JPS6176292A - Return type parallel open-close chuck - 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 Field of Industrial Application The present invention relates to a chuck used in devices, robots, etc. for supplying and discharging parts, and is characterized in that the jaws open and close in parallel.

Conventional technology For robots and the like, rotary jaw type chucks are often used because of their simple structure, but parallel opening/closing chucks are also used, which are advantageous in terms of grip reliability, etc.

This parallel opening/closing chuck has a structure in which the jaws are guided back and forth using a guide bar or sliding groove.The structure is complicated, it is large for its function, it is difficult to assemble, and it can get twisted depending on the way force is applied. There were other drawbacks.

Therefore, a patent application filed in 1983 for a parallel opening/closing chuck that solved this problem.
The applicant has previously proposed this as No.-110426.

However, since this chuck is a single-acting type (opening is done by spring force), the load in the opening direction cannot be fully absorbed, and if the weight of the fingers or attachments is large, the operation becomes unstable, and the operation may also become unstable in bad environments. Although it is stable, the clamping force is weak due to the spring load, and its function is impaired if the air pressure is low.

Problems to be Solved by the Invention The invention solves the above-mentioned drawbacks in parallel opening/closing chucks, and is particularly compact.
This invention aims to be lightweight, simple in structure, easy to assemble, and bidirectionally driveable.

Means for Solving the Problems In order to achieve the above object, the present invention reduces the number of parts,
The sliding claw is guided by the axis and plane, the fulcrum is spaced apart to share the guide shaft, and the reference piece of the claw is biased to reduce the assembly space. a pressing member that is slidable in the direction; two slide claws that are guided by the main body and opposed to each other so as to be freely openable and closable in a direction intersecting the first direction; and supported by the main body and slidable in the first direction. Rotatably supported by the slide claw expansion member and the main body,
An action lever that contacts the pressing member, expansion member, and slide pawl and transmits the displacement of the pressing member and expansion member to all the slide pawls, and two wooden shafts that are set on the main body and serve as the fulcrum of the action lever and guide the slide pawl. The sliding claw protrudes upwardly, has a reference piece with two elongated holes, a notch in the center for the action lever, and a reference piece for one of the claws. The purpose was achieved using a double-acting parallel opening/closing chuck in which the reference pieces of the other jaw were lined up and supported on a shaft.

Furthermore, the pressing member and the expanding member are used as pistons to enable fluid control, and the pawl is guided by a bearing intermediate to solve the problem of twisting 1-1 and to make the operation smoother.

An embodiment of the present invention will be described with reference to the drawings.The cylinder (1) provided with the fluid passage (11) (171) is provided with a center hole opening downward, and the diameter becomes smaller in order. A cylinder chamber (15) (161) is formed. An opening piston (2) is slidably fitted into the cylinder chamber (11).

The cylinder chamber (15) communicates with the fluid passage (10), and the outside forms a flat surface (10'l (see FIG. 2)), where it is sealed and connected to piping (not shown).

Further, an expansion piston (9) is slidably fitted into the cylinder chamber (16), and the upper side communicates with the fluid passage (17).

The groove (22) of the closing piston (2) has a V backing (2
3) The pressing pieces (20) (20) extending downward from both sides and bent downward are fitted between the notch guide surfaces 4) (14) to prevent rotation, and as shown in FIG. It is guided in the vertical direction (first direction).

Also, the groove (92) of the expansion piston (9) (931 (94)
A V backing (951 (961 (97)) is fitted in the direction shown in the figure.

The center hole (21) fl is a meat hole for weight reduction.

The lower part of the cylinder (1) is a wide notch (12), into which the action lever C81 (3) and slide pawl (4) (to be described later) are inserted, and the side surface (13) (13) slides. Guide the claws (4) (41).

There are holes (15) (15) on both sides of the notch (12) of the cylinder (1), through which the shaft (5) (5) passes through the sleeve (6). , both ends are K1
7 rings (8) (8) prevent removal.

Action levers (3) (3) are rotatably fitted onto these shafts (5) (5), and bearings (7) (7) are mounted on both sides of the action levers (3) (3).
The reference piece (401 (4) of the slide claw (4) (4) is inserted through the
The action lever (3) is approximately triangular in shape, and one end (field) is connected to the pressing piece (20). abutting,
The protruding piece (32) on the opposite side is attached to the tip (91) of the expansion piston (9).
), and the pin (42) of the slide claw (4) fits into the lower end notch (31). - The slide claw (4) has a notch (
44) A pin (42) is supported here, and a guiding elongated hole (41) in the sliding direction is connected to the shaft (5) in the reference piece (40) which is biased upward on one side. 5) It is formed in two places at the interval.

