JPH08267384A - Jaw slide guiding mechanism of parallel closing and opening chuck - Google Patents

Abstract

PURPOSE: To prevent a roller from dropping out from a retainer plate by limiting the relative slide of the retainer plate in relation to a jaw slide by providing a stopper pin to be engaged in the long hole at the center of the retainer plate due to jaw slide. CONSTITUTION: A pair of guide grooves are provided in parallel with each other at a upper and lower sections in the side faces of both sides of a base section 4b and a stopper pin 19 is provided to slidably hold the retainer plate 17 of a roller means relatively to the base section 4b, projected from the center of the base side face between a pair of the guide grooves. The retainer plate 17 is provided with a long hole 20 with which the stopper pin 19 is slidably engaged. The engagement of the stopper pin 19 with the end sections of both sides of the long hole 20 limits the slide of the retainer plate 17 in relation to the base section 4b, preventing a roller 18 from dropping out from the retainer plate 17.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a jaw slide guide mechanism for a parallel opening / closing chuck provided at the tip of a robot hand.

That is, a jaw slide including a finger-shaped attachment portion extending in the axial direction of the chuck body and a base portion extending in a sliding direction intersecting the axial direction of the chuck body for attaching a pair of jaws for actually gripping an article is provided. In order to guide to the chuck body, a guide groove is provided on a side surface of the base portion, and a guide wall member provided with a guide groove facing to the guide groove of the base portion is adjustably attached to the chuck body. The present invention relates to a jaw slide guide mechanism for a parallel opening / closing chuck in which a roller means that holds a roller rolling in the guide groove between the guide wall member and a retainer plate is interposed.

[0003]

2. Description of the Related Art As such a conventional parallel opening / closing chuck, there is one disclosed in Japanese Utility Model Laid-Open No. 5-29690, and in this conventional parallel opening / closing chuck, as shown in FIG.
As shown in FIG. 5, a stopper screw 70 is attached to the end surface of the base portion of the jaw slide to limit the relative sliding of the retainer plate of the roller means with respect to the base portion of the jaw slide to prevent the roller from falling off the retainer plate. The head of the stopper screw 70 laterally protrudes from the side surface of the base portion, and the retainer plate abuts against the screw head 70 of the stopper screw to limit relative sliding of the retainer plate with respect to the base portion.

[0004]

However, such a conventional screw stopper has a drawback that the guide groove of the jaw slide is not effectively used over the entire length, and the jaw slide becomes large accordingly.

Therefore, an object of the present invention is to make the guide groove of the jaw slide the minimum required length, and to increase the distance between the rollers to achieve compact and stable slide guide. To obtain the jaw slide guide mechanism of the chuck.

[0006]

To achieve this object, a jaw slide guide mechanism of a parallel opening / closing chuck according to the present invention comprises a pair of parallel guide grooves provided in two vertical steps on both side surfaces of the base portion. And a stopper pin that protrudes from the center of the side surface of the base between the pair of guide grooves and holds the retainer plate of the roller means so as to be slidable relative to the base portion. The stopper plate is provided on the retainer plate. It is characterized in that a long hole is provided so that the pin can slide freely.

[0007]

According to this structure of the present invention, the stopper pin projecting from the center of the side surface of the base between the pair of guide grooves engages with the end portions on both sides of the elongated hole of the retainer plate, so that the retainer plate is attached to the base portion. Limits relative sliding,
Prevent the roller from falling off the retainer plate.

[0008]

The preferred embodiments of the present invention will now be described with reference to the drawings.

FIG. 2 shows a parallel opening / closing chuck 1 according to the present invention.
The parallel opening / closing chuck 1 includes a chuck body 2 and a boot 3 that covers the head portion of the chuck body 2.
And a pair of jaw slides 4 and an actuator for moving the pair of jaw slides closer to or further from each other.

This actuator comprises a piston 6 which is movable in the axial direction by controlling the supply of fluid pressure in a cylinder space 5 provided in the chuck body 2, the moving piston 6 and the pair of jaw slides 4. And a two-arm lever 7 for controlling the approach and separation of the pair of jaw slides 4 by advancing and retreating the pistons by engaging with both of them.

The cylinder space 5 is closed by an end cap 8, a fluid port 9 for supplying and discharging a fluid pressure is provided in the space of the cylinder space 5 on the end cap 8 side, and the space on the opposite side of the cylinder space 5 is provided. A fluid port 10 for supplying and discharging fluid pressure is provided in the space on the end side.

The piston 6 is composed of a piston rod 6a and a piston head 6b fixed to one end of the piston rod 6a.

