JP5739259B2

JP5739259B2 - Work chuck device

Info

Publication number: JP5739259B2
Application number: JP2011161696A
Authority: JP
Inventors: 久保　英生; 英生久保; 正男中野; 育生熊ケ谷
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2011-07-25
Filing date: 2011-07-25
Publication date: 2015-06-24
Anticipated expiration: 2031-07-25
Also published as: JP2013022707A

Description

本発明は、ワークの孔を利用してワークを把持するチャック装置に関する。 The present invention relates to a chuck device that grips a workpiece using a hole of the workpiece.

ワークの孔を利用してワークを把持する装置として、特許文献１には、ワークの穴に挿入されて穴の内周面をグリップ可能な環状のグリップ部材と、このグリップ部材に内嵌係合させたテーパ軸部を有するクランプロッドと、グリップ部材とクランプロッドとを軸心方向へ進退駆動可能な流体圧シリンダと、グリップ部材とクランプロッドと流体圧シリンダが付設される本体部材とを有するクランプ装置が開示されている。 As an apparatus for gripping a workpiece using a hole in the workpiece, Patent Document 1 discloses an annular grip member that is inserted into a hole of the workpiece and can grip the inner peripheral surface of the hole, and an internal fitting engagement with the grip member. A clamp rod having a tapered shaft portion, a fluid pressure cylinder capable of driving the grip member and the clamp rod forward and backward in the axial direction, and a body member to which the grip member, the clamp rod and the fluid pressure cylinder are attached An apparatus is disclosed.

また、特許文献２には、中空の本体と、この本体の適所に回動可能に軸支された複数の指部材と、この指部材間を進退可能に設けられた大径部と小径部を有するピストンから成り、指部材は、本体に軸支される支持部と、ワークを把持する把持部とからなるマニピュレータの把持構造が開示されている。 Patent Document 2 discloses a hollow main body, a plurality of finger members pivotally supported at appropriate positions of the main body, and a large-diameter portion and a small-diameter portion provided so as to be able to advance and retreat between the finger members. There is disclosed a gripping structure for a manipulator that includes a piston having a supporting member that is pivotally supported by a main body and a gripping part that grips a workpiece.

特開２０１０−３６３１４号公報JP 2010-36314 A 実開平６−１５９８７号公報Japanese Utility Model Publication No. 6-15987

しかし、特許文献１に記載された技術においては、穴の内周面に爪が食い込むので、重量のあるワークを吊り下げても十分耐えうるが、爪の開閉機構が大型になるため、小径の孔には構造上適用することができないという問題がある。
また、特許文献２に記載された技術においては、小径の孔に適用できる構造ではあるが、重量物を吊り下げるとピストンの小径部に負荷が掛かり、ピストンが折損する虞が生じるという問題がある。 However, in the technique described in Patent Document 1, since the nail bites into the inner peripheral surface of the hole, it can sufficiently endure even when a heavy workpiece is suspended. There is a problem that the hole cannot be applied structurally.
Moreover, although the technique described in Patent Document 2 is a structure that can be applied to a small-diameter hole, there is a problem that when a heavy object is suspended, a load is applied to the small-diameter portion of the piston and the piston may be broken. .

本発明は、従来の技術が有するこのような問題点に鑑みてなされたものであり、その目的とするところは、ワークの小径孔に適用することができ、且つ重量のあるワークに対応することができるワークのチャック装置を提供しようとするものである。 The present invention has been made in view of such problems of the prior art, and the object of the present invention is to be applied to a small-diameter hole of a workpiece and to deal with a heavy workpiece. It is an object of the present invention to provide a workpiece chuck device that can perform the above.

