JPS6176292A - Return type parallel open-close chuck - Google Patents
Return type parallel open-close chuckInfo
- Publication number
- JPS6176292A JPS6176292A JP19596884A JP19596884A JPS6176292A JP S6176292 A JPS6176292 A JP S6176292A JP 19596884 A JP19596884 A JP 19596884A JP 19596884 A JP19596884 A JP 19596884A JP S6176292 A JPS6176292 A JP S6176292A
- Authority
- JP
- Japan
- Prior art keywords
- main body
- claw
- action lever
- sliding
- pressing member
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
産業上の利用分野
本発明は部品の供給、排出を行なう装置、ロボット等に
用いるチャックに係り、爪が平行に開閉することを特徴
とする。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.
従来の技術
ロボット用等には回動爪方式のチャックが構造が簡単な
ことから多用されているが、把持の確実性等で有利な平
行開閉チャックも用いられている。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.
この平行開閉チャックにガイドバー或は摺動溝で爪を往
復案内する構造がとられており、構造が複雑、機能の割
に大型、組立性が悪い、力のかかり方によってこじれが
出てしまう等の欠点があつた。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.
そこでこの点を解決した平行開閉チャック全特願昭59
−110426号として本出願人は先に提案をしている
。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.
しかしこのチャックは単動型(開きがバネ力)である為
、開き方向の荷重が犬きぐとれず、又フィンガー、アタ
ッチメントの重量が大きいと動作が不安定となり、環境
が悪い場合も動作が不安定で、バネ荷重分だけクランプ
力が弱くナリ、空気圧が低いと機能を損う等の欠点があ
る。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.
発明が解決しようとしている問題点
平行開閉チャックに於ける上記欠点を解決し特に小型、
軽量、構造簡単、組立性を良くし、両方向駆動させる等
を目的とした発明である。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.
問題点を解決するための手段
本発明は上記目的を達成する為、部品点数を少なくシ、
軸と面でスライド爪を案内し、支点の距離を離してガイ
ド軸と共通化し、爪の基準片を偏らせて組立スペースを
小さくしたもので、具体的には本体に支持され、第1の
方向に摺動自在の押圧部材と、本体に案内され、第1の
方向と交叉する方向に開閉自在に対向した2つのスライ
ド爪と、本体に支持され、第1の方向に摺動自在とした
スライド爪の拡開部材と、本体に回動自在に支持され、
押圧部材、拡開部材、スライド爪と当り、押圧部材、拡
開部材の変位全スライド爪に伝えるアクションレバーと
、本体に設は定アクションレバーの支点及びスライド爪
の案内をする2木の軸とから成り、スライド爪は上側に
偏って突出し、2つの長孔ヲもつ基準片、中心にアクシ
ョンレバーが入る切欠き部と全有し、一方の爪の基準片
、アクンヨ:/L/ハ+、他方の爪の基準片が並んで軸
に支持された復動型平行開閉チャックにより目的を達成
した。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.
更に押圧部材、拡開部材をピストンにして流体制御がで
きるようにし、爪をベアリング中介で案内してこじれ現
象全解決1−1動作の円滑化を為した。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.
実施例
図面を参照して本発明の一実施例を説明すると、流体通
路(11))(171を設けたシリンダ(1)には下方
開口の中心孔が設けてあり、順に径が小となるシリンダ
室(Ill(15) (161を形成している。シリン
ダ室(11)には開用ピストン(2)が摺動自在に嵌入
している。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).
そしてシリンダ室(15)は流体通路(]0)と連通し
、外側は平面部(10’l(第2図参照〕となりここで
図示しない配管とシールして結合する。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).
又シリンダ室(16)には拡開ピストン(9)が摺動自
在に嵌入し、上方が流体通路(17)と連通している。Further, an expansion piston (9) is slidably fitted into the cylinder chamber (16), and the upper side communicates with the fluid passage (17).