The piston head 6b is provided with a magnetic sensor (not shown) fixed to the outer surface of the chuck body 2 in order to confirm the upper limit position and the lower limit position of the piston, and accordingly the most separated position and the closest position of the jaw slide. An annular magnet 11 for sending a signal is attached.

At the opposite side of the piston rod 6a, that is, at the end on the jaw slide 4 side, a restraining head 12 with an annular recess that engages with one arm 7a of the two-arm lever 7 and slidably holds is provided.

The chuck body 2 is further provided with a pair of jaw slide support portions 13 facing each other and separated from each other, and a pair of jaw slide support portions 13 facing each other so as to guide the jaw slides 4 in the sliding direction. The guide wall member 14 is provided.

For example, four bolt holes are provided in positions different from the center position of the guide wall member 14 on the center line of the guide wall member 14 in the sliding direction, and bolts 15 are respectively screwed into the jaw slide support portion 13. Install. Further, a central bolt 16 that penetrates the guide wall members 14 on both sides at the center position of the guide wall member 14 is provided in the jaw slide instruction portion 13 so that the pair of jaw slides 4 arranged between the guide wall members 14 can approach each other. The movement of the jaw slide is restricted, the jaw slide support portion 13 is prevented from expanding during operation, and the jaw slide is prevented from rattling.

The jaw slide 4 is shown in FIG.
As shown in (b), a finger-like attachment portion 4 extending in the axial direction of the chuck body for attaching the jaws.
a and a base portion 4b extending in the sliding direction intersecting the axial direction of the chuck body.

On both side surfaces of the base portion 4b, a pair of Vs parallel to each other are provided on the both side surfaces of the base portion in two vertical steps.
A guide groove 4c having a character shape (opening angle of about 90 °) is provided. A V-shaped guide groove 14c is also provided in the guide wall member 14 fixed to the chuck body so as to be aligned and opposed to the guide groove 4c of the base portion 4b.

Between the side surface of the base portion 4b and the guide wall member 14 facing the side surface, the roller 18 held by the retainer plate 17, that is, the roller means is interposed.

As shown in FIGS. 3A and 3B, the base portion 4b of the jaw slide 4 has a pair of upper and lower guide grooves 4a.
A stopper pin 19 which protrudes from the center of the side surface of the base between c and holds the retainer plate 17 of the roller means slidably relative to the base portion 4b is provided.

The retainer plate 17 is shown in FIG.
As shown in FIG. 5, the long hole 20 into which the stopper pin 19 of the jaw slide 4 slidably engages, and the guide grooves 4c, 14 on both sides of the long hole 20 in the vicinity of the side edge of the plate.
The four roller openings 21 aligned with c are provided so as to form a pair. The roller 18 is arranged in the roller opening 21 such that the axis of the roller 18 forms an angle of 45 ° with the plane of the retainer plate 17. The roller pairs on both sides of the elongated hole 20 in the sliding direction are arranged so that their rolling axes form a V shape of 90 °.

A semicircular recess 4d that engages with the center bolt 16 is provided on the inner end surface of the base portion 4b of the jaw slide 4 in the sliding direction. Further, a fork 4e with which the other arm 7b of the two-arm lever engages is provided on the lower surface of the base portion 4b.

The finger-shaped attachment portion 4a and the fork 4e are provided offset from the center of the base portion 4b outward in the sliding direction.

FIG. 4 shows the state in which the jaw slide 4 slidable with respect to the guide wall member 14 via the roller means is in the closest position (see FIG. 4 (a)) and in the most separated position (see FIG. 4).
(See (b)). The amount of movement of the retainer plate 17 is
This is about 1/2 of the movement amount of the jaw slide 4.

The position of the roller opening 21 on the outside of the retainer plate 17 in the sliding direction is such that when the jaw slide 4 is in the closest position (see FIG. 4 (a)), the stopper pin 19 of the jaw slide 4 causes the retainer plate 17 to move. Of the pair of rollers 18 outside the sliding direction are partially protruded from the sliding direction outer end surfaces of the jaw slides 4 by engaging with the sliding direction inner ends of the elongated holes 20. The roller opening 21 can be provided close to the lateral edge of the retainer plate 17 outside in the sliding direction up to the limit position where the roller 18 does not fall off from the roller opening 21.

Further, the jaw slide 4 is at the most separated position (see FIG.
(b)), the stopper pin 19 of the jaw slide 4 engages with the slide direction outer end of the elongated hole 20 of the retainer plate 17, and the pair of rollers 18 inward in the slide direction slides inward. The roller opening 21 is close to the side edge of the retainer plate 17 on the outer side in the sliding direction at a position where the side edge coincides with the inner end surface in the sliding direction of the jaw slide 4 and the roller 18 does not drop from the roller opening 21. It can be provided.