上記課題を解決すべく請求項１に係る発明は、ワークに形成された孔を利用してワークを把持するチャック装置であって、ワークに当接する段部と先端部近傍に切り欠き部を設けた円柱体と、この円柱体の中心を貫通すると共に、先端部近傍に上凸部と下凸部を有するくり抜き部を設けた進退動自在なピストンロッドと、前記ピストンロッドが進退動した際に前記上凸部または下凸部にアーム部を当接すると共に、前記円柱体の切り欠き部に設けた一対のピンに夫々回動自在に嵌合する爪からなるチャック爪部を備え、前記ピストンロッドが前進して前記爪のアーム部に前記上凸部が当接すると、前記爪の先端部が前記円柱体の外周面より突出するものである。
In order to solve the above-mentioned problem, the invention according to claim 1 is a chuck device for gripping a workpiece by using a hole formed in the workpiece, wherein a step portion contacting the workpiece and a notch portion are provided in the vicinity of the tip portion. A cylindrical rod, a piston rod penetrating the center of the cylindrical body and having a hollow portion having an upper convex portion and a lower convex portion in the vicinity of the tip portion, and when the piston rod moves forward and backward The piston rod includes a chuck claw portion that includes a claw that abuts an arm portion on the upper convex portion or the lower convex portion and that is rotatably fitted to a pair of pins provided in the cutout portion of the cylindrical body. When the upper projecting portion comes into contact with the arm portion of the claw, the tip portion of the claw protrudes from the outer peripheral surface of the columnar body.

また、前記ピンと前記爪の先端部までの距離は、前記ピンと前記上凸部までの距離より短いことが望ましい。また、フローティング機構を備えることができる。更に、ワークに形成された２つの孔を利用してワークを把持するために、一対のチャック爪部を備えることができる。 The distance between the pin and the tip of the claw is preferably shorter than the distance between the pin and the upper protrusion. Moreover, a floating mechanism can be provided. Furthermore, a pair of chuck claws can be provided in order to grip the workpiece using two holes formed in the workpiece.

請求項１に係る発明によれば、孔の内壁面に爪の一部を食い込ませてワークを把持する際に、ピストンロッドのくり抜き部に設けた上凸部に爪のアーム部を当接させるので、てこの作用を効果的に大きくし、且つ爪に掛かるワークの重量をピストンロッド全体で受ける構造としたため、重量物でも吊持することができ、小径孔でも適用が可能である。
また、円柱体の段部と爪の先端部との持上げ挟持作用によって挟持した個所にがたつきが発生せず、強固に把持されるため、小径孔を利用して重量物を落下させることなく吊持することができる。 According to the first aspect of the present invention, when a part of the claw is bitten into the inner wall surface of the hole and the workpiece is gripped, the arm part of the claw is brought into contact with the upper convex part provided in the hollowed part of the piston rod. Therefore, since the lever action is effectively increased and the weight of the work applied to the claw is received by the whole piston rod, even a heavy object can be suspended, and even a small-diameter hole can be applied.
In addition, since the ratchet does not occur at the portion clamped by the lifting clamping action between the stepped portion of the cylindrical body and the tip of the claw, it is firmly gripped, so that a heavy object is not dropped using a small diameter hole Can be hung.

ピンと爪の先端部までの距離を、ピンと上凸部までの距離より短くすれば、ピストンロッドにそれほど大きな力が掛かることがない。また、フローティング機構を備えれば、爪の先端部に無理なねじれによる負荷が掛からず、耐久性の向上が図れ、安定したチャック作業を行うことができる。更に、一対のチャック爪部を備えれば、ワークを安定して把持することができる。 If the distance between the pin and the tip of the claw is shorter than the distance between the pin and the upper convex portion, a large force is not applied to the piston rod. Further, if the floating mechanism is provided, a load due to excessive twisting is not applied to the tip of the claw, durability can be improved, and a stable chucking operation can be performed. Furthermore, if a pair of chuck claws are provided, the workpiece can be stably held.

本発明に係るワークのチャック装置の全体概要図Overall schematic diagram of workpiece chuck device according to the present invention 要部断面図Cross section of the main part チャック爪部の説明図Explanation of chuck claw 作用説明図で、（ａ）はワーク把持状態、（ｂ）はワーク非把持状態In the operation explanatory diagram, (a) is a workpiece gripping state, (b) is a workpiece non-gripping state

以下に本発明の実施の形態を添付図面に基づいて説明する。本発明に係るワークのチャック装置１は、図１に示すように、基板２の下面にフローティング機構３を介して取り付けられた円柱体４と、この円柱体４の中心を貫通する進退動自在なピストンロッド５と、一対の爪６，７を有するチャック爪部８を備えている。なお、９は駆動源としてのエアシリンダ、１０は昇降装置である。基板２には、同様な構成のチャック爪部８などが一対装着されている。 Embodiments of the present invention will be described below with reference to the accompanying drawings. As shown in FIG. 1, a workpiece chuck device 1 according to the present invention has a columnar body 4 attached to the lower surface of a substrate 2 via a floating mechanism 3, and is movable forward and backward through the center of the columnar body 4. A chuck claw portion 8 having a piston rod 5 and a pair of claws 6 and 7 is provided. In addition, 9 is an air cylinder as a drive source, and 10 is an elevating device. A pair of chuck claws 8 having the same configuration is mounted on the substrate 2.

