shaft 9 and the second shaft 8 return to the origin return spring 1.
When the second shaft 8 is stopped by the force of 6, the second shaft 8 is stopped, then only the first shaft 9 is moved to the right, the clamp cam 7 and the claw 11 are separated, and the work 24 is released.

FIG. 2 is a partial top sectional view showing the structure of another embodiment of the present invention. FIG. 3 is a partial side sectional view thereof. In FIGS. 2 and 3, a shaft 31 is planted in the cylinder 1, a roller 32 is rotatably fitted to the shaft 31, and the piston 2 is twisted with cam grooves 26, 27 and a recess 30. A disk 25 is provided inside. Further, the disk 25 is provided with a cam groove 28 and a slope 33, and is pushed up from the bottom of the recess 30 by a compression spring 34. Further, a bearing 29 is embedded near the disk. Reference numeral 35 is a stopper for limiting the rotation range of the disk 25.

In the embodiment shown in FIGS. 2 and 3, when the piston 2 moves to the left, the piston 2 is rotated around its central axis by the action of the roller 32 which is twisted and fitted in the cam groove 26. When the roller 32 enters the disk 25, the roller 32 advances along the cam groove 28, and the piston 2 further rotates and stops at the point A. From this state, when the air inside the cylinder body 1 is released, the piston 2 will return to the origin return spring 16
It moves to the right by the force of. Then, piston 2
Does not rotate, the disk 25 rotates counterclockwise and the cam groove 28
The notch 36 comes into contact with the stopper 35 at the position of the broken line to stop. When the piston 2 further moves rightward, the roller 32 is twisted and enters the cam groove 27, and the piston 2 rotates in the same direction as when moving leftward. Finally, the clamp cam 7 separates from the claw 11 to release the clamp of the work 24.

When the piston 2 moves to the left again, since the roller 32 is in the twist groove cam 27, the rotation direction of the piston 2 is reversed, and contrary to the above-mentioned operation, the disk 25 is moved to the left end. Of the roller 32 to enter the cam groove 28 and stop at the position A ', and when the disk 25 rotates to the right, the disk 25 rotates clockwise and the stopper 35 comes into contact with the notch 36 and stops at the position indicated by the solid line. Enters the twist groove 26 and moves further to the right to return to the initial state. The only control required for this series of operations is the supply and discharge of air to the cylinder body 1.

Further, even if the roller 32 comes off from the cam groove 28, when the roller 32 approaches in the next movement, the roller 32 resists the compression spring 34 and moves along the slope 33 into the recess 25 of the disk 25 along the slope 33. This is because it is pushed in and guided so as to be fitted again in the cam groove 28.

Further, the bearing 29 receives the frictional force applied to the left when the piston 2 moves to the right, and the disk 2
This is because 5 can be easily rotated.

Needless to say, in the embodiments shown in FIGS. 1, 2 and 3, even if hydraulic pressure is used instead of air pressure, it does not depart from the gist of the present invention.

[0020]

The present invention constructed as described above has the following effects.

Since the work can be clamped and conveyed on the production line or the like only by supplying and discharging the air to one cylinder, the control is simple and the structure is simple, so that the work can be miniaturized. Therefore, great effects can be expected in downsizing of the entire production line, cost reduction, and energy saving.

[0022]

[Brief description of drawings]

FIG. 1 is a side view showing the structure of an embodiment of the present invention.

FIG. 2 is a partial top sectional view showing the structure of another embodiment of the present invention.

FIG. 3 is a partial side sectional view showing the structure of another embodiment of the present invention.

[0023]

[Explanation of symbols]

 1: Cylinder body, 2: Piston, 3: Interlocking pin, 4: Stop ring, 5: Cylinder guide frame, 6: Clamp adjustment spring, 7: Clamp cam, 8: Second shaft, 9: First shaft, 10: Cover, 11: Claw, 12: O-ring, 13: O-ring, 14: O-ring, 15: Stopper, 16: Home return spring, 17: Nut, 18: Spring, 19: Air inlet, 22: Air Through hole, 23: Air through hole, 24: Work piece, 25: Disk, 26, 27: Twisting cam groove, 28: Cam groove, 29: Bearing, 30: Recess, 31: Shaft, 32: Roller, 33: Slope, 34: compression spring, 35: stopper, 36: notch

Claims (2)

[Claims] 1. A first shaft having a piston at one end and a claw at the other end, and a clamp cam slidably fitted to the first shaft inside the cylinder body. A one-cylinder clamp device characterized in that a second shaft urged by a clamp adjusting spring is provided to limit the operation stroke of the second shaft. 2. A one-cylinder clamp device, wherein a swivel cam groove and a cam switching mechanism are provided on an outer diameter portion of the piston, and a cam roller is provided on the cylinder body.