WO2014141432A1 - Feed structure and gripping device with same - Google Patents

Feed structure and gripping device with same Download PDF

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Publication number
WO2014141432A1
WO2014141432A1 PCT/JP2013/057182 JP2013057182W WO2014141432A1 WO 2014141432 A1 WO2014141432 A1 WO 2014141432A1 JP 2013057182 W JP2013057182 W JP 2013057182W WO 2014141432 A1 WO2014141432 A1 WO 2014141432A1
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WO
WIPO (PCT)
Prior art keywords
receiver
gripping
cylindrical body
peripheral surface
guide groove
Prior art date
Application number
PCT/JP2013/057182
Other languages
French (fr)
Japanese (ja)
Inventor
保至 酒谷
Original Assignee
株式会社カワタテック
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 株式会社カワタテック filed Critical 株式会社カワタテック
Priority to PCT/JP2013/057182 priority Critical patent/WO2014141432A1/en
Publication of WO2014141432A1 publication Critical patent/WO2014141432A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/06—Arrangements for positively actuating jaws
    • B25B1/10—Arrangements for positively actuating jaws using screws
    • B25B1/103—Arrangements for positively actuating jaws using screws with one screw perpendicular to the jaw faces, e.g. a differential or telescopic screw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
    • B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
    • B23B31/16045—Jaws movement actuated by screws and nuts or oblique racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B2231/00—Details of chucks, toolholder shanks or tool shanks
    • B23B2231/12—Chucks having means to amplify the force produced by the actuating means to increase the clamping force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/06—Arrangements for positively actuating jaws
    • B25B5/10—Arrangements for positively actuating jaws using screws

Definitions

  • the present invention relates to a feed structure used in a feed screw mechanism for moving a claw and a movable body forward and backward, and a gripping device including the feed structure, and in particular, a feed structure including a mechanism for amplifying a gripping force by a claw and a movable body and the same.
  • the present invention relates to a gripping device including
  • Examples of the gripping device include a chuck that grips an object with a claw threaded with a feed screw, and a vice that grips an object with a movable body screwed to the feed screw and a fixed body fixed to a pedestal. There is.
  • a grasping device having a mechanism for amplifying the grasping force is provided. Proposed. As such a gripping device, there is a vise disclosed in Japanese Patent Laid-Open No. 2000-117646.
  • the vise includes a main body on which a guide rail is formed, a fixed jaw integrally formed with the main body, and a movable jaw that is guided by the guide rail and arranged so as to be movable toward and away from the fixed jaw.
  • a spindle that engages the movable jaw and advances and retracts the movable jaw, a force-increasing mechanism that moves the spindle, and the like.
  • the force-increasing mechanism has a rotational force when the drive shaft is rotationally driven using a handle or the like.
  • a pressing member that is amplified by mechanical action and moves with the amplified force is provided, and the spindle is in contact with the pressing member.
  • the movable jaw is moved closer to the fixed jaw by rotating the spindle, and after the object is gripped by the movable jaw and the fixed jaw, the pressing member of the force-increasing mechanism is moved.
  • the spindle is pressed and moved by the pressing member, the movable jaw engaged with the spindle is further brought closer to the object, and the force for gripping the object is additionally amplified.
  • FIGS. 11 and 12 are diagrams showing a part of the chuck 100 provided with a mechanism for amplifying the gripping force.
  • the chuck 100 having such a configuration includes a main body 101, a screw hole 102a, and a gripping claw 102 that advances and retreats along a guide groove formed in the main body 101.
  • the screw screw 102a of the gripping claw 102 is screwed into a feed screw 103 having a hexagonal portion 103a formed at one end thereof, and an arcuate shape fixed to the outer peripheral surface of the main body 101 so as to surround one end portion of the feed screw 103.
  • the handle 107 is attached to the hexagonal portion 105a.
  • the feed screw 103 is rotated to move the gripping claw 102 toward the object, and the object is gripped by the gripping claw 102. Thereafter, the crank 105 and the handle 107 are attached, and the handle 107 is rotated. As a result, the handle torque is amplified to a predetermined reduction ratio and input to the feed screw 103.
  • the reduction ratio is as follows.
  • the number of teeth of the first gear is Z1 ′ and the number of teeth of the second gear is Z2 ′.
  • (Formula 1) Reduction ratio Z1 '/ Z2' + 1 From the structural relationship, the reduction ratio is about 5 to 8 times.
  • the thrust generated by the feed screw can be additionally amplified.
  • the vise since the vise has a structure including a force-increasing mechanism having a pressing member in contact with the spindle on one end side of the spindle, the entire structure of the vice is larger by the amount of the power-increasing mechanism. There is a problem.
  • the thrust generated by the feed screw can be additionally amplified and the object can be gripped with a strong gripping force.
  • the force that can be amplified due to the structural relationship. Therefore, there is a problem that it cannot be used for an operation of applying a larger load to the grasped object.
  • the present invention has been made in view of the above circumstances, and includes a feeding structure that can express a gripping force stronger than before and that can make the entire apparatus more compact than before.
  • the purpose is to provide a gripping device.
  • a through hole is formed in the central portion, and a first receiver inserted into one end of the cylindrical body in a state where the axial line of the through hole is coaxial with the axial line of the cylindrical body;
  • a second receiver inserted into the other end of the cylindrical body;
  • a male screw portion formed on the outer peripheral surface is disposed between the first receiver and the second receiver in the cylindrical body in a state of being engaged with a female screw portion formed on the inner peripheral surface of the cylindrical body.
  • An eccentric shaft comprising a base shaft portion and an eccentric portion eccentric with respect to the axis of the base shaft portion, wherein both ends of the base shaft portion are rotatably inserted into the through hole of the first receiver and the receiving hole of the screw body, respectively.
  • An internal gear disposed between the first receiver and the screw body;
  • a tooth portion is formed on the outer peripheral surface, a through hole penetrating the front and back is formed in the center portion, a part of the tooth portion meshes with a part of the tooth portion of the internal gear, and the through hole
  • the eccentric portion of the eccentric shaft comprises an external gear disposed in the ring of the internal gear,
  • the cylindrical body engages with the first receiver so as to be rotatable integrally with the first receiver around the axis of the cylindrical body, In the surface of the first receiver facing the external gear, a recess that is open to the surface is formed, A convex portion that is loosely fitted into the concave portion is formed on a surface of the external gear that faces the first receiver.
  • the feeding structure A body having at least two guide grooves provided radially around a predetermined point on the surface; At least two gripping claws provided so as to be engaged with the respective guide grooves of the main body, provided so as to be capable of moving forward and backward along the guide grooves, and having an internal thread portion formed along the guide grooves;
  • a gripping device comprising: In the feed structure, the first receiver and the second receiver are rotatably supported, and the external thread portion formed on the outer peripheral surface of the cylindrical body is screwed to the internal thread portion of the gripping claw,
  • the present invention relates to a gripping device disposed in the guide groove and below the gripping claw.
  • an object is arranged near a predetermined point of the main body.
  • the shape of the object include a cylindrical shape, a polygonal column shape, and a cylindrical shape.
  • the cylindrical body that engages with the first receiver and rotates integrally with the first receiver around the axis is rotated in the same direction.
  • the gripping claws having the female threaded portion screwed into the male threaded portion on the outer peripheral surface of the cylindrical body are moved (advanced) along the guide groove, and the respective gripping claws are brought into contact with the object. Rotate and grip the object with each gripping claw. Since the convex portion of the external gear is loosely fitted in the concave portion of the first receiver, the external gear rotates in the same direction following the rotation of the first receiver. At the same time, the internal gear meshed with the external gear also rotates in the same direction, and the screw body engaged with the internal gear also rotates in the same direction.
  • the eccentric shaft rotates the eccentric shaft.
  • the external gear into which the eccentric portion of the eccentric shaft is inserted performs a turning motion centered on the shaft center of the base shaft portion and the eccentric amount of the eccentric portion as a radius, and is engaged with the external gear.
  • the gear rotates in the same direction by one tooth per one rotation of the eccentric shaft.
  • hypocycloid mechanism such a mechanism
  • the reduction ratio in this hypocycloid mechanism is such that the number of teeth of the external gear is Z1, and the number of teeth of the internal gear is Z2.
  • Reduction ratio Z1 / (Z2-Z1) +1 It depends on. That is, a large reduction ratio can be obtained by increasing the number of teeth of both gears and increasing the number of teeth of the internal gear than the number of teeth of the external gear. When the number of teeth of the internal gear is constant, the largest reduction ratio can be obtained when the number of teeth of the internal gear is one more than the number of teeth of the external gear.
  • the reduction ratio is 16, whereas the number of teeth of the internal gear is 30,
  • the reduction ratio is 30, and the reduction ratio is significantly increased by increasing the number of teeth of the internal gear by one more than the number of teeth of the external gear.
  • the gripping device by incorporating a so-called hypocycloid mechanism inside the feed structure, a large force can be added to the force for gripping the target, and the target can be easily Can be gripped with a stronger gripping force than before, and the entire gripping device can be made more compact than before.
  • the gripping device is The feeding structure; A body having at least one guide groove provided on the surface; At least one gripping body provided on the surface of the main body so as to be fixed or movable; And at least one gripping claw having an internal thread portion formed along the guide groove and disposed so as to be engaged with the guide groove of the main body.
  • a gripping device, The guide groove arranging direction and the gripping body moving direction are set radially about a predetermined point on the surface of the main body, In the feed structure, the first receiver and the second receiver are rotatably supported, and the external thread portion formed on the outer peripheral surface of the cylindrical body is screwed to the internal thread portion of the gripping claw,
  • the gripping device may be configured to be disposed in the guide groove and below the gripping claw.
  • each gripping claw is previously placed in a retracted position closer to the outside of the main body. Further, when the gripper is movable, the gripper is also located at a retracted position closer to the outside of the main body.
  • the first receiver is rotated, engaged with the first receiver, and a cylindrical body that can rotate integrally with the first receiver around the axis is rotated in the same direction.
  • the gripping claw in which the female thread portion is engaged with the male thread portion of the cylindrical body, is moved along the guide groove to bring the gripping claw into contact with the object. Further, when the gripping body is movable, the gripping body is also moved and brought into contact with the object. Thereafter, the first receiver is further rotated and the object is gripped by the gripping claws and the gripping body.
  • the eccentric shaft is rotated, and the external gear into which the eccentric portion of the eccentric shaft is inserted is turned around the shaft center of the base shaft portion and the eccentric amount of the eccentric portion as a radius as described above.
  • the internal gear meshed with the external gear is rotated by the large torque obtained by the hypocycloid mechanism, and the screw body engaged with the internal gear is rotated in the same direction.
  • the cylindrical body in which the internal thread portion is screwed to the external thread portion of the thread body moves (advances) along the axial direction with a large force, and a large force is added to the force with which the gripping claws grip the target object. Is gripped by the amplified gripping force.
  • the cylindrical body in the feed structure is formed with a small-diameter portion that is radially reduced in diameter at least at a part of the inner peripheral surface, and the female thread portion is formed on the inner peripheral surface of the small-diameter portion.
  • the receiver is formed with a flange portion that is radially expanded at least in part, and a spring is disposed between the end surface of the small diameter portion of the cylindrical body and the end surface of the flange portion of the second receiver. It is preferable to urge the cylindrical body toward one end side by a spring. In this way, when the gripping force is relaxed, the cylindrical body can be smoothly moved (retracted) by the biasing force of the spring.
  • the feeding structure according to the present invention and the gripping device including the same, it is possible to apply a strong gripping force to an object more easily than in the past, and further to make the entire device compact. can do.
  • FIG. 2 is a cross-sectional view taken along arrow AA in FIG.
  • FIG. 3 is a cross-sectional view taken along arrow BB in FIG. It is the side view seen from the arrow C direction in FIG. It is sectional drawing which shows a feed structure. It is the side view seen from the arrow D direction in FIG.