図２に示すように、円柱体４は、大径部４ａと中径部４ｂと小径部４ｃからなり、中径部４ｂと小径部４ｃの境界にはワークＷに当接する段部１１が形成され、小径部４ｃの先端部近傍には切り欠き部１２が形成されている。また、ピストンロッド５には、先端部近傍にくり抜き部１３が設けられ、このくり抜き部１３には上凸部１４と下凸部１５が対向して形成されている。爪６，７は、夫々先端部６ａ，７ａとアーム部６ｂ，７ｂからなり、円柱体４の切り欠き部１２に設けたピン１６，１７に回動自在に嵌合している。 As shown in FIG. 2, the cylindrical body 4 includes a large diameter portion 4a, a medium diameter portion 4b, and a small diameter portion 4c, and a step portion 11 that contacts the workpiece W is formed at the boundary between the medium diameter portion 4b and the small diameter portion 4c. A notch 12 is formed near the tip of the small diameter portion 4c. Further, the piston rod 5 is provided with a hollow portion 13 in the vicinity of the tip portion, and an upper convex portion 14 and a lower convex portion 15 are formed to face the hollow portion 13. The claws 6 and 7 are composed of tip portions 6a and 7a and arm portions 6b and 7b, respectively, and are rotatably fitted to pins 16 and 17 provided on the cutout portion 12 of the cylindrical body 4.

また、図３に示すように、ピン１６，１７と爪６，７の先端部６ａ，７ａまでの距離Ｄ１，Ｄ２は、ピン１６，１７と上凸部１４までの距離Ｄ３，Ｄ４より短く（Ｄ１＜Ｄ３，Ｄ２＜Ｄ４）設定されている。これにより、チャック装置１がワークＷを把持する場合にピストンロッド５にそれほど大きな力が掛かることがない。 Further, as shown in FIG. 3, the distances D1 and D2 between the pins 16 and 17 and the tips 6a and 7a of the claws 6 and 7 are shorter than the distances D3 and D4 between the pins 16 and 17 and the upper protrusion 14 ( D1 <D3, D2 <D4) are set. As a result, when the chuck device 1 grips the workpiece W, a large force is not applied to the piston rod 5.

ワークＷを把持する場合には、ピストンロッド５が前進して上凸部１４が爪６，７のアーム部６ｂ，７ｂに当接することにより、爪６，７が回動して先端部６ａ，７ａが円柱体４の小径部４ｃの外周面４ｄより突出し、ワークＷに設けられた小径孔２０の内壁面２０ａに食い込む。一方、ワークＷを把持状態から解放する場合には、ピストンロッド５が後退して下凸部１５が爪６，７のアーム部６ｂ，７ｂに当接することにより、爪６，７が夫々逆方向に回動して先端部６ａ，７ａが円柱体４の小径部４ｃの外周面４ｄより内側に引っ込む。 When gripping the workpiece W, the piston rod 5 moves forward and the upper convex portion 14 comes into contact with the arm portions 6b and 7b of the claws 6 and 7, so that the claws 6 and 7 are rotated and the tip portions 6a and 6a are rotated. 7 a protrudes from the outer peripheral surface 4 d of the small diameter portion 4 c of the cylindrical body 4 and bites into the inner wall surface 20 a of the small diameter hole 20 provided in the workpiece W. On the other hand, when releasing the workpiece W from the gripping state, the piston rod 5 moves backward and the lower convex portion 15 contacts the arm portions 6b, 7b of the claws 6, 7, so that the claws 6, 7 are in the opposite directions. The tip portions 6 a and 7 a are retracted inward from the outer peripheral surface 4 d of the small diameter portion 4 c of the cylindrical body 4.