閉口ピストン(2)の溝(22)にはVバッキング(2
3)か嵌り、下方には両側に延出して下方に折曲した押
圧片(20)(20)が切欠き案内面け4)(14)間
に嵌って回り止めされ、かつ第1図で上下方向(第1の
方向)の案内をされている。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).
又拡開ピストン(9)の溝(92) (931(94)
にはVバッキング(951(961(97)が図示の方
向で嵌っている。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.
中心孔(21)fl軽量化の為の肉ヌキである。The center hole (21) fl is a meat hole for weight reduction.
シリンダ(1)の下方は巾広の切欠き(12)となって
いて、ここに後述アクションレバーC81(3)、スラ
イド爪(4)(4ンが入り、側面(13) (13)が
スライド爪(4)(41の案内をする。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).
シリンダ(1)の切欠き(12)t−はさむ両側には孔
(15)(15)が設けてあり、ここにスリーブ(6ン
(6)を介して軸(5)(5)が貫通し、両端がK 1
7ング(8)(8)により抜は止めされている。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.
この軸(5)(5)にアクションレバー(3)(3)が
回動自在に嵌り、その両側にベアリング(7)(7)
k介してスライド爪(4)(4)の基準片(401(4
01に設は定案内長孔(411(411力堝動自在に嵌
っている。(第4図参照)アクションレバー(3)は略
三角形状をし、一端(田)が押圧片(20)と当接し、
逆側の突片(32)が拡開ピストン(9)の先端(91
)と当り、下端切欠き部(31)にスライド爪(4)の
ビン(42)が嵌っている。 −スライド爪(4)ハ
上方中心にアクションレバー(3)と間中の切欠き部(
44)力花成してあり、ここにピン(42)が支持して
あって、片側上方[は偏った基準片(40)に摺動方向
の案内長孔(41)が軸(5)(5)の間隔で2ケ所に
形成しである。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.
このスライド爪(4)は左右共通であり、対向させると
(180°回して)基準片(40)が夫々切欠き部+4
4)’?介した逆側の上に臨んで組み合わさり、開閉爪
全構成してこの間の切欠き部(44)にアクシロンレバ
ー(3)が回動自在に入り、アクションレバー(3)の
切欠き部(31)Kビン(42)が嵌り、アクションレ
バー(3)の回動にスライド爪(4)が連動するように
なっている。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).
作用
流体通路(17)に加圧空気が送られ、流体通路(10
)より排気すると、(大気圧と連通)ピストン(9)が
第1の方向に進出しく第1図で下降)、アクションレバ
ー(3)を介しピストン(4)が逆方向に後退してスラ
イド爪(4)(4)が開き、部品等を把む時には流体通
路(lO)より加圧空気を送ると共に、流体通路(17
)より排気することにより上記とは逆にピストン(2)
を第1の方向に進出し、ピストン(9)が逆方向に後退
する。(第1図の状態)
即ち、ピストン(2)の進出により両押圧片(20)(
20)が両アクシ、7レバー(3)(3)の一端(88
1(331fjr:押して回動させ夫々のビン(42)
(421k押す。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.
従ってスライド爪(4)(4)は軸(5)(5)K嵌っ
たベアリングσ)(7)に案内され、かつ摺動面(48
)(43)が側面(13)(13)に案内されて、案内
長孔(41)の方向(第1の方向と交叉する方向)に閉
じ、部品等が把握される。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.
一方部品等の解放時には流体通路(10)より排気し、
流体通路(17)より加圧空気を送って、上述の通り爪
(4)(4)を開かせればよい。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.
尚図示してないが、スライド(4)(4)には部品等全
把む指部が固定されて使用される。Although not shown in the drawings, the slides (4) (4) are used with fixed finger portions for grasping all parts, etc.
又■バッキング全用いたのは摺動抵抗を小さくする為で
、Q +、1ング?用いれば溝(92)バッキング(9
5)は省略出来る。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.