  • FIG. 6 is a cross-sectional view taken along arrow EE in FIG. 5.
  • FIG. 6 is a cross-sectional view taken along arrow FF in FIG. 5.
  • FIG. 6 is a cross-sectional view taken along arrow GG in FIG. 5. It is sectional drawing which shows a feed structure. It is sectional drawing which shows a part of conventional chuck
  • FIGS. 1 to 10 taking a chuck as an example.
  • the chuck 1 of this example has a disc-shaped main body 2 in which a workpiece is arranged at the center and an equal interval in the circumferential direction of the main body 2 (at 90 ° intervals in this example).
  • the four gripping claws 10 having the same shape for gripping the workpiece disposed in the central portion and the radial direction of the main body 2 are disposed along the radial direction of the main body 2.
  • the four gripping claws 10 are each composed of four feeding structures 20 that advance and retract.
  • the radial direction means a direction that spreads radially from the center of the main body 2.
  • the main body 2 In the main body 2, four guide grooves 3 having a substantially T-shaped cross section are formed on the front end surface portion thereof along the radial direction and at equal intervals in the circumferential direction (90 ° interval in this example). Has been. Further, the main body 2 is formed with a storage chamber 4 having a circular arc shape in cross section in which each of the four feeding structures is disposed, below the guide groove 3 so as to communicate with the guide groove 3. . In addition, on both sides of the upper opening of each guide groove 3, a lift prevention plate 5 for preventing the gripping claws engaged with the guide groove 3 from lifting is fixed by bolts 6.
  • the four gripping claws 10 are formed with arc-shaped female screw portions 11 on the lower surface thereof along the advancing and retreating directions, and engaging with the guide grooves 3 on both lower side surfaces of the gripping claws 10.
  • the convex part 12 is formed along the advancing / retreating direction.
  • each gripping claw 10 is guided by the guide groove 3 and moves along the radial direction.
  • the feed structure 20 has a cylindrical body 21 having a male screw portion 22 formed on the outer peripheral surface and a through hole 28.
  • One end side of the cylindrical body 21 (on the left side of the drawing in FIG. A first receiver 27 inserted into the side) and a second receiver inserted into the other end side of the cylindrical body 21 (the right side in FIG. 5, hereinafter referred to as “front end side”).
  • 35 a base shaft portion 41 and an eccentric portion 42 eccentric to the axis of the base shaft portion 41, and an eccentric shaft 40 in which the base shaft portion 41 is inserted into the through hole 28 of the first receiver 27, and an outer peripheral surface.
  • a tooth portion is formed, and a through hole 46 penetrating the front and back is formed in the center portion.
  • An internal gear 50 having a key portion 51 formed on the outer peripheral surface thereof, a male screw portion 56 formed on the outer peripheral surface of the front end side, and a key groove 58 engaged with the key portion 51 of the internal gear 50 formed on the peripheral portion of the rear end surface.
  • the screw body 55 is formed.
  • the cylindrical body 21 has a small diameter portion 23 whose inner diameter is radially reduced on the inner peripheral surface of the intermediate portion, and a female screw portion 24 is formed on the inner peripheral surface of the small diameter portion 23.
  • the cylindrical body 21 is formed with medium diameter portions 24a and 24b having a larger inner diameter than the small diameter portion 23 on both sides of the small diameter portion 23 toward the front end side and the rear end side, respectively, A large diameter portion 25a having an inner diameter larger than that of the medium diameter portion 24a is further formed. Further, a key groove 26 is formed on the inner peripheral surface of the middle diameter portion 25b on the rear end side.
  • the first receiver 27 is made of a member having a circular shape in a longitudinal sectional view, and a circular concave portion 29 opened to the front end surface is formed at equal intervals in the circumferential direction so as to surround the through hole 28 on the front end surface thereof.
  • a hexagonal portion 30 is formed on the rear end side.
  • a flange portion 31 having a radially increased diameter is formed at an intermediate portion of the first receiver 26, and a rectangular key body 32 is fixed to the outer peripheral surface of the flange 31 with a bolt. ing.
  • the first receiver 27 has the cylindrical body 21 so that the axis of the through hole 28 is coaxial with the axis of the cylindrical body 21 in a state where the key body 32 and the key groove 26 of the cylindrical body 21 are engaged.
  • the first receiving body 27 and the cylindrical body 21 are integrally rotated around the axis of the cylindrical body 21.
  • the longitudinal direction of the key body 32 is shorter than the longitudinal direction of the key groove 26, and the cylindrical body 21 and the first receiver 27 are engaged by the engagement of the key body 32 and the key groove 26.
  • the second receiver 35 is made of a member having a circular shape in a longitudinal sectional view, and a flange portion 36 having a radially increased diameter is formed at an intermediate portion thereof.
  • the second receiver 35 is formed of a flange portion 36. Is inserted into the cylindrical body 21 with a spring 39 interposed between the rear end face of the cylindrical body 21 and the front end face of the small diameter portion 23 of the cylindrical body 21. Thereby, the cylindrical body 21 is biased toward the rear end side. Further, a stepped portion 37 whose diameter is increased in the radial direction is formed on the outer peripheral surface on the front end side of the flange portion 36, and the stepped portion 37 is inserted in the state where the second receiver 35 is fitted into the cylindrical body 21. A gap is formed between the rear end surface of the cylindrical body 21 and the front end surface of the medium diameter portion 24a of the cylindrical body 21.
  • the eccentric shaft 40 includes the base shaft portion 41 and the eccentric portion 42 formed eccentrically with respect to the axis of the base shaft portion 41 at the axial intermediate portion of the base shaft portion 41.
  • the rear end side is rotatably inserted into the through hole 28 of the first receiver 27.
  • an insertion port 43 is opened at the rear end surface of the eccentric shaft 40, and the eccentric shaft 40 can be rotated by inserting a handle into the insertion port 43 as appropriate.
  • M ⁇ b> 1 indicates the axis of the base shaft portion 41
  • M ⁇ b> 2 indicates the axis of the eccentric portion 42.
  • the external gear 45 is formed with a through hole 46 penetrating the front and back at the center, and a circular convex portion 47 having a smaller diameter than the concave portion 29 of the first receiver 27 is formed on the rear end surface thereof.
  • the external gear 45 is formed so that the convex portion 47 is loosely fitted in the concave portion 29 of the first receiver 27 and the eccentric portion 42 of the eccentric shaft 40 is inserted into the through hole 46. It is arranged in the space.
  • the external gear 45 of this example has 29 teeth on the outer peripheral surface thereof.
  • the central axis of the outer peripheral surface and the central axis of the inner peripheral surface are coaxial, a tooth portion is formed on the inner peripheral surface, and a part of the tooth portion is a tooth of the external gear 45. It is disposed in the internal space of the cylindrical body 21 in a state of being engaged with a part of the portion.
  • the internal gear 50 of this example has 30 teeth formed on the inner peripheral surface thereof.
  • the screw body 55 has the male screw portion 56 formed on the front end side and the flange portion 57 formed on the rear end side, and the rear end surface has a key groove on the periphery thereof. 58 is formed, and a receiving hole 59 into which the front end side of the eccentric shaft 40 is rotatably inserted is formed at the center.
  • the threaded body 55 has a male threaded portion 56 screwed into a female threaded portion 24 formed in the small diameter portion 23 of the cylindrical body 21, and the key portion 51 of the internal gear 50 is engaged with the key groove 58.
  • the end surface and the front end surface of the internal gear 50 are in contact with each other and are disposed in the internal space of the cylindrical body 21.
  • a liner 60 and a bearing 61 are interposed between the rear end surface of the internal gear 50 and the front end surface of the flange portion 31 of the first receiver 27, and the internal gear 50, the screw body 55, and the liner are interposed. 60 is connected by a bolt 62. Further, the liner 60 is in contact with the rear end surface of the internal gear 50, and the bearing 61 is in contact with the front end surface of the flange portion 31 in the first receiver 27.
  • the feeding structure 20 having the above-described configuration is provided in the storage chamber 4 in which the rear end surface of the flange portion 31 in the first receiver 27 and the front end surface of the flange portion 36 in the second receiver 35 are formed in the main body 2. It is accommodated in the storage chamber 4 in a state of being in contact with the inner wall surface.
  • the rear end side of the first receiver 27 and the front end side of the second receiver 35 are rotatably supported by the main body 2 and a support member 65 attached to the main body 2, respectively.
  • each gripping claw 10 is positioned at an appropriate retracted position on the outer side in the radial direction so that a workpiece can be arranged.
  • a handle is appropriately attached to the hexagonal portion 30 of the first receiver 27, and the first receiver 27 is rotated.
  • the key body 32 of the first receiver 27 engages with the key groove 26, and the cylindrical body 21 configured to rotate integrally with the first receiver about its axis rotates in the same direction.
  • Each gripping claw 10 in which the female screw portion 11 is screwed into the male screw portion 22 of the cylindrical body 21 moves toward the center side of the main body 2.
  • the 1st receiving body 27 is further rotated and a workpiece
  • the convex portion 47 of the external gear 45 is loosely fitted in the concave portion 29 of the first receiver 27.
  • the external gear 45 also rotates in the same direction so as to follow, and the internal gear 50 meshed with the external gear 45 also rotates in the same direction.
  • a handle is appropriately inserted into the insertion port 43, and the eccentric shaft 40 is rotated by rotating the handle.
  • the external gear 45 in which the eccentric portion 42 is inserted performs a turning motion with the radius of the eccentric amount of the eccentric portion 42 with respect to the base shaft portion 41 about the shaft center M1 of the base shaft portion 41 of the eccentric shaft 40.
  • the internal gear 50 meshed with the external gear 45 rotates in the same direction by one tooth per one rotation of the eccentric shaft.
  • Such a mechanism is generally known as a hypocycloid mechanism, and this hypocycloid mechanism can easily obtain a large reduction ratio.
  • the reduction ratio in the hypocycloid mechanism is such that the number of teeth of the external gear 45 is Z1, and the number of teeth of the internal gear 50 is Z2.
  • (Formula 2) Reduction ratio Z1 / (Z2-Z1) +1
  • the rotational torque input from the eccentric shaft 40 is amplified by 30 times by the hypocycloid mechanism, and the internal gear 50 is rotated by the amplified rotational torque.
  • the screw body 55 in which the key portion 51 of the toothed gear 50 is engaged with the key groove 58 is also rotated in the same direction with the amplified rotational torque.
  • the eccentric shaft 40 When removing the workpiece from the chuck 1, first, the eccentric shaft 40 is rotated in the opposite direction to the above, and the cylindrical body 21 is moved backward. At this time, a spring 39 is provided between the front end surface of the small-diameter portion 23 in the cylindrical body 21 and the rear end surface of the flange portion 36 in the second receiver 35, and the cylindrical body 21 is biased toward the rear end side. Therefore, the cylindrical body 21 moves backward smoothly.
  • the first receiver 27 is rotated in the direction opposite to the above to rotate the cylindrical body 21 in the same direction, and the gripping claws 10 are retracted, that is, moved away from the workpiece. Thereby, the gripping by the gripping claws 10 is released, and the workpiece can be removed from the chuck 1.
  • the eccentric shaft 40 is rotated after the workpiece is gripped by the gripping claws 10 by rotating the first receiver 27 and rotating the cylindrical body 21.
  • the screw body 55 rotates with the rotational torque amplified by a so-called hypocycloid mechanism built in the feed structure 20.
  • the gripping claw 10 moves forward in the same direction. Therefore, a large force is added to the force for gripping the workpiece, and the workpiece can be gripped strongly by the amplified force.
  • the apparatus can be miniaturized.
  • the combination of the external gear 45 and the internal gear 50 is a combination with a reduction ratio of 30, but is not limited to this, and the number of teeth that varies as appropriate according to the required reduction ratio. It is sufficient to combine the gears.