以上のように構成された本発明に係るワークのチャック装置の作用について説明する。先ず、バケットなどに積み込まれたワークＷに向かって上方から昇降装置１０によりチャック装置１を下降させ、円柱体４の段部１１をワークＷの上面Ｗａに当接させると共に、チャック爪部８をワークＷの小径孔２０に挿入する。この時、フローティング機構３により、チャック爪部８はワークＷの小径孔２０に円滑に挿入される。 The operation of the workpiece chuck device according to the present invention configured as described above will be described. First, the chuck device 1 is lowered by the lifting device 10 from above toward the workpiece W loaded in a bucket or the like, the step portion 11 of the cylindrical body 4 is brought into contact with the upper surface Wa of the workpiece W, and the chuck claw portion 8 is The workpiece W is inserted into the small diameter hole 20. At this time, the chuck claw portion 8 is smoothly inserted into the small-diameter hole 20 of the workpiece W by the floating mechanism 3.

次いで、チャック爪部８がワークＷの小径孔２０に挿入されると、エアシリンダ９が作動してピストンロッド５を前進させる。すると、図４（ａ）に示すように、ピストンロッド５の前進動作により上凸部１４が爪６，７のアーム部６ｂ，７ｂの上面に当接し、爪６，７が回動して先端部６ａ，７ａが円柱体４の小径部４ｃの外周面４ｄより突出し、ワークＷに設けられた小径孔２０の内壁面２０ａに食い込む。 Next, when the chuck claw portion 8 is inserted into the small diameter hole 20 of the workpiece W, the air cylinder 9 is actuated to advance the piston rod 5. Then, as shown in FIG. 4 (a), the upward protruding portion 14 comes into contact with the upper surfaces of the arm portions 6b and 7b of the claws 6 and 7 by the forward movement of the piston rod 5, and the claws 6 and 7 are rotated to the tip. The portions 6 a and 7 a protrude from the outer peripheral surface 4 d of the small diameter portion 4 c of the cylindrical body 4 and bite into the inner wall surface 20 a of the small diameter hole 20 provided in the workpiece W.

そして、先端部６ａ，７ａが小径孔２０の内壁面２０ａに食い込むと、円柱体４の段部１１側へワークＷを少し持上げる力が作用してワークＷを強固に保持することができる。この時、フローティング機構３により、爪６，７の先端部６ａ，７ａに無理なねじれが生じないため、ピン１６，１７にもねじれによる負荷が掛からない。次いで、ワークＷを吊り下げたチャック装置１が搬送装置（不図示）により次のステーションに搬送される。 And if the front-end | tip parts 6a and 7a bite into the inner wall face 20a of the small diameter hole 20, the force which lifts the workpiece | work W a little to the step part 11 side of the cylindrical body 4 will act, and the workpiece | work W can be hold | maintained firmly. At this time, because the floating mechanism 3 does not cause excessive twisting of the tips 6a and 7a of the claws 6 and 7, the pins 16 and 17 are not subjected to a load due to twisting. Next, the chuck device 1 from which the workpiece W is suspended is conveyed to the next station by a conveying device (not shown).

この時、爪６，７はワークＷの重量でピン１６，１７を軸として回動しようとするが、ピストンロッド５にエアシリンダ９による駆動力が掛かっているため、回動することはない。また、ピン１６，１７と上凸部１４までの距離Ｄ３，Ｄ４がピン１６，１７と爪６，７の先端部６ａ，７ａまでの距離Ｄ１，Ｄ２より比較的長い（Ｄ１＜Ｄ３，Ｄ２＜Ｄ４）ので、ピストンロッド５にそれほど大きな力は掛からない。 At this time, the claws 6 and 7 try to rotate around the pins 16 and 17 by the weight of the workpiece W, but do not rotate because the driving force by the air cylinder 9 is applied to the piston rod 5. Further, the distances D3 and D4 between the pins 16 and 17 and the upper convex portion 14 are relatively longer than the distances D1 and D2 between the pins 16 and 17 and the tips 6a and 7a of the claws 6 and 7 (D1 <D3, D2 < D4), so that a large force is not applied to the piston rod 5.