Thus, according to the present invention, the stopper pin 19 of the jaw slide 4 is retained by the retainer plate 17.
Since the retainer plate 17 is restricted from sliding relative to the jaw slide base portion 4b by engaging with both ends of the long hole 20, the roller is prevented from falling off the retainer plate. The side edges 17 on both sides of the retainer plate 17 in the position
a and 17b are the corresponding side edges 4 of the jaw slide 4.
It can extend outward from A and 4B.

On the other hand, when a stopper screw is provided on the end face of the base portion as a means for limiting the movement of the retainer plate as in the conventional parallel open / close chuck shown in FIG. 1, both side ends of the retainer plate 17 are provided. Edge 17a, 1
7b is a corresponding side edge 4A, 4B of the jaw slide 4.
Cannot extend outwardly from the jaws and therefore the jaw slide must be large to increase the dimension between the rollers.

According to the present invention, when the jaw slide 4 takes the closest position (see FIG. 4 (a)), the dimension X between the retainer plate outer end edge 17a and the jaw slide outer end edge 4A, When the jaw slide 4 is at the farthest position (see FIG. 4 (b)), the inner edge of the retainer plate and 17b
And the dimension Y between the outer edge 4B of the jaw slide and the dimension X + Y, the distance between the rollers 18 can be increased, and thus stable slide guide can be performed.

[0030]

According to the present invention, the stopper pins of the jaw slide are engaged with the ends on both sides of the elongated hole of the retainer plate to limit relative sliding of the retainer plate with respect to the jaw slide base portion, and the roller is retained by the retainer. To prevent it from falling out of the plate, at both extreme positions of the jaw slide, place the side edges on both sides of the retainer plate between the rollers so that they can protrude outward from the corresponding side edges of the jaw slide. Can be made large, thus making the jaw slide compact and enabling stable slide.

Further, according to the present invention, since the roller pair is rolled in the pair of upper and lower guide grooves to slide the jaw slide along the guide wall member, a stable slide can be obtained.

[Brief description of drawings]

FIG. 1 is a partial cross-sectional side view of a conventional parallel open / close chuck.

2A and 2B show a preferred embodiment of a parallel opening / closing chuck according to the present invention, FIG. 2A is a side view with a partial cross section, and FIG. 2B is a side view with a partial cross section from a different angle from FIG. Figure,
(C) is a top view.

FIG. 3 shows a jaw slide mechanism according to the present invention,
(A) is a side view of a jaw slide, (b) is an end view of a jaw slide, (c) is a side view of a retainer plate.

FIG. 4 is an explanatory view showing a positional relationship between a jaw slide and a roller means in an extreme position according to the present invention, FIG.
Shows the state of the closest position, and (b) shows the state of the most separated position.

[Explanation of symbols]

 1 parallel open / close chuck 2 chuck body 3 boot 4 jaw slide 4a finger attachment 4b base 4c, 14c guide groove 4d recess 4e fork 4A, 4B side edge of jaw slide 5 cylinder space 6 piston 6a piston rod 7 2 arm Lever 8 End cap 9,10 Fluid port 6b Piston head 11 Annular magnet 12 Restraint head 13 Jaw slide support 14 Guide wall member 15 Bolt 16 Center bolt 17 Retainer plate 17a, 17b Side edge of retainer plate 18 Roller 19 Stopper Pin 20 Long hole 21 Roller hole

Claims (1)

[Claims] 1. A guide for a jaw slide, which comprises a finger-shaped attachment portion extending in the axial direction of the chuck body for mounting a pair of jaws and a base portion extending in a sliding direction intersecting the axial direction of the chuck body, to the chuck body. A guide groove provided on a side surface of the base portion and having guide grooves facing each other so as to be aligned with the guide groove of the base portion is adjustably attached to the chuck body, In a jaw slide guide mechanism of a parallel opening / closing chuck in which roller means holding a roller rolling between rollers in a guide groove are interposed, parallel to each other provided on upper and lower two stages on both side surfaces of the base portion. A pair of guide grooves are provided, and the retainer plate of the roller means projects between the pair of guide grooves and protrudes from the center of the side surface of the base. Is provided with a stopper pin for slidably holding it relative to the base portion, and the retainer plate is provided with an elongated hole into which the stopper pin slidably engages, and the stopper pin has ends on both sides of the elongated hole. A jaw slide guide mechanism for a parallel opening / closing chuck, characterized in that the relative sliding of the retainer plate with respect to the base portion is limited by engaging with the portion to prevent the roller from falling off the retainer plate.