変更例
上記実施例では、シリンダ、ピストン全相いたが、シリ
ンダに代る本体にソレノイド、モータ等で押圧片を進退
させる様に構成しても良い。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.
又軸(5)にはベアリングを嵌めて案内したが、軸(5
)で直接スライド爪の長孔(411k案内しても良い。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).
発明の効果
部品点数が少fx(、ガイドバーや摺動溝を用いないの
で部品の加工性、組立て性が良く、面蟲りの槽動なので
精度も良く小型、軽量にして復動型平行開閉チャックが
出来上っている。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.
そして2つのピストンを用い、チャックの開閉を流体圧
(駆動源)で制御したことにより、両方向共強い荷重が
出せて、アタッチメントの荷重、作業環境等に左右され
ず信頼性の高い動作が得られる。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. .
又2本の離間した軸でスライド爪を案内しているので把
握時のこじれも生じ難い。更にこの点は、ベアリングを
用いることにより負荷ヲころがりで受けるのでこじれは
完全に解消する。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.
更に実施例の構成ではスライド爪、軸等全て左右共通部
品で出来、チャックに多用されているエアー等の流体制
御がそのまま使える。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.
そしてピストン(押圧部材)の変位をアクションレバー
の回動で変換して作用方向を変え、スライド爪を開閉さ
せるので方向転換の助出が良(て把持力が犬きく、これ
に類似大きさの従来の平行開閉チャックに比し1.5〜
2倍にもなる。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.
第1図はチャックが閉じ定状態の本発明一実施例断面図
、第2図はその平面図、第8図は同底面図、第4図は軸
部分の断面図、第5図はシリンダの部品図(正面図、側
面図)、第6図はスライド爪の部品図(正面図、側面図
)、第7図はスライド爪の外形図、第8図はピストンの
部品図(正面図、側面図)を示し、
閉
lflシリンダ、2は需用ピストン、20は押圧片、4
はスライド爪、5は支点及び案内用の軸、7はベアリン
グ、9は拡開ピストンである。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)
材と、 本体に案内され、第1の方向と交叉する方向に開閉自在
に対向した2つのスライド爪と、 本体に支持され、第1の方向に摺動自在としたスライド
爪の拡開部材と、 本体に回動自在に支持され、押圧部材、拡開部材、スラ
イド爪と当り、押圧部材、拡開部材の変位をスライド爪
に伝えるアクションレバーと、本体に設けたアクション
レバーの支点及びスライド爪の案内をする2本の軸 とから成り、 スライド爪は上側に偏って突出し、2つの長孔をもつ基
準片、中心にアクションレバーが入る切欠き部とを有し
、 一方の爪の基準片、アクションレバー、他方の爪の基準
片が並んで軸に支持された復動型平行開閉チャック。(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.
ンとした特許請求の範囲第1項に記載の復動型平行開閉
チャック。(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.
の長孔に嵌入した特許請求の範囲第1項及び第2項に記
載の復動型平行開閉チャック。(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.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19596884A JPS6176292A (en) | 1984-09-19 | 1984-09-19 | Return type parallel open-close chuck |
US06/739,261 US4629237A (en) | 1984-05-30 | 1985-05-30 | Parallel type robot chuck |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19596884A JPS6176292A (en) | 1984-09-19 | 1984-09-19 | Return type parallel open-close chuck |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6176292A true JPS6176292A (en) | 1986-04-18 |
JPS6213154B2 JPS6213154B2 (en) | 1987-03-24 |
Family
ID=16349983
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP19596884A Granted JPS6176292A (en) | 1984-05-30 | 1984-09-19 | Return type parallel open-close chuck |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6176292A (en) |
-
1984
- 1984-09-19 JP JP19596884A patent/JPS6176292A/en active Granted
Also Published As
Publication number | Publication date |
---|---|
JPS6213154B2 (en) | 1987-03-24 |
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