JPS5947168A - Bolt gripper - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a bolt gripping device for gripping or releasing a bolt screw by using a pressurized fluid, particularly pressurized air.
By attaching it to the tip of the wrist of an industrial robot, it is used to transport a bolt and screw gripped by the robot operation from one position to another in a single position.

In recent years, industrial robots have been used to assemble workpieces and parts, and these industrial robots for assembly work can grasp bolts and screws and sweep from one position to another. When transporting bolts and screws, a method is generally adopted in which a gripping finger with a complicated shape is provided, and the bolt and screw are transported while being gripped by the gripping fingers. are doing.

The object of the present invention is to provide a vjelt gripping device f1 which has an extremely simple structure in place of the conventional gripping finger structure. Department? A tapered shape HBvc is formed at the front of the bolt insertion/removal opening, and a pressure chamber partitioned by two partition walls at the rear M++ is formed in the rear ttb of the cylinder cylinder body, and the partition wall at the front protrudes from the piston tightly fitted into the pressure chamber. A bolt receiving hole is provided in front of the piston rod passing through the piston rod in an airtight manner, and at least three bolts are inserted into the peripheral wall of the bolt receiving hole and pushed inwardly by the inner walls of the narrow portions on both sides of the piston. An object of the present invention is to provide a bolt holding device characterized in that a gripping ball is provided and pressured air is alternately introduced into the pressure chambers on both sides of the piston to perform bolt gripping and bolt disassembly. Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.

FIG. 1 is a longitudinal cross-sectional view showing the main parts of an embodiment of the delt gripping device according to the present invention, and FIG. 2 is a cross-sectional view taken along the section -■ in FIG. 1.

Now, in FIGS. 1 and 2, the port gripping device according to the present invention has a cylindrical outer shape as a whole, and the outermost part is formed by a cylinder 10. As shown in FIGS.

This cylinder body work 0 has an opening 12 at its leading edge,
Moreover, the tip part has a tapered shape part 14 that converges in the forward direction.
It is formed as. The convergence angle of the tapered portion 14 is appropriately selected according to the diameter dimension of the bolt screw W to be gripped. The above opening 12 forms an insertion/removal port for the bolt screw W to be gripped, and therefore, the size of the opening 12 is determined to be a diameter that allows the head of the bolt screw W to pass through. The cylinder body 10 is formed as a hollow linear cylinder rearward from the tapered shape tJi) 14, and the rear interior yc is a pressure zone defined by two partition walls, namely, the front wall 16 and the rear wall 18. A room has been set up. A pressurized air inlet/outlet 20 is connected to the circumferential wall of the cylinder body IO near the front wall 16, and a pressure air inlet/outlet 20 is connected to the cylinder body 100 on the rear wall 18.
Another pressurized air inlet/outlet 22 is formed in the peripheral wall, and a pressurized air pipe 24,26 is connected to each of these two pressurized air inlets/outlets 20.22. And both pressure wall signs %24.26 are one pressure? It is connected to a pressure nitrogen gas generator (not shown) via the R air switching valve 28, and the pressure air switching valve 28
In response to the switching, pressure air is supplied to both pressure air pipes 24 and 26 from the respective pressure air sources. On the other hand, a piston 30 is disposed within the pressure chamber, and the piston 30 separates the pressure chamber into two chambers. When pressurized air is introduced from the pressure air inlet/outlet 20, the piston 30 retreats toward the rear of the cylinder 1O, and conversely, when pressure air is introduced from the air outlet 22, the piston 30 moves backward. The piston moves forward in the pressure chamber toward the front of the cylinder body lO.Therefore, a piston rod 32 is attached to the piston 30, and the piston 4''f32 extends forward through the front wall 16.
It reaches close to the tapered portion 14 of the cylinder body io. Note that nJJ between the front wall 16 and the piston rod 32
H seal part, for example, airtight VTC by O ring 34
4', ), there are ten. The front of the piston rod 32 is formed as a large diameter 36, and from the front to the rear of the piston rod 36, a J? A bolt receiving hole 38 for receiving a bolt W is provided at a certain depth, and the peripheral wall 40 forming the bolt receiving hole 38 has at least three holes equally spaced in the circumferential direction rC. A ball receiving hole 42 is formed. A ball 44 is fitted into each of these ball receiving holes 42 with a force transfer stopper. These YN-rules 44 are connected to the piston rod 32 together with the piston 30.
When the cylinder moves forward, the tapered portion 1 of the cylinder cylinder 10
The bolt receiving hole 38 is pushed into the inner wall 14m at 4.
As a result, when the bolt screw W is inserted into the bolt receiving hole 38 as shown in FIG. The screw W is gripped.Of course, in this case, the piston pin 32i
Well, the piston 30 receives the pressurized air introduced from the pressurized air inlet/outlet 22 on the rear wall 18 side as a backward action, and is kept pushed forward. Firm grip of the root screw W can be obtained. On the other hand, the gripped yl
? When disassociating the root screw W,
When the pressure air acting on the front working surface of the piston 30 is introduced from the pressure air inlet/outlet 20 on both sides of the piston, the ball 41 receives white oil from the bolt screw W and presses the outer casing C in the ball receiving hole 42. Ba,
When the gripping force of the bolt screw W is released and it slides from the opening 12 to the lower blade, it becomes .

As is clear from the operational description, according to the present invention, a bolt is provided with a gripping or releasing mechanism for a bolt screw W at the tip of a piston rod that moves forward and backward by using pressurized air or other output θ1 [body]. Since a screw gripping device is provided, the end of the cylinder cylinder lO should be formed with a connecting means for connecting with the wrist of the industrial robot, for example, a 7-lunge screw, so that the bolt screw W can be gripped and pulled. At the same time, the bolt/screw W can be transported from one position to the other B (retainer H1) using robot operation.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal sectional view showing essential parts of an embodiment of a bolt gripping device according to the present invention, and FIG. 2 is a sectional view taken along the section n--■ in FIG. 1. 10...Cylinder cylinder, 12...Opening, 14...
Tapered shape portion, 14a...inner wall, 16...MiJ wall,
18... Rear wall, 20.22... Pressure air inlet/outlet, 2
4.26...Pressure air piping, 28...Pressure air switching valve, 30...Piston, 32...Piston rod, 38
... Bolt receiving hole, 40... Peripheral wall -, 42... Ball receiving hole, 44... Sole, W... Bolt hole.

Claims (1)

[Claims] 1. The tip of the cylinder body is formed into a tapered part with a bolt insertion/removal opening, and a pressure chamber partitioned by two front and rear partition walls is formed in the rear part of the cylinder body, and the pressure chamber is tightly fitted into the pressure chamber. A bolt receiving hole is provided at the front of the piston rod that protrudes from the piston and passes through the partition wall in front of the piston in an airtight manner, and a bolt receiving hole is fitted into the peripheral wall of the bolt receiving hole so that the cylinder body tapers in response to the forward movement of the piston rod. at least three bolt gripping balls pushed inwardly by the inner wall of the shape;
A bolt gripping device characterized by performing two-way gripping and a bolt gripping operation by mutually introducing pressurized air into the pressure chambers on both sides of the piston.