  • the workpiece is gripped by the four gripping claws 10. However, the workpiece may be gripped by gripping claws of more or less.
  • the chuck 1 in the above example grips the workpiece by the four gripping claws 10 that move forward and backward.
  • the workpiece is formed by two gripping claws 10 and two gripping bodies fixed to the surface of the main body 2. You may make it hold
  • the gripping claws 10 and the gripping body are opposed to each other, and they are arranged at equal intervals in the circumferential direction of the main body 2.
  • the work is placed on the main body 2 in a state where the work is brought into contact with the two gripping bodies.
  • the first receiver 27 is rotated to rotate the cylindrical body 21, and the gripping claws 10 are moved toward the workpiece.
  • the cylindrical body 21 is further rotated, and the workpiece is gripped by the two gripping claws and the two gripping bodies.
  • the screw body 55 is rotated with the rotational torque amplified by the hypocycloid mechanism in the feed structure 20. Then, when the cylindrical body 21 in which the female screw portion 24 is screwed into the male screw portion 56 of the screw body 55 moves forward, the gripping claw 10 moves forward toward the workpiece. Therefore, a large force is added to the force for gripping the workpiece, and the workpiece is strongly gripped with the amplified force.
  • the number of the gripping claws 10 and the gripping bodies is not limited to the above. That is, one grip claw 10 and two grip bodies may be provided. Alternatively, one gripping claw 10 and one gripping body may be provided, and both may be arranged to face each other. In this case, it is understood that the present invention is embodied as a vice.

Abstract

A chuck is configured from elements such as a body (2), a gripping claw (10) which is provided to the body (2), and a feed structure (20) which is provided within the housing chamber (4) of the body (2). The feed structure (20) is configured from: a cylinder body (21) on which a male thread section (22) is formed; a first receiving body (27) in which a through-hole (28) is formed and which is inserted into and fitted to the one end side of the cylinder body (21); a second receiving body (35) which is inserted into and fitted to the other end side of the cylinder body (21); an eccentric shaft (40) which comprises a base shaft section (41) and an eccentric section (42); an externally toothed gear (45) which is configured in such a manner that a through-hole (46) is formed in the center of the externally toothed gear (45) so as to penetrate therethrough from the front to the rear thereof and in such a manner that the eccentric section (42) of the eccentric shaft (40) is inserted into the through-hole (46); an internally toothed gear (50), some of the teeth of which mesh with some of the teeth of the externally toothed gear (45); and a threaded body (55) which has a male thread section (56) formed on the outer peripheral surface of the front end side of the threaded body (55) and which is engaged at the rear end side thereof with the internally toothed gear (50).

Description

送り構造体及びこれを備えた把持装置Feed structure and gripping device provided with the same
　本発明は、爪や可動体を進退させる送りねじ機構に用いられる送り構造体及びこれを備えた把持装置に関し、特に、爪や可動体による把持力を増幅する機構を具備した送り構造体及びこれを備えた把持装置に関する。 The present invention relates to a feed structure used in a feed screw mechanism for moving a claw and a movable body forward and backward, and a gripping device including the feed structure, and in particular, a feed structure including a mechanism for amplifying a gripping force by a claw and a movable body and the same. The present invention relates to a gripping device including
　前記把持装置として、例えば、送りねじが螺合された爪によって対象物を把持するチャックや、送りねじに螺合された可動体と台座に固定された固定体とで対象物を把持するバイスなどがある。 Examples of the gripping device include a chuck that grips an object with a claw threaded with a feed screw, and a vice that grips an object with a movable body screwed to the feed screw and a fixed body fixed to a pedestal. There is.
　ところで、従来、把持された対象物に対して、大きな荷重がかかる作業を行う場合には、対象物を把持する力を大きくする必要があるため、把持力を増幅する機構を備えた把持装置が提案されている。このような把持装置としては、特開２０００－１１７６４６号公報に開示されたバイスがある。 By the way, conventionally, when performing an operation that requires a large load on a grasped object, it is necessary to increase the force for grasping the object. Therefore, a grasping device having a mechanism for amplifying the grasping force is provided. Proposed. As such a gripping device, there is a vise disclosed in Japanese Patent Laid-Open No. 2000-117646.
　このバイスは、案内レールが形成された本体や、この本体と一体的に形成された固定ジョー、案内レールに案内され、固定ジョーに対して接近、離反する方向に移動可能に配置された可動ジョー、当該可動ジョーに係合し、この可動ジョーを進退させるスピンドル、スピンドルを移動させる増力機構などを備えており、増力機構は、ハンドルなどを用いて駆動軸を回転駆動させた際の回転力が機械的な作用により増幅され、この増幅された力でもって移動する押圧部材などを備え、スピンドルがこの押圧部材に接触した状態となっている。 The vise includes a main body on which a guide rail is formed, a fixed jaw integrally formed with the main body, and a movable jaw that is guided by the guide rail and arranged so as to be movable toward and away from the fixed jaw. A spindle that engages the movable jaw and advances and retracts the movable jaw, a force-increasing mechanism that moves the spindle, and the like. The force-increasing mechanism has a rotational force when the drive shaft is rotationally driven using a handle or the like. A pressing member that is amplified by mechanical action and moves with the amplified force is provided, and the spindle is in contact with the pressing member.
　そして、このバイスにおいては、スピンドルを回転させることによって可動ジョーを固定ジョーに接近させ、可動ジョーと固定ジョーとによって対象物を把持した後、増力機構の押圧部材を移動させる。これにより、スピンドルが押圧部材によって押圧されて移動し、スピンドルに係合した可動ジョーが更に対象物に向けて接近させられ、対象物を把持する力が付加的に増幅される。 In this vise, the movable jaw is moved closer to the fixed jaw by rotating the spindle, and after the object is gripped by the movable jaw and the fixed jaw, the pressing member of the force-increasing mechanism is moved. As a result, the spindle is pressed and moved by the pressing member, the movable jaw engaged with the spindle is further brought closer to the object, and the force for gripping the object is additionally amplified.
　また、把持力を増幅する機構としては、図１１及び図１２に示すような構成も提案されている。尚、図１１及び図１２は、把持力を増幅する機構を備えたチャック１００の一部を抜粋して示した図である。 Also, as a mechanism for amplifying the gripping force, configurations as shown in FIGS. 11 and 12 have been proposed. FIG. 11 and FIG. 12 are diagrams showing a part of the chuck 100 provided with a mechanism for amplifying the gripping force.
　図１１及び図１２に示すように、このような構成を備えたチャック１００は、本体１０１、ねじ穴１０２ａが形成され、前記本体１０１に形成された案内溝に沿って進退する把持爪１０２、この把持爪１０２のねじ穴１０２ａに螺合し、一端部に六角部１０３ａが形成された送りねじ１０３、送りねじ１０３の一端部を取り囲むように、本体１０１の外周面に固設された円弧状の第１歯車１０４、一端部に第１歯車１０４と噛合する第２歯車１０６及び後述するハンドル１０７が取り付けられる六角部１０５ａを有し、他端部が送りねじ１０３の六角部１０３ａに取り付けられるクランク１０５、前記六角部１０５ａに取り付けられるハンドル１０７などから構成される。 As shown in FIGS. 11 and 12, the chuck 100 having such a configuration includes a main body 101, a screw hole 102a, and a gripping claw 102 that advances and retreats along a guide groove formed in the main body 101. The screw screw 102a of the gripping claw 102 is screwed into a feed screw 103 having a hexagonal portion 103a formed at one end thereof, and an arcuate shape fixed to the outer peripheral surface of the main body 101 so as to surround one end portion of the feed screw 103. A first gear 104, a second gear 106 that meshes with the first gear 104 at one end, and a hexagonal portion 105 a to which a handle 107 described later is attached, and a crank 105 that has the other end attached to the hexagonal portion 103 a of the feed screw 103. The handle 107 is attached to the hexagonal portion 105a.
　このチャック１００によれば、クランク１０５及びハンドル１０７を取り外した状態で、送りねじ１０３を回転させて把持爪１０２を対象物に向けて移動させ、当該把持爪１０２によって対象物を把持する。しかる後、クランク１０５及びハンドル１０７を取り付けて、ハンドル１０７を回転させる。これにより、ハンドルトルクが所定の減速比倍に増幅されて、送りねじ１０３に入力される。 According to this chuck 100, with the crank 105 and the handle 107 removed, the feed screw 103 is rotated to move the gripping claw 102 toward the object, and the object is gripped by the gripping claw 102. Thereafter, the crank 105 and the handle 107 are attached, and the handle 107 is rotated. As a result, the handle torque is amplified to a predetermined reduction ratio and input to the feed screw 103.
　尚、減速比は、第１歯車の歯数をＺ１’、第２歯車の歯数をＺ２’とすると、
（数式１）
減速比＝Ｚ１’／Ｚ２’＋１
によって定まり、構造上の関係から、減速比は５～８倍程度となっている。 The reduction ratio is as follows. The number of teeth of the first gear is Z1 ′ and the number of teeth of the second gear is Z2 ′.
(Formula 1)
Reduction ratio = Z1 '/ Z2' + 1
From the structural relationship, the reduction ratio is about 5 to 8 times.
　このように、上記いずれの把持装置においても、送りねじによって生じる推力を付加的に増幅させることができる。 Thus, in any of the above gripping devices, the thrust generated by the feed screw can be additionally amplified.
特開２０００－１１７６４６号公報JP 2000-117646 A
　しかしながら、上記バイスにおいては、スピンドルの一端側に、当該スピンドルに接触した押圧部材を有する増力機構を備えた構成となっているため、増力機構の分だけバイス全体の構造が大きいものになっているという問題がある。 However, since the vise has a structure including a force-increasing mechanism having a pressing member in contact with the spindle on one end side of the spindle, the entire structure of the vice is larger by the amount of the power-increasing mechanism. There is a problem.
　また、上記把持力を増幅する機構を備えたチャックにおいては、上述したように、送りねじによって生じる推力を付加的に増幅させ、強力な把持力でもって対象物を把持することができるものの、その構造上の関係から増幅させることができる力に限界がある。したがって、把持した対象物に対してより大きな荷重をかける作業には用いることができないという問題がある。 Further, in the chuck provided with the mechanism for amplifying the gripping force, as described above, the thrust generated by the feed screw can be additionally amplified and the object can be gripped with a strong gripping force. There is a limit to the force that can be amplified due to the structural relationship. Therefore, there is a problem that it cannot be used for an operation of applying a larger load to the grasped object.
　本発明は以上の実情に鑑みなされたものであり、従来よりも強力な把持力を発現することができ、且つ装置全体が従来よりもコンパクトなものにすることができる送り構造体及びこれを備えた把持装置の提供を、その目的とする。 The present invention has been made in view of the above circumstances, and includes a feeding structure that can express a gripping force stronger than before and that can make the entire apparatus more compact than before. The purpose is to provide a gripping device.