These sliding claws (4) are common to the left and right, and when they are faced to each other (turned by 180°), the reference pieces (40) each have a notch +4
4)'? The axilon lever (3) is rotatably inserted into the notch (44) between them with the opening/closing claw fully configured, and the notch (44) of the action lever (3) 31) The K bottle (42) is fitted so that the slide claw (4) is interlocked with the rotation of the action lever (3).

Pressurized air is sent to the working fluid passageway (17), and the fluid passageway (10
), the piston (9) (communicated with atmospheric pressure) advances in the first direction (downward in Figure 1), and the piston (4) retreats in the opposite direction via the action lever (3), causing the slide claw to move. (4) When (4) opens and grasps a part, pressurized air is sent from the fluid passage (lO) and the fluid passage (17
) By exhausting from the piston (2), contrary to the above
advances in the first direction, and the piston (9) retreats in the opposite direction. (Situation shown in Fig. 1) That is, as the piston (2) advances, both pressing pieces (20) (
20) on both axles, 7 levers (3) (3) on one end (88
1 (331fjr: Push and rotate each bottle (42)
(Press 421k.

Therefore, the sliding claws (4) (4) are guided by the shaft (5) (5) K fitted bearing σ) (7), and the sliding surface (48
) (43) are guided by the side surfaces (13) (13) and closed in the direction of the guide elongated hole (41) (direction intersecting the first direction), and parts etc. are grasped.

On the other hand, when releasing parts etc., exhaust from the fluid passage (10),
Pressurized air may be sent through the fluid passage (17) to open the claws (4) (4) as described above.

Although not shown in the drawings, the slides (4) (4) are used with fixed finger portions for grasping all parts, etc.

Also, ■The reason why I used all the backing was to reduce the sliding resistance, so Q +, 1 ring? Groove (92) backing (9) if used
5) can be omitted.

Modification Example In the above embodiment, a cylinder and a piston are used in all phases, but the main body instead of the cylinder may be configured to move the pressing piece forward and backward using a solenoid, a motor, or the like.

In addition, although a bearing was fitted to the shaft (5) for guidance, the shaft (5)
) may be used to guide the sliding claw directly through the elongated hole (411k).

Effects of the invention The number of parts is small (fx). Since no guide bars or sliding grooves are used, the workability and assembly of parts are good. Since the tank movement is circular, the accuracy is also good. It is small, lightweight, and double-acting parallel opening/closing. The chuck is ready.

By using two pistons and controlling the opening and closing of the chuck using fluid pressure (drive source), it is possible to generate strong loads in both directions, resulting in highly reliable operation regardless of attachment loads, work environment, etc. .

Also, since the sliding claw is guided by two separate shafts, it is difficult for the tool to become twisted when grasping. Furthermore, by using bearings, the load is borne by rolling, so twisting is completely eliminated.

Furthermore, in the configuration of the embodiment, all the slide claws, shafts, etc. are made of common parts for the left and right sides, and fluid control such as air, which is often used in chucks, can be used as is.

The displacement of the piston (pressing member) is converted by the rotation of the action lever to change the direction of action and open/close the slide pawl, making it easy to change direction (and the gripping force is very strong). 1.5~ compared to conventional parallel open/close chuck
It will double.

[Brief explanation of the drawing]

Fig. 1 is a sectional view of an embodiment of the present invention with the chuck in the closed state, Fig. 2 is its top view, Fig. 8 is its bottom view, Fig. 4 is a sectional view of the shaft portion, and Fig. 5 is the cylinder. Figure 6 is a parts diagram of the sliding claw (front view, side view), Figure 7 is an outline diagram of the sliding jaw, and Figure 8 is a parts diagram of the piston (front view, side view). Figure) shows a closed lfl cylinder, 2 is a demand piston, 20 is a pressing piece, 4
5 is a sliding pawl, 5 is a fulcrum and a shaft for guiding, 7 is a bearing, and 9 is an expansion piston.

Claims (3)

[Claims] (1) A pressing member supported by the main body and slidable in a first direction; two sliding claws guided by the main body and opposed to each other so as to be openable and closable in a direction intersecting the first direction; , an expanding member with a slide claw that is slidable in a first direction; and a member that is rotatably supported by the main body, contacts the pressing member, the expanding member, and the sliding claw, and slides the displacement of the pressing member and the expanding member. It consists of an action lever that transmits information to the claw, and two shafts that serve as a fulcrum for the action lever and guide the slide claw provided on the main body. A double-acting parallel opening/closing chuck having a notch into which an action lever is inserted, and in which a reference piece of one jaw, an action lever, and a reference piece of the other jaw are lined up and supported on a shaft. (2) The double-acting parallel opening/closing chuck according to claim 1, wherein the main body is a cylinder, and the pressing member and the expanding member are pistons. (3) The double-acting parallel opening/closing chuck according to claims 1 and 2, wherein a bearing is fitted to the shaft, and this bearing is fitted into the elongated hole of the reference piece.