　上記課題を解決するための本発明は、
　外周面に雄ねじ部が形成されるとともに、少なくとも内周面の一部に雌ねじ部が形成された円筒体と、
　中心部に貫通穴が形成されるとともに、該貫通穴の軸線が前記円筒体の軸線と同軸となった状態で前記円筒体の一端側に嵌挿された第１受体と、
　前記円筒体の他端側に嵌挿された第２受体と、
　前記円筒体内の前記第１受体と第２受体との間に、外周面に形成された雄ねじ部が前記円筒体の内周面に形成された雌ねじ部と螺合した状態で配設され、前記第１受体と対向する面に受け穴が形成されたねじ体と、
　基軸部と該基軸部の軸線に対して偏心した偏心部とからなり、前記基軸部の両端が前記第１受体の貫通穴及びねじ体の受け穴にそれぞれ回転自在に挿入された偏心軸と、
　外周面と同軸となるように内周面に歯部が形成され、前記円筒体の軸線を中心に該円筒体と一体的に回転可能となるように前記ねじ体と係合した状態で、前記第１受体と前記ねじ体との間に配設された内歯歯車と、
　外周面に歯部が形成されるとともに、中心部に表裏に貫通した貫通穴が形成され、前記歯部の一部が前記内歯歯車の歯部の一部と噛合し、且つ前記貫通穴に前記偏心軸の偏心部が回転自在に挿通された状態で、前記内歯歯車の環内に配設された外歯歯車とからなり、
　前記円筒体は、該円筒体の軸線を中心に前記第１受体と一体的に回転可能となるように、該第１受体に係合し、
　前記第１受体における、前記外歯歯車と対向する面には、該面に開口した凹部が形成され、
　前記外歯歯車における、前記第１受体と対向する面には、前記凹部に遊嵌する凸部が形成され、
　前記内歯歯車の歯数は、前記外歯歯車の歯数よりも多くなっている送り構造体に係る。 The present invention for solving the above problems is as follows.
A cylindrical body in which a male screw portion is formed on the outer peripheral surface and a female screw portion is formed on at least a part of the inner peripheral surface;
A through hole is formed in the central portion, and a first receiver inserted into one end of the cylindrical body in a state where the axial line of the through hole is coaxial with the axial line of the cylindrical body;
A second receiver inserted into the other end of the cylindrical body;
A male screw portion formed on the outer peripheral surface is disposed between the first receiver and the second receiver in the cylindrical body in a state of being engaged with a female screw portion formed on the inner peripheral surface of the cylindrical body. A screw body in which a receiving hole is formed in a surface facing the first receiver;
An eccentric shaft comprising a base shaft portion and an eccentric portion eccentric with respect to the axis of the base shaft portion, wherein both ends of the base shaft portion are rotatably inserted into the through hole of the first receiver and the receiving hole of the screw body, respectively. ,
In a state in which teeth are formed on the inner peripheral surface so as to be coaxial with the outer peripheral surface and engaged with the screw body so as to be rotatable integrally with the cylindrical body around the axis of the cylindrical body, An internal gear disposed between the first receiver and the screw body;
A tooth portion is formed on the outer peripheral surface, a through hole penetrating the front and back is formed in the center portion, a part of the tooth portion meshes with a part of the tooth portion of the internal gear, and the through hole With the eccentric portion of the eccentric shaft being rotatably inserted, it comprises an external gear disposed in the ring of the internal gear,
The cylindrical body engages with the first receiver so as to be rotatable integrally with the first receiver around the axis of the cylindrical body,
In the surface of the first receiver facing the external gear, a recess that is open to the surface is formed,
A convex portion that is loosely fitted into the concave portion is formed on a surface of the external gear that faces the first receiver.
The number of teeth of the internal gear is related to the feed structure that is larger than the number of teeth of the external gear.
　また、上記送り構造体と、
　表面の所定点を中心として放射状に設けられた少なくとも２つの案内溝を有する本体と、
　前記本体の各案内溝にそれぞれ係合するように配設され、該案内溝に沿って進退自在に設けられるとともに、前記案内溝に沿って形成された雌ねじ部を有する少なくとも２つの把持爪とを備えた把持装置であって、
　前記送り構造体は、前記第１受体及び第２受体が回転自在に支持され、且つ前記把持爪の雌ねじ部に前記円筒体の外周面に形成された雄ねじ部が螺合した状態で、前記案内溝内且つ前記把持爪の下方に配設されている把持装置に係る。 The feeding structure;
A body having at least two guide grooves provided radially around a predetermined point on the surface;
At least two gripping claws provided so as to be engaged with the respective guide grooves of the main body, provided so as to be capable of moving forward and backward along the guide grooves, and having an internal thread portion formed along the guide grooves; A gripping device comprising:
In the feed structure, the first receiver and the second receiver are rotatably supported, and the external thread portion formed on the outer peripheral surface of the cylindrical body is screwed to the internal thread portion of the gripping claw, The present invention relates to a gripping device disposed in the guide groove and below the gripping claw.
　以上の構成を備えた本発明に係る送り構造体及びこれを備えた把持装置によれば、まず、本体の所定点近傍に対象物を配置する。尚、対象物の形状としては、円柱形状や多角柱形状、筒形状を例示することができ、このような形状の対象物を把持する場合には、予め各把持爪をそれぞれ本体の外方寄りの後退位置に位置させておく。 According to the feeding structure according to the present invention having the above-described configuration and the gripping device having the same, first, an object is arranged near a predetermined point of the main body. Examples of the shape of the object include a cylindrical shape, a polygonal column shape, and a cylindrical shape. When gripping an object having such a shape, each gripping claw is placed in front of the main body in advance. Set it in the retracted position.
　ついで、前記第１受体を回転させることにより、この第１受体に係合し、その軸線を中心に第１受体と一体的に回転可能となっている円筒体を同方向に回転させ、この円筒体外周面の雄ねじ部に雌ねじ部が螺合した把持爪を、案内溝に沿って移動（前進）させ、各把持爪を対象物に当接させた後、第１受体を更に回転させて、各把持爪によって対象物を把持する。尚、第１受体の凹部に外歯歯車の凸部が遊嵌した状態となっているため、第１受体を回転させることにより、これに追従して外歯歯車も同方向に回転するとともに、この外歯歯車に噛合した内歯歯車も同方向に回転し、更に、内歯歯車に係合したねじ体も同方向に回転するようになっている。 Then, by rotating the first receiver, the cylindrical body that engages with the first receiver and rotates integrally with the first receiver around the axis is rotated in the same direction. The gripping claws having the female threaded portion screwed into the male threaded portion on the outer peripheral surface of the cylindrical body are moved (advanced) along the guide groove, and the respective gripping claws are brought into contact with the object. Rotate and grip the object with each gripping claw. Since the convex portion of the external gear is loosely fitted in the concave portion of the first receiver, the external gear rotates in the same direction following the rotation of the first receiver. At the same time, the internal gear meshed with the external gear also rotates in the same direction, and the screw body engaged with the internal gear also rotates in the same direction.
　ついで、偏心軸を回転させる。これにより、この偏心軸の偏心部が挿入された外歯歯車が、基軸部の軸心を中心とし、且つ偏心部の偏心量を半径とした旋回運動を行い、外歯歯車に噛合した内歯歯車が、偏心軸一回転につき一歯分だけ同方向に回転する。 Next, rotate the eccentric shaft. As a result, the external gear into which the eccentric portion of the eccentric shaft is inserted performs a turning motion centered on the shaft center of the base shaft portion and the eccentric amount of the eccentric portion as a radius, and is engaged with the external gear. The gear rotates in the same direction by one tooth per one rotation of the eccentric shaft.
　ここで、このような機構は所謂ハイポサイクロイド機構と呼ばれ、このハイポサイクロイド機構における減速比は、外歯歯車の歯数をＺ１、内歯歯車の歯数をＺ２とすると、
（数式２）
減速比＝Ｚ１／（Ｚ２－Ｚ１）＋１
によって定まる。即ち、両歯車の歯数を多くし、且つ外歯歯車の歯数よりも内歯歯車の歯数を多くすることにより、大きな減速比が得られる。尚、内歯歯車の歯数を一定とした場合、内歯歯車の歯数が外歯歯車の歯数よりも１枚だけ多い場合に最も大きな減速比が得られる。具体的に言えば、内歯歯車の歯数を３０、外歯歯車の歯数２８とした場合には、減速比が１６となるのに対して、内歯歯車の歯数を３０、外歯歯車の歯数を２９とした場合には、減速比が３０となり、内歯歯車の歯数を外歯歯車の歯数よりも１枚だけ多くすることにより、減速比が格段に大きくなる。 Here, such a mechanism is called a so-called hypocycloid mechanism, and the reduction ratio in this hypocycloid mechanism is such that the number of teeth of the external gear is Z1, and the number of teeth of the internal gear is Z2.
(Formula 2)
Reduction ratio = Z1 / (Z2-Z1) +1
It depends on. That is, a large reduction ratio can be obtained by increasing the number of teeth of both gears and increasing the number of teeth of the internal gear than the number of teeth of the external gear. When the number of teeth of the internal gear is constant, the largest reduction ratio can be obtained when the number of teeth of the internal gear is one more than the number of teeth of the external gear. Specifically, when the number of teeth of the internal gear is 30 and the number of teeth of the external gear is 28, the reduction ratio is 16, whereas the number of teeth of the internal gear is 30, When the number of gear teeth is 29, the reduction ratio is 30, and the reduction ratio is significantly increased by increasing the number of teeth of the internal gear by one more than the number of teeth of the external gear.
　そして、ハイポサイクロイド機構によって大きな回転トルク得た内歯歯車が回転することにより、これに係合したねじ体も同方向に回転し、ねじ体の雄ねじ部に雌ねじ部が螺合した円筒体が軸方向に沿って大きな力で移動（前進）する。これにより、把持爪が対象物を把持する力に大きな力が付加されて把持力が増幅され、対象物がより強力な把持力で把持される。 Then, when the internal gear which has obtained a large rotational torque by the hypocycloid mechanism rotates, the screw body engaged with the internal gear rotates in the same direction, and the cylindrical body in which the female screw part is screwed with the male screw part of the screw body is pivoted. Move (advance) with great force along the direction. Thereby, a large force is added to the force with which the gripping claws grip the object, the gripping force is amplified, and the object is gripped with a stronger gripping force.
　このように、本発明に係る把持装置によれば、送り構造体の内部に所謂ハイポサイクロイド機構を内蔵したことによって、対象物を把持する力に大きな力を付加することができ、容易に対象物を従来よりも強力な把持力で把持することでき、更に、従来よりも把持装置全体のコンパクト化を図ることができる。 Thus, according to the gripping device according to the present invention, by incorporating a so-called hypocycloid mechanism inside the feed structure, a large force can be added to the force for gripping the target, and the target can be easily Can be gripped with a stronger gripping force than before, and the entire gripping device can be made more compact than before.
　また、上記把持装置は、
　前記送り構造体と、
　表面に設けられた少なくとも１つの案内溝を有する本体と、
　前記本体の表面に、固定又は移動自在に設けられた少なくとも１つの把持体と、
　前記本体の案内溝に係合するように配設され、該案内溝に沿って進退自在に設けられるとともに、前記案内溝に沿って形成された雌ねじ部を有する少なくとも１つの把持爪とを備えた把持装置であって、
　前記案内溝の配設方向及び前記把持体の移動方向は、前記本体の表面の所定点を中心として放射状に設定され、
　前記送り構造体は、前記第１受体及び第２受体が回転自在に支持され、且つ前記把持爪の雌ねじ部に前記円筒体の外周面に形成された雄ねじ部が螺合した状態で、前記案内溝内且つ前記把持爪の下方に配設された構成の把持装置であっても良い。 The gripping device is
The feeding structure;
A body having at least one guide groove provided on the surface;
At least one gripping body provided on the surface of the main body so as to be fixed or movable;
And at least one gripping claw having an internal thread portion formed along the guide groove and disposed so as to be engaged with the guide groove of the main body. A gripping device,
The guide groove arranging direction and the gripping body moving direction are set radially about a predetermined point on the surface of the main body,
In the feed structure, the first receiver and the second receiver are rotatably supported, and the external thread portion formed on the outer peripheral surface of the cylindrical body is screwed to the internal thread portion of the gripping claw, The gripping device may be configured to be disposed in the guide groove and below the gripping claw.
　この送り構造体を備えた把持装置によれば、まず、本体の所定点近傍に対象物を配置する。尚、この際、上記と同様に、予め各把持爪をそれぞれ本体の外方寄りの後退位置に位置させておく。また、前記把持体が移動自在である場合には、同様に、この把持体も本体の外方寄りの後退位置に位置させておく。 According to the gripping device provided with this feed structure, first, an object is placed near a predetermined point on the main body. At this time, in the same manner as described above, each gripping claw is previously placed in a retracted position closer to the outside of the main body. Further, when the gripper is movable, the gripper is also located at a retracted position closer to the outside of the main body.
　ついで、前記第１受体を回転させ、この第１受体に係合し、その軸線を中心に第１受体と一体的に回転可能となっている円筒体を同方向に回転させ、この円筒体の雄ねじ部に雌ねじ部が螺合した把持爪を案内溝に沿って移動させて把持爪を対象物に当接させる。また、前記把持体が移動自在である場合には、この把持体も対象物に向けて移動させ当接させる。しかる後、前記第１受体を更に回転させて、把持爪と把持体とによって対象物を把持する。 Next, the first receiver is rotated, engaged with the first receiver, and a cylindrical body that can rotate integrally with the first receiver around the axis is rotated in the same direction. The gripping claw, in which the female thread portion is engaged with the male thread portion of the cylindrical body, is moved along the guide groove to bring the gripping claw into contact with the object. Further, when the gripping body is movable, the gripping body is also moved and brought into contact with the object. Thereafter, the first receiver is further rotated and the object is gripped by the gripping claws and the gripping body.
　その後、偏心軸を回転させて、この偏心軸の偏心部が挿入された外歯歯車を、基軸部の軸心を中心とし、且つ偏心部の偏心量を半径として旋回させることにより、上述したように、ハイポサイクロイド機構によって得られる大きなトルクによって、外歯歯車に噛合した内歯歯車を回転させ、この内歯歯車に係合したねじ体を同方向に回転させる。これにより、ねじ体の雄ねじ部に雌ねじ部が螺合した円筒体が軸方向に沿って大きな力で移動（前進）し、把持爪が対象物を把持する力に大きな力が付加され、対象物が増幅された把持力によって把持される。 Thereafter, the eccentric shaft is rotated, and the external gear into which the eccentric portion of the eccentric shaft is inserted is turned around the shaft center of the base shaft portion and the eccentric amount of the eccentric portion as a radius as described above. Moreover, the internal gear meshed with the external gear is rotated by the large torque obtained by the hypocycloid mechanism, and the screw body engaged with the internal gear is rotated in the same direction. As a result, the cylindrical body in which the internal thread portion is screwed to the external thread portion of the thread body moves (advances) along the axial direction with a large force, and a large force is added to the force with which the gripping claws grip the target object. Is gripped by the amplified gripping force.
　尚、前記送り構造体における円筒体には、少なくとも内周面の一部に径方向に縮径した小径部を形成するとともに、前記雌ねじ部をこの小径部の内周面に形成し、第２受体には、少なくとも一部に径方向に拡径したフランジ部を形成し、前記円筒体の小径部端面と前記第２受体のフランジ部端面との間にばねを配設して、このばねによって、前記円筒体を一端側に向けて付勢するようにすることが好ましい。このようにすれば、把持力を緩める際に、ばねによる付勢力によって円筒体をスムーズに移動（後退）させることができる。 The cylindrical body in the feed structure is formed with a small-diameter portion that is radially reduced in diameter at least at a part of the inner peripheral surface, and the female thread portion is formed on the inner peripheral surface of the small-diameter portion. The receiver is formed with a flange portion that is radially expanded at least in part, and a spring is disposed between the end surface of the small diameter portion of the cylindrical body and the end surface of the flange portion of the second receiver. It is preferable to urge the cylindrical body toward one end side by a spring. In this way, when the gripping force is relaxed, the cylindrical body can be smoothly moved (retracted) by the biasing force of the spring.
　以上、本発明に係る送り構造体及びこれを備えた把持装置によれば、対象物に対して従来よりも容易に強力な把持力を作用させることができ、更に、装置全体をコンパクトなものにすることができる。 As described above, according to the feeding structure according to the present invention and the gripping device including the same, it is possible to apply a strong gripping force to an object more easily than in the past, and further to make the entire device compact. can do.
本発明の一実施形態に係るチャックの正面図である。It is a front view of the chuck concerning one embodiment of the present invention. 図１における矢示Ａ－Ａの断面図である。FIG. 2 is a cross-sectional view taken along arrow AA in FIG. 図１における矢示Ｂ－Ｂの断面図である。FIG. 3 is a cross-sectional view taken along arrow BB in FIG. 図１における矢視Ｃ方向から見た側面図である。It is the side view seen from the arrow C direction in FIG. 送り構造体を示す断面図である。It is sectional drawing which shows a feed structure. 図５における矢視Ｄ方向から見た側面図である。It is the side view seen from the arrow D direction in FIG. 図５における矢示Ｅ－Ｅの断面図である。FIG. 6 is a cross-sectional view taken along arrow EE in FIG. 5. 図５における矢示Ｆ－Ｆの断面図である。FIG. 6 is a cross-sectional view taken along arrow FF in FIG. 5. 図５における矢示Ｇ－Ｇの断面図である。FIG. 6 is a cross-sectional view taken along arrow GG in FIG. 5. 送り構造体を示す断面図である。It is sectional drawing which shows a feed structure. 従来のチャックの一部を示す断面図である。It is sectional drawing which shows a part of conventional chuck | zipper. 従来のチャックの一部を示す側面図である。It is a side view which shows a part of conventional chuck | zipper.
　以下、本発明の具体的な実施形態に係る把持装置について、チャックを例にとって、図１～図１０を参照して説明する。 Hereinafter, a gripping device according to a specific embodiment of the present invention will be described with reference to FIGS. 1 to 10, taking a chuck as an example.
　図１～図４に示すように、本例のチャック１は、中心部にワークが配置される円盤状の本体２と、この本体２の周方向に等間隔（本例では９０°間隔）に設けられるとともに、本体２の径方向に沿って進退自在に設けられ、前記中心部に配置されるワークを把持する同一形状の４つの把持爪１０と、本体２の径方向に沿って配設され、前記４つの把持爪１０をそれぞれ進退させる４つの送り構造体２０とから構成されている。 As shown in FIGS. 1 to 4, the chuck 1 of this example has a disc-shaped main body 2 in which a workpiece is arranged at the center and an equal interval in the circumferential direction of the main body 2 (at 90 ° intervals in this example). The four gripping claws 10 having the same shape for gripping the workpiece disposed in the central portion and the radial direction of the main body 2 are disposed along the radial direction of the main body 2. The four gripping claws 10 are each composed of four feeding structures 20 that advance and retract.
　尚、前記径方向とは、本体２の中心から放射状に広がる方向を意味する。 The radial direction means a direction that spreads radially from the center of the main body 2.
　前記本体２には、その前端面部に、横断面形状が略Ｔ字形状をした４つの案内溝３が、前記径方向に沿い且つ周方向に等間隔（本例においては９０°間隔）に形成されている。また、本体２には、４つの送り構造体がそれぞれ配設される横断面視円弧形状の収納室４が、前記案内溝３と連通するように、この案内溝３の下方に形成されている。尚、前記各案内溝３の上側開口部の両側には、この案内溝３に係合した把持爪の浮き上がりを防止するための浮上防止板５がボルト６によって固設されている。 In the main body 2, four guide grooves 3 having a substantially T-shaped cross section are formed on the front end surface portion thereof along the radial direction and at equal intervals in the circumferential direction (90 ° interval in this example). Has been. Further, the main body 2 is formed with a storage chamber 4 having a circular arc shape in cross section in which each of the four feeding structures is disposed, below the guide groove 3 so as to communicate with the guide groove 3. . In addition, on both sides of the upper opening of each guide groove 3, a lift prevention plate 5 for preventing the gripping claws engaged with the guide groove 3 from lifting is fixed by bolts 6.
　前記４つの把持爪１０は、その下面に、進退方向に沿って円弧状の雌ねじ部１１が形成され、また、各把持爪１０の下側両側面には、案内溝３と係合する係合凸部１２が進退方向に沿って形成されている。斯くして、各把持爪１０は、それぞれ案内溝３に案内されて前記径方向に沿って移動する。 The four gripping claws 10 are formed with arc-shaped female screw portions 11 on the lower surface thereof along the advancing and retreating directions, and engaging with the guide grooves 3 on both lower side surfaces of the gripping claws 10. The convex part 12 is formed along the advancing / retreating direction. Thus, each gripping claw 10 is guided by the guide groove 3 and moves along the radial direction.
　次に、図５～図１０を参照して、送り構造体２０について詳細に説明する。 Next, the feed structure 20 will be described in detail with reference to FIGS.
　前記送り構造体２０は、外周面に雄ねじ部２２が形成された円筒体２１と、貫通穴２８が形成され、前記円筒体２１の一端側（図５の紙面左側であり、以下、「後端側」という）に嵌挿された第１受体２７と、前記円筒体２１の他端側（図５の紙面右側であり、以下、「前端側」という）に嵌挿された第２受体３５と、基軸部４１及びこの基軸部４１の軸線に対して偏心した偏心部４２からなり、前記第１受体２７の貫通穴２８に基軸部４１が挿入された偏心軸４０と、外周面に歯部が形成されるとともに、中心部に表裏に貫通した貫通穴４６が形成され、この貫通穴４６に偏心軸４０の偏心部４２が回転自在に挿入された外歯歯車４５と、内周面に歯部が形成され、この歯部の一部が外歯歯車４５の歯部の一部と噛合するとともに、前端面にキー部５１が形成された内歯歯車５０と、前端側外周面に雄ねじ部５６が形成されるとともに、内歯歯車５０のキー部５１が係合するキー溝５８が後端面周縁部に形成されたねじ体５５とから構成されている。 The feed structure 20 has a cylindrical body 21 having a male screw portion 22 formed on the outer peripheral surface and a through hole 28. One end side of the cylindrical body 21 (on the left side of the drawing in FIG. A first receiver 27 inserted into the side) and a second receiver inserted into the other end side of the cylindrical body 21 (the right side in FIG. 5, hereinafter referred to as “front end side”). 35, a base shaft portion 41 and an eccentric portion 42 eccentric to the axis of the base shaft portion 41, and an eccentric shaft 40 in which the base shaft portion 41 is inserted into the through hole 28 of the first receiver 27, and an outer peripheral surface. A tooth portion is formed, and a through hole 46 penetrating the front and back is formed in the center portion. An external gear 45 in which the eccentric portion 42 of the eccentric shaft 40 is rotatably inserted into the through hole 46, and an inner peripheral surface And a part of the tooth part meshes with a part of the tooth part of the external gear 45, and the front end An internal gear 50 having a key portion 51 formed on the outer peripheral surface thereof, a male screw portion 56 formed on the outer peripheral surface of the front end side, and a key groove 58 engaged with the key portion 51 of the internal gear 50 formed on the peripheral portion of the rear end surface. The screw body 55 is formed.
　前記円筒体２１は、中間部内周面に内径が径方向に縮径した小径部２３が形成され、この小径部２３の内周面に雌ねじ部２４が形成されている。また、この円筒体２１は、前記小径部２３の両側に前端側及び後端側に向けてそれぞれ小径部２３よりも内径の大きい中径部２４ａ，２４ｂが形成されており、前端側には、中径部２４ａよりも内径が大きい大径部２５ａが更に形成されている。また、後端側の中径部２５ｂの内周面には、キー溝２６が形成されている。 The cylindrical body 21 has a small diameter portion 23 whose inner diameter is radially reduced on the inner peripheral surface of the intermediate portion, and a female screw portion 24 is formed on the inner peripheral surface of the small diameter portion 23. The cylindrical body 21 is formed with medium diameter portions 24a and 24b having a larger inner diameter than the small diameter portion 23 on both sides of the small diameter portion 23 toward the front end side and the rear end side, respectively, A large diameter portion 25a having an inner diameter larger than that of the medium diameter portion 24a is further formed. Further, a key groove 26 is formed on the inner peripheral surface of the middle diameter portion 25b on the rear end side.
　前記第１受体２７は、縦断面視円形状の部材からなり、その前端面には、この前端面に開口した円形状の凹部２９が貫通穴２８を取り囲むように周方向に等間隔に形成され、後端側には、六角部３０が形成されている。また、この第１受体２６の中間部には、径方向に拡径したフランジ部３１が形成されており、このフランジ３１の外周面には、矩形状のキー体３２がボルトによって固設されている。そして、この第１受体２７は、キー体３２と円筒体２１のキー溝２６とが係合した状態で、貫通穴２８の軸線が円筒体２１の軸線と同軸となるように、円筒体２１に嵌挿されており、第１受体２７と円筒体２１とが円筒体２１の軸線を中心として一体的に回転するようになっている。尚、前記キー体３２は、その長手方向がキー溝２６の長手方向よりも短く形成されており、キー体３２とキー溝２６とが係合することによって、円筒体２１と第１受体２７とが相互に軸線周りに回転するのが規制される一方、軸線に沿った方向へは相互に移動可能となっている。 The first receiver 27 is made of a member having a circular shape in a longitudinal sectional view, and a circular concave portion 29 opened to the front end surface is formed at equal intervals in the circumferential direction so as to surround the through hole 28 on the front end surface thereof. A hexagonal portion 30 is formed on the rear end side. In addition, a flange portion 31 having a radially increased diameter is formed at an intermediate portion of the first receiver 26, and a rectangular key body 32 is fixed to the outer peripheral surface of the flange 31 with a bolt. ing. The first receiver 27 has the cylindrical body 21 so that the axis of the through hole 28 is coaxial with the axis of the cylindrical body 21 in a state where the key body 32 and the key groove 26 of the cylindrical body 21 are engaged. The first receiving body 27 and the cylindrical body 21 are integrally rotated around the axis of the cylindrical body 21. Note that the longitudinal direction of the key body 32 is shorter than the longitudinal direction of the key groove 26, and the cylindrical body 21 and the first receiver 27 are engaged by the engagement of the key body 32 and the key groove 26. Are restricted from rotating with respect to each other around the axis, while being movable in the direction along the axis.
　前記第２受体３５は、縦断面視円形状の部材からなり、その中間部には、径方向に拡径したフランジ部３６が形成されており、この第２受体３５は、フランジ部３６の後端面と円筒体２１における小径部２３の前端面との間にばね３９が介在された状態で、円筒体２１に嵌挿されている。これにより、円筒体２１が後端側に向けて付勢されている。また、フランジ部３６の前端側外周面には、径方向に拡径した段付き部３７が形成されており、第２受体３５が円筒体２１に嵌挿された状態において、段付き部３７の後端面と円筒体２１における中径部２４ａの前端面との間には隙間が形成されるようになっている。 The second receiver 35 is made of a member having a circular shape in a longitudinal sectional view, and a flange portion 36 having a radially increased diameter is formed at an intermediate portion thereof. The second receiver 35 is formed of a flange portion 36. Is inserted into the cylindrical body 21 with a spring 39 interposed between the rear end face of the cylindrical body 21 and the front end face of the small diameter portion 23 of the cylindrical body 21. Thereby, the cylindrical body 21 is biased toward the rear end side. Further, a stepped portion 37 whose diameter is increased in the radial direction is formed on the outer peripheral surface on the front end side of the flange portion 36, and the stepped portion 37 is inserted in the state where the second receiver 35 is fitted into the cylindrical body 21. A gap is formed between the rear end surface of the cylindrical body 21 and the front end surface of the medium diameter portion 24a of the cylindrical body 21.
　前記偏心軸４０は、上述したように、基軸部４１と、この基軸部４１の軸方向中間部に、基軸部４１の軸線に対して偏心して形成された偏心部４２とからなり、基軸部４１の後端側が第１受体２７の貫通穴２８に回転自在に挿入されている。また、この偏心軸４０の後端面には、差込口４３が開口しており、この差込口４３に適宜ハンドルを差し込むことで、偏心軸４０を回転させることができるようになっている。尚、図９中のＭ１は基軸部４１の軸心を示し、Ｍ２は偏心部４２の軸心を示している。 As described above, the eccentric shaft 40 includes the base shaft portion 41 and the eccentric portion 42 formed eccentrically with respect to the axis of the base shaft portion 41 at the axial intermediate portion of the base shaft portion 41. The rear end side is rotatably inserted into the through hole 28 of the first receiver 27. Further, an insertion port 43 is opened at the rear end surface of the eccentric shaft 40, and the eccentric shaft 40 can be rotated by inserting a handle into the insertion port 43 as appropriate. In FIG. 9, M <b> 1 indicates the axis of the base shaft portion 41, and M <b> 2 indicates the axis of the eccentric portion 42.
　前記外歯歯車４５は、中心部に表裏を貫通した貫通穴４６が形成されるとともに、その後端面には、前記第１受体２７の凹部２９よりも径の小さな円形状の凸部４７が形成されている。そして、この外歯歯車４５は、凸部４７が第１受体２７の凹部２９に遊嵌され、且つ貫通穴４６に偏心軸４０の偏心部４２が挿入された状態で、円筒体２１の内部空間内に配設されている。尚、本例の外歯歯車４５は、その外周面に２９枚の歯が形成されている。 The external gear 45 is formed with a through hole 46 penetrating the front and back at the center, and a circular convex portion 47 having a smaller diameter than the concave portion 29 of the first receiver 27 is formed on the rear end surface thereof. Has been. The external gear 45 is formed so that the convex portion 47 is loosely fitted in the concave portion 29 of the first receiver 27 and the eccentric portion 42 of the eccentric shaft 40 is inserted into the through hole 46. It is arranged in the space. The external gear 45 of this example has 29 teeth on the outer peripheral surface thereof.
　前記内歯歯車５０は、外周面の中心軸と内周面の中心軸とが同軸となっており、内周面に歯部が形成され、この歯部の一部が外歯歯車４５の歯部の一部と噛合した状態で、円筒体２１の内部空間内に配設されている。尚、本例の内歯歯車５０は、その内周面に３０枚の歯が形成されている。 In the internal gear 50, the central axis of the outer peripheral surface and the central axis of the inner peripheral surface are coaxial, a tooth portion is formed on the inner peripheral surface, and a part of the tooth portion is a tooth of the external gear 45. It is disposed in the internal space of the cylindrical body 21 in a state of being engaged with a part of the portion. The internal gear 50 of this example has 30 teeth formed on the inner peripheral surface thereof.
　前記ねじ体５５は、上述したように、前端側に雄ねじ部５６が形成されるとともに、後端側にはフランジ部５７が形成されており、また、後端面には、その周縁部にキー溝５８が形成されるとともに、中心部に偏心軸４０の前端側が回転自在に挿入される受け穴５９が形成されている。そして、このねじ体５５は、雄ねじ部５６が円筒体２１の小径部２３に形成された雌ねじ部２４に螺合し、且つキー溝５８に内歯歯車５０のキー部５１が係合して後端面と内歯歯車５０の前端面とが当接した状態で円筒体２１の内部空間内に配設されている。 As described above, the screw body 55 has the male screw portion 56 formed on the front end side and the flange portion 57 formed on the rear end side, and the rear end surface has a key groove on the periphery thereof. 58 is formed, and a receiving hole 59 into which the front end side of the eccentric shaft 40 is rotatably inserted is formed at the center. The threaded body 55 has a male threaded portion 56 screwed into a female threaded portion 24 formed in the small diameter portion 23 of the cylindrical body 21, and the key portion 51 of the internal gear 50 is engaged with the key groove 58. The end surface and the front end surface of the internal gear 50 are in contact with each other and are disposed in the internal space of the cylindrical body 21.
　尚、内歯歯車５０の後端面と第１受体２７におけるフランジ部３１の前端面との間には、ライナ６０及びベアリング６１が介装されており、内歯歯車５０、ねじ体５５及びライナ６０は、ボルト６２によって連結されている。また、ライナ６０は、内歯歯車５０の後端面に当接し、ベアリング６１は、第１受体２７におけるフランジ部３１の前端面に当接した状態となっている。 A liner 60 and a bearing 61 are interposed between the rear end surface of the internal gear 50 and the front end surface of the flange portion 31 of the first receiver 27, and the internal gear 50, the screw body 55, and the liner are interposed. 60 is connected by a bolt 62. Further, the liner 60 is in contact with the rear end surface of the internal gear 50, and the bearing 61 is in contact with the front end surface of the flange portion 31 in the first receiver 27.
　そして、以上の構成を備えた送り構造体２０は、第１受体２７におけるフランジ部３１の後端面及び第２受体３５におけるフランジ部３６の前端面が本体２に形成された収納室４の内壁面にそれぞれ当接した状態で、この収納室４内に収納されている。尚、第１受体２７の後端側及び第２受体３５の前端側は、それぞれ本体２及びこの本体２に取り付けられた支持部材６５によって回転自在に支持されている。 The feeding structure 20 having the above-described configuration is provided in the storage chamber 4 in which the rear end surface of the flange portion 31 in the first receiver 27 and the front end surface of the flange portion 36 in the second receiver 35 are formed in the main body 2. It is accommodated in the storage chamber 4 in a state of being in contact with the inner wall surface. The rear end side of the first receiver 27 and the front end side of the second receiver 35 are rotatably supported by the main body 2 and a support member 65 attached to the main body 2, respectively.
　次に、以上の構成を備えたチャック１によってワークを把持する過程について説明する。 Next, the process of gripping the workpiece by the chuck 1 having the above configuration will be described.
　まず、本体の中心近傍にワークを配置する。尚、この際、各把持爪１０は、ワークを配置可能なように、径方向外寄りの適宜後退位置に位置させておくものとする。 First, place the workpiece near the center of the body. At this time, each gripping claw 10 is positioned at an appropriate retracted position on the outer side in the radial direction so that a workpiece can be arranged.
　ついで、第１受体２７の六角部３０に適宜ハンドルを取り付けて、この第１受体２７を回転させる。これにより、第１受体２７のキー体３２がキー溝２６に係合し、その軸線を中心として第１受体と一体的に回転するようになっている円筒体２１が同方向に回転し、この円筒体２１の雄ねじ部２２に雌ねじ部１１が螺合した各把持爪１０が本体２の中心側に向けて移動する。そして、各把持爪１０をワークに当接させた後、更に第１受体２７を回転させて、４つの把持爪１０によってワークを把持する。 Next, a handle is appropriately attached to the hexagonal portion 30 of the first receiver 27, and the first receiver 27 is rotated. As a result, the key body 32 of the first receiver 27 engages with the key groove 26, and the cylindrical body 21 configured to rotate integrally with the first receiver about its axis rotates in the same direction. Each gripping claw 10 in which the female screw portion 11 is screwed into the male screw portion 22 of the cylindrical body 21 moves toward the center side of the main body 2. And after making each holding claw 10 contact | abut to a workpiece | work, the 1st receiving body 27 is further rotated and a workpiece | work is gripped by the four holding claws 10. FIG.
　尚、外歯歯車４５の凸部４７が第１受体２７の凹部２９に遊嵌した状態となっており、第１受体２７を回転させた際に、この第１受体２７の回転に追従するように、外歯歯車４５も同方向に回転し、この外歯歯車４５に噛合した内歯歯車５０も同方向に回転するようになっている。 The convex portion 47 of the external gear 45 is loosely fitted in the concave portion 29 of the first receiver 27. When the first receiver 27 is rotated, the first receiver 27 is rotated. The external gear 45 also rotates in the same direction so as to follow, and the internal gear 50 meshed with the external gear 45 also rotates in the same direction.
　しかる後、差込口４３に適宜ハンドルを差し込み、このハンドルを回転させて偏心軸４０を回転させる。これにより、偏心部４２が挿入された外歯歯車４５が、偏心軸４０の基軸部４１の軸心Ｍ１を中心とし、基軸部４１に対する偏心部４２の偏心量を半径とした旋回運動を行う。そして、この旋回運動によって、外歯歯車４５に噛合した内歯歯車５０が偏心軸一回転につき一歯分だけ同方向に回転する。 Thereafter, a handle is appropriately inserted into the insertion port 43, and the eccentric shaft 40 is rotated by rotating the handle. Thereby, the external gear 45 in which the eccentric portion 42 is inserted performs a turning motion with the radius of the eccentric amount of the eccentric portion 42 with respect to the base shaft portion 41 about the shaft center M1 of the base shaft portion 41 of the eccentric shaft 40. And by this turning motion, the internal gear 50 meshed with the external gear 45 rotates in the same direction by one tooth per one rotation of the eccentric shaft.
　このような機構は、一般的にハイポサイクロイド機構として知られており、このハイポサイクロイド機構は、容易に大きな減速比を得ることができる。 Such a mechanism is generally known as a hypocycloid mechanism, and this hypocycloid mechanism can easily obtain a large reduction ratio.
　即ち、ハイポサイクロイド機構における減速比は、外歯歯車４５の歯数をＺ１、内歯歯車５０の歯数をＺ２とすると、
（数式２）
減速比＝Ｚ１／（Ｚ２－Ｚ１）＋１
によって定まり、外歯歯車４５の歯数よりも内歯歯車５０の歯数を多くした上で、両歯車の歯数を増やすことにより、大きな減速比が得られる。また、外歯歯車４５又は内歯歯車５０の歯数を一定とした場合、最も大きな減速比が得られるのは、数式２より、内歯歯車５０の歯数が外歯歯車４５の歯数よりも１枚だけ多い場合である。 That is, the reduction ratio in the hypocycloid mechanism is such that the number of teeth of the external gear 45 is Z1, and the number of teeth of the internal gear 50 is Z2.
(Formula 2)
Reduction ratio = Z1 / (Z2-Z1) +1
By increasing the number of teeth of the internal gear 50 from the number of teeth of the external gear 45 and increasing the number of teeth of both gears, a large reduction ratio can be obtained. In addition, when the number of teeth of the external gear 45 or the internal gear 50 is constant, the largest reduction ratio can be obtained from Equation 2 from the number of teeth of the external gear 45 based on the number of teeth of the external gear 45. This is also the case when there is only one sheet.
　本例のチャック１においては、上述したように、外歯歯車４５の歯数を２９、内歯歯車５０の歯数を３０としているので、
（数式３）
減速比＝２９／（３０－２９）＋１
となり、減速比は３０となっている。 In the chuck 1 of this example, as described above, the number of teeth of the external gear 45 is 29, and the number of teeth of the internal gear 50 is 30,
(Formula 3)
Reduction ratio = 29 / (30-29) +1
Thus, the reduction ratio is 30.
　したがって、偏心軸４０を回転させることにより、偏心軸４０から入力した回転トルクがハイポサイクロイド機構によって３０倍に増幅され、内歯歯車５０がこの増幅された回転トルクでもって回転されるとともに、この内歯歯車５０のキー部５１がキー溝５８に係合したねじ体５５も増幅された回転トルクでもって同方向に回転される。 Therefore, by rotating the eccentric shaft 40, the rotational torque input from the eccentric shaft 40 is amplified by 30 times by the hypocycloid mechanism, and the internal gear 50 is rotated by the amplified rotational torque. The screw body 55 in which the key portion 51 of the toothed gear 50 is engaged with the key groove 58 is also rotated in the same direction with the amplified rotational torque.
　そして、ねじ体５５が回転することによって、このねじ体５５の雄ねじ部５６に雌ねじ部２４が螺合した円筒体２１が軸方向に沿って大きな力で前進する（図１０参照）。これにより、円筒体２１の雄ねじ部２２に雌ねじ部１１が螺合した把持爪１０に対して、この把持爪１０が対象物を把持する力に大きな力が付加され、増幅された把持力によってワークが強力に把持される。 Then, as the screw body 55 rotates, the cylindrical body 21 in which the female screw portion 24 is screwed into the male screw portion 56 of the screw body 55 moves forward with a large force along the axial direction (see FIG. 10). As a result, a large force is applied to the gripping claw 10 in which the female threaded portion 11 is screwed into the male threaded portion 22 of the cylindrical body 21, and the gripping claw 10 grips the object. Is strongly gripped.
　尚、ワークをチャック１から取り外す際には、まず、偏心軸４０を上記と逆方向に回転させ、円筒体２１を後退させる。尚、この際、円筒体２１における小径部２３の前端面と、第２受体３５におけるフランジ部３６の後端面との間にばね３９を設け、円筒体２１を後端側に向けて付勢するようにしているため、円筒体２１がスムーズに後退するようになっている。 When removing the workpiece from the chuck 1, first, the eccentric shaft 40 is rotated in the opposite direction to the above, and the cylindrical body 21 is moved backward. At this time, a spring 39 is provided between the front end surface of the small-diameter portion 23 in the cylindrical body 21 and the rear end surface of the flange portion 36 in the second receiver 35, and the cylindrical body 21 is biased toward the rear end side. Therefore, the cylindrical body 21 moves backward smoothly.
　しかる後、第１受体２７を上記と逆の方向に回転させて円筒体２１を同方向に回転させ、把持爪１０を後退させる、つまり、ワークから離反する方向に移動させる。これにより、把持爪１０による把持が解除され、チャック１からワークを取り外すことができるようになる。 Thereafter, the first receiver 27 is rotated in the direction opposite to the above to rotate the cylindrical body 21 in the same direction, and the gripping claws 10 are retracted, that is, moved away from the workpiece. Thereby, the gripping by the gripping claws 10 is released, and the workpiece can be removed from the chuck 1.
　以上のように、本例のチャック１によれば、第１受体２７を回転させて、円筒体２１を回転させることにより、把持爪１０によってワークを把持した後、偏心軸４０を回転させることにより、送り構造体２０内に内蔵した所謂ハイポサイクロイド機構によって増幅された回転トルクでもってねじ体５５が回転する。そして、このねじ体５５に螺合した円筒体２１が前進することで、把持爪１０が同方向に前進する。したがって、ワークを把持する力に大きな力が付加され、このように増幅された力によってワークを強力に把持することができる。 As described above, according to the chuck 1 of this example, the eccentric shaft 40 is rotated after the workpiece is gripped by the gripping claws 10 by rotating the first receiver 27 and rotating the cylindrical body 21. Thus, the screw body 55 rotates with the rotational torque amplified by a so-called hypocycloid mechanism built in the feed structure 20. Then, when the cylindrical body 21 screwed into the screw body 55 moves forward, the gripping claw 10 moves forward in the same direction. Therefore, a large force is added to the force for gripping the workpiece, and the workpiece can be gripped strongly by the amplified force.
　また、送り構造体２０内に把持力を増幅するための機構を内蔵するようにしているため、装置の小型化を図ることができる。 Further, since a mechanism for amplifying the gripping force is built in the feed structure 20, the apparatus can be miniaturized.
　以上、本発明の具体的な実施形態について説明したが、本発明が採り得る具体的な態様は、何らこれに限定されるものではない。 Although specific embodiments of the present invention have been described above, specific modes that the present invention can take are not limited thereto.
　例えば、上例においては、外歯歯車４５及び内歯歯車５０の組み合わせを、減速比が３０となる組み合わせとしているが、これに限られるものではなく、求められる減速比に応じて適宜異なる歯数の歯車を組み合わせるようにすれば良い。
　また、上例においては、４つの把持爪１０によってワークを把持するようにしているが、それ以上又はそれ以下の把持爪でワークを把持するようにしても良い。 For example, in the above example, the combination of the external gear 45 and the internal gear 50 is a combination with a reduction ratio of 30, but is not limited to this, and the number of teeth that varies as appropriate according to the required reduction ratio. It is sufficient to combine the gears.
In the above example, the workpiece is gripped by the four gripping claws 10. However, the workpiece may be gripped by gripping claws of more or less.
　更に、上例のチャック１は、進退する４つの把持爪１０によってワークを把持するようにしたが、例えば、２つの把持爪１０と、本体２の表面に固定された２つの把持体とによってワークを把持するようにしても良い。この場合には、把持爪１０と把持体とをそれぞれ対向させ、これらを本体２の周方向に等間隔に配置する。 Further, the chuck 1 in the above example grips the workpiece by the four gripping claws 10 that move forward and backward. For example, the workpiece is formed by two gripping claws 10 and two gripping bodies fixed to the surface of the main body 2. You may make it hold | grip. In this case, the gripping claws 10 and the gripping body are opposed to each other, and they are arranged at equal intervals in the circumferential direction of the main body 2.
　この場合、ワークを２つの把持体に当接させた状態で本体２上に載置する。ついで、第１受体２７を回転させて円筒体２１を回転させ、把持爪１０をワークに向けて移動させる。そして、把持爪１０をワークに当接させた後、更に円筒体２１を回転させて、２つの把持爪及び２つの把持体によってワークを把持する。 In this case, the work is placed on the main body 2 in a state where the work is brought into contact with the two gripping bodies. Next, the first receiver 27 is rotated to rotate the cylindrical body 21, and the gripping claws 10 are moved toward the workpiece. Then, after bringing the gripping claws 10 into contact with the workpiece, the cylindrical body 21 is further rotated, and the workpiece is gripped by the two gripping claws and the two gripping bodies.
　しかる後、送り構造体２０の偏心軸４０を回転させることにより、送り構造体２０内のハイポサイクロイド機構によって増幅された回転トルクでもってねじ体５５を回転させる。そして、ねじ体５５の雄ねじ部５６に雌ねじ部２４が螺合した円筒体２１が前進することで、把持爪１０がワークに向けて前進する。したがって、ワークを把持する力に大きな力が付加され、このように増幅された力でもってワークが強力に把持される。 Thereafter, by rotating the eccentric shaft 40 of the feed structure 20, the screw body 55 is rotated with the rotational torque amplified by the hypocycloid mechanism in the feed structure 20. Then, when the cylindrical body 21 in which the female screw portion 24 is screwed into the male screw portion 56 of the screw body 55 moves forward, the gripping claw 10 moves forward toward the workpiece. Therefore, a large force is added to the force for gripping the workpiece, and the workpiece is strongly gripped with the amplified force.
　尚、把持爪１０及び把持体の数は上記限られるものではない。即ち、１つの把持爪１０と２つの把持体とを設けるようにしても良い。また、把持爪１０と把持体とをそれぞれ１つずつ設け、両者を対向させて配置するようにしても良い。この場合には、本発明をバイスとして具現化したものと理解される。 In addition, the number of the gripping claws 10 and the gripping bodies is not limited to the above. That is, one grip claw 10 and two grip bodies may be provided. Alternatively, one gripping claw 10 and one gripping body may be provided, and both may be arranged to face each other. In this case, it is understood that the present invention is embodied as a vice.
　１　　チャック
　２　　本体
　３　　案内溝
　４　　収納室
　１０　把持爪
　１１　雌ねじ部
　２０　送り構造体
　２１　円筒体
　２２　雄ねじ部
　２４　雌ねじ部
　２７　第１受体
　２９　凹部
　３０　六角部
　３５　第２受体
　４０　偏心軸
　４１　基軸部
　４２　偏心部
　４５　外歯歯車
　４７　凸部
　５０　内歯歯車
　５５　ねじ体
　５６　雄ねじ部 DESCRIPTION OF SYMBOLS 1 Chuck 2 Main body 3 Guide groove 4 Storage chamber 10 Holding claw 11 Female thread part 20 Feed structure 21 Cylindrical body 22 Male thread part 24 Female thread part 27 1st receiver 29 Recessed part 30 Hexagon part 35 2nd receiver 40 Eccentric shaft 41 Base shaft part 42 Eccentric portion 45 External gear 47 Convex portion 50 Internal gear 55 Screw body 56 Male thread portion

Claims (7)

  1. 　外周面に雄ねじ部が形成されるとともに、少なくとも内周面の一部に雌ねじ部が形成された円筒体と、
    　中心部に貫通穴が形成されるとともに、該貫通穴の軸線が前記円筒体の軸線と同軸となった状態で前記円筒体の一端側に嵌挿された第１受体と、
    　前記円筒体の他端側に嵌挿された第２受体と、
    　前記円筒体内の前記第１受体と第２受体との間に、外周面に形成された雄ねじ部が前記円筒体の内周面に形成された雌ねじ部と螺合した状態で配設され、前記第１受体と対向する面に受け穴が形成されたねじ体と、
    　基軸部と該基軸部の軸線に対して偏心した偏心部とからなり、前記基軸部の両端が前記第１受体の貫通穴及びねじ体の受け穴にそれぞれ回転自在に挿入された偏心軸と、
    　外周面と同軸となるように内周面に歯部が形成され、前記円筒体の軸線を中心に該円筒体と一体的に回転可能となるように前記ねじ体と係合した状態で、前記第１受体と前記ねじ体との間に配設された内歯歯車と、
    　外周面に歯部が形成されるとともに、中心部に表裏に貫通した貫通穴が形成され、前記歯部の一部が前記内歯歯車の歯部の一部と噛合し、且つ前記貫通穴に前記偏心軸の偏心部が回転自在に挿通された状態で、前記内歯歯車の環内に配設された外歯歯車とからなり、
    　前記円筒体は、該円筒体の軸線を中心に前記第１受体と一体的に回転可能となるように、該第１受体に係合し、
    　前記第１受体における、前記外歯歯車と対向する面には、該面に開口した凹部が形成され、
    　前記外歯歯車における、前記第１受体と対向する面には、前記凹部に遊嵌する凸部が形成され、
    　前記内歯歯車の歯数は、前記外歯歯車の歯数よりも多くなっていることを特徴とする送り構造体。     A cylindrical body in which a male screw portion is formed on the outer peripheral surface and a female screw portion is formed on at least a part of the inner peripheral surface;
    A through hole is formed in the central portion, and a first receiver inserted into one end of the cylindrical body in a state where the axial line of the through hole is coaxial with the axial line of the cylindrical body;
    A second receiver inserted into the other end of the cylindrical body;
    A male screw portion formed on the outer peripheral surface is disposed between the first receiver and the second receiver in the cylindrical body in a state of being engaged with a female screw portion formed on the inner peripheral surface of the cylindrical body. A screw body in which a receiving hole is formed in a surface facing the first receiver;
    An eccentric shaft comprising a base shaft portion and an eccentric portion eccentric with respect to the axis of the base shaft portion, wherein both ends of the base shaft portion are rotatably inserted into the through hole of the first receiver and the receiving hole of the screw body, respectively. ,
    In a state in which teeth are formed on the inner peripheral surface so as to be coaxial with the outer peripheral surface and engaged with the screw body so as to be rotatable integrally with the cylindrical body around the axis of the cylindrical body, An internal gear disposed between the first receiver and the screw body;
    A tooth portion is formed on the outer peripheral surface, a through hole penetrating the front and back is formed in the center portion, a part of the tooth portion meshes with a part of the tooth portion of the internal gear, and the through hole With the eccentric portion of the eccentric shaft being rotatably inserted, it comprises an external gear disposed in the ring of the internal gear,
    The cylindrical body engages with the first receiver so as to be rotatable integrally with the first receiver around the axis of the cylindrical body,
    In the surface of the first receiver facing the external gear, a recess that is open to the surface is formed,
    A convex portion that is loosely fitted into the concave portion is formed on a surface of the external gear that faces the first receiver.
    The number of teeth of the internal gear is larger than the number of teeth of the external gear.
  2. 　前記内歯歯車の歯数は、前記外歯歯車の歯数よりも１枚だけ多いことを特徴とする請求項１記載の送り構造体。 2. The feed structure according to claim 1, wherein the number of teeth of the internal gear is one more than the number of teeth of the external gear.
  3. 　前記円筒体は、少なくとも内周面の一部に径方向に縮径した小径部が形成されるとともに、前記雌ねじ部が該小径部の内周面に形成され、
    　前記第２受体は、少なくとも一部に径方向に拡径したフランジ部が形成されており、
    　前記円筒体の小径部端面と前記第２受体のフランジ部端面との間にばねが配設されており、
    　該ばねによって、前記円筒体が一端側に向けて付勢されていることを特徴とする請求項１又は２記載の送り構造体。     The cylindrical body has a small-diameter portion that is radially reduced in diameter at least at a part of the inner peripheral surface, and the female screw portion is formed on the inner peripheral surface of the small-diameter portion,
    The second receiver has at least a flange portion that is radially expanded in diameter,
    A spring is disposed between the end surface of the small diameter portion of the cylindrical body and the end surface of the flange portion of the second receiver,
    3. The feed structure according to claim 1, wherein the cylindrical body is urged toward the one end side by the spring.
  4. 　請求項１又は２に記載された送り構造体と、
    　表面の所定点を中心として放射状に設けられた少なくとも２つの案内溝を有する本体と、
    　前記本体の各案内溝にそれぞれ係合するように配設され、該案内溝に沿って進退自在に設けられるとともに、前記案内溝に沿って形成された雌ねじ部を有する少なくとも２つの把持爪とを備えた把持装置であって、
    　前記送り構造体は、前記第１受体及び第２受体が回転自在に支持され、且つ前記把持爪の雌ねじ部に前記円筒体の外周面に形成された雄ねじ部が螺合した状態で、前記案内溝内且つ前記把持爪の下方に配設されていることを特徴とする把持装置。     A feed structure according to claim 1 or 2, and
    A body having at least two guide grooves provided radially around a predetermined point on the surface;
    At least two gripping claws provided so as to be engaged with the respective guide grooves of the main body, provided so as to be capable of moving forward and backward along the guide grooves, and having an internal thread portion formed along the guide grooves; A gripping device comprising:
    In the feed structure, the first receiver and the second receiver are rotatably supported, and the external thread portion formed on the outer peripheral surface of the cylindrical body is screwed to the internal thread portion of the gripping claw, A gripping device disposed in the guide groove and below the gripping claws.
  5. 　請求項３に記載された送り構造体と、
    　表面の所定点を中心として放射状に設けられた少なくとも２つの案内溝を有する本体と、
    　前記本体の各案内溝にそれぞれ係合するように配設され、該案内溝に沿って進退自在に設けられるとともに、前記案内溝に沿って形成された雌ねじ部を有する少なくとも２つの把持爪とを備えた把持装置であって、
    　前記送り構造体は、前記第１受体及び第２受体が回転自在に支持され、且つ前記把持爪の雌ねじ部に前記円筒体の外周面に形成された雄ねじ部が螺合した状態で、前記案内溝内且つ前記把持爪の下方に配設されていることを特徴とする把持装置。     A feed structure as claimed in claim 3;
    A body having at least two guide grooves provided radially around a predetermined point on the surface;
    At least two gripping claws provided so as to be engaged with the respective guide grooves of the main body, provided so as to be capable of moving forward and backward along the guide grooves, and having an internal thread portion formed along the guide grooves; A gripping device comprising:
    In the feed structure, the first receiver and the second receiver are rotatably supported, and the external thread portion formed on the outer peripheral surface of the cylindrical body is screwed to the internal thread portion of the gripping claw, A gripping device disposed in the guide groove and below the gripping claws.
  6. 　請求項１又は２に記載された送り構造体と、
    　表面に設けられた少なくとも１つの案内溝を有する本体と、
    　前記本体の表面に、固定又は移動自在に設けられた少なくとも１つの把持体と、
    　前記本体の案内溝に係合するように配設され、該案内溝に沿って進退自在に設けられるとともに、前記案内溝に沿って形成された雌ねじ部を有する少なくとも１つの把持爪とを備えた把持装置であって、
    　前記案内溝の配設方向及び前記把持体の移動方向は、前記本体の表面の所定点を中心として放射状に設定され、
    　前記送り構造体は、前記第１受体及び第２受体が回転自在に支持され、且つ前記把持爪の雌ねじ部に前記円筒体の外周面に形成された雄ねじ部が螺合した状態で、前記案内溝内且つ前記把持爪の下方に配設されていることを特徴とする把持装置。     A feed structure according to claim 1 or 2, and
    A body having at least one guide groove provided on the surface;
    At least one gripping body provided on the surface of the main body so as to be fixed or movable;
    And at least one gripping claw having an internal thread portion formed along the guide groove and disposed so as to be engaged with the guide groove of the main body. A gripping device,
    The guide groove arranging direction and the gripping body moving direction are set radially about a predetermined point on the surface of the main body,
    In the feed structure, the first receiver and the second receiver are rotatably supported, and the external thread portion formed on the outer peripheral surface of the cylindrical body is screwed to the internal thread portion of the gripping claw, A gripping device disposed in the guide groove and below the gripping claws.
  7. 　請求項３に記載された送り構造体と、
    　表面に設けられた少なくとも１つの案内溝を有する本体と、
    　前記本体の表面に、固定又は移動自在に設けられた少なくとも１つの把持体と、
    　前記本体の案内溝に係合するように配設され、該案内溝に沿って進退自在に設けられるとともに、前記案内溝に沿って形成された雌ねじ部を有する少なくとも１つの把持爪とを備えた把持装置であって、
    　前記案内溝の配設方向及び前記把持体の移動方向は、前記本体の表面の所定点を中心として放射状に設定され、
    　前記送り構造体は、前記第１受体及び第２受体が回転自在に支持され、且つ前記把持爪の雌ねじ部に前記円筒体の外周面に形成された雄ねじ部が螺合した状態で、前記案内溝内且つ前記把持爪の下方に配設されていることを特徴とする把持装置。
    　
    　     A feed structure as claimed in claim 3;
    A body having at least one guide groove provided on the surface;
    At least one gripping body provided on the surface of the main body so as to be fixed or movable;
    And at least one gripping claw having an internal thread portion formed along the guide groove and disposed so as to be engaged with the guide groove of the main body. A gripping device,
    The guide groove arranging direction and the gripping body moving direction are set radially about a predetermined point on the surface of the main body,
    In the feed structure, the first receiver and the second receiver are rotatably supported, and the external thread portion formed on the outer peripheral surface of the cylindrical body is screwed to the internal thread portion of the gripping claw, A gripping device disposed in the guide groove and below the gripping claws.

PCT/JP2013/057182 2013-03-14 2013-03-14 Feed structure and gripping device with same WO2014141432A1 (en)

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CN105500244A (en) * 2016-01-27 2016-04-20 济南玛钢钢管制造有限公司 Spectrograph welding wire detection connector
CN106392689A (en) * 2016-11-16 2017-02-15 珠海市隆润企业有限公司 Automatic mechanical clamp
CN109676170A (en) * 2019-02-15 2019-04-26 大同宇林德石墨设备股份有限公司 A kind of fixture facilitating processing eccentric orfice

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JPH1034549A (en) * 1996-04-18 1998-02-10 Griesser Ag Clamping device with mechanical power booster
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CN105500244A (en) * 2016-01-27 2016-04-20 济南玛钢钢管制造有限公司 Spectrograph welding wire detection connector
CN105500244B (en) * 2016-01-27 2017-03-15 济南玛钢钢管制造有限公司 A kind of spectrometer welding wire detects connector
CN106392689A (en) * 2016-11-16 2017-02-15 珠海市隆润企业有限公司 Automatic mechanical clamp
CN109676170A (en) * 2019-02-15 2019-04-26 大同宇林德石墨设备股份有限公司 A kind of fixture facilitating processing eccentric orfice

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