ワークＷが次のステーションに搬送されて治具などに載置されると、エアシリンダ９が作動してピストンロッド５を後退させる。すると、図４（ｂ）に示すように、ピストンロッド５の後退動作により下凸部１５が爪６，７のアーム部６ｂ，７ｂの下面に当接し、爪６，７が回動して先端部６ａ，７ａが円柱体４の小径部４ｃの外周面４ｄの内側に引っ込む。 When the workpiece W is transported to the next station and placed on a jig or the like, the air cylinder 9 operates to retract the piston rod 5. Then, as shown in FIG. 4 (b), the lower convex portion 15 comes into contact with the lower surfaces of the arm portions 6b and 7b of the claws 6 and 7 by the retreating operation of the piston rod 5, and the claws 6 and 7 are rotated to the tip. The portions 6 a and 7 a are retracted inside the outer peripheral surface 4 d of the small diameter portion 4 c of the cylindrical body 4.

この時、ワークＷは治具などに載置され、爪６，７にはワークＷの重量が掛かっていないため、ピストンロッド５の下凸部１５には大きな力が作用しないので、ピストンロッド５が折損するなどの問題は生じない。次いで、昇降装置１０によりチャック装置１を上昇させ、チャック爪部８をワークＷの小径孔２０から抜く。 At this time, since the workpiece W is placed on a jig or the like and the weight of the workpiece W is not applied to the claws 6 and 7, a large force does not act on the lower convex portion 15 of the piston rod 5. There will be no problems such as breakage. Next, the chuck device 1 is raised by the lifting device 10, and the chuck claw portion 8 is removed from the small-diameter hole 20 of the workpiece W.

本発明によれば、ピストンロッドのくり抜き部に設けた上凸部に爪のアーム部を当接させるので、てこの作用を効果的に大きくし、且つ爪に掛かるワークの重量をピストンロッド全体で受ける構造としたため、重量物でも吊持することができ、小径孔でも適用が可能なワークのチャック装置を提供することができる。 According to the present invention, the arm portion of the claw is brought into contact with the upper convex portion provided in the hollowed portion of the piston rod, so that the action of the lever is effectively increased, and the weight of the work applied to the claw is increased in the entire piston rod. Since the receiving structure is adopted, it is possible to provide a workpiece chuck device that can suspend a heavy object and can be applied to a small-diameter hole.

１…ワークのチャック装置、２…基板、３…フローティング機構、４…円柱体、４ｄ…外周面、５…ピストンロッド、６，７…爪、６ａ，７ａ…先端部、６ｂ，７ｂ…アーム部、８…チャック爪部、９…エアシリンダ、１１…段部、１２…切り欠き部、１３…くり抜き部、１４…上凸部、１５…下凸部、１６，１７…ピン、２０…小径孔、２０ａ…内壁面、Ｗ…ワーク。 DESCRIPTION OF SYMBOLS 1 ... Work chuck apparatus, 2 ... Board | substrate, 3 ... Floating mechanism, 4 ... Cylindrical body, 4d ... Outer peripheral surface, 5 ... Piston rod, 6, 7 ... Claw, 6a, 7a ... Tip part, 6b, 7b ... Arm part , 8 ... Chuck claw part, 9 ... Air cylinder, 11 ... Step part, 12 ... Notch part, 13 ... Cut-out part, 14 ... Upper convex part, 15 ... Lower convex part, 16, 17 ... Pin, 20 ... Small diameter hole 20a ... inner wall surface, W ... workpiece.

Claims

A chuck device that grips a workpiece using a hole formed in the workpiece, and includes a stepped portion that abuts on the workpiece and a cylindrical body provided with a notch in the vicinity of the tip portion, and passes through the center of the cylindrical body. A piston rod having a hollow portion having an upper convex portion and a lower convex portion in the vicinity of the tip portion, and a freely movable forward and backward piston rod, and when the piston rod moves forward and backward , the arm portion is brought into contact with the upper convex portion or the lower convex portion. And a chuck claw portion formed of a claw that is rotatably fitted to a pair of pins provided in the notch portion of the cylindrical body, and the piston rod advances to the arm portion of the claw and the upper convex portion The workpiece chuck device is characterized in that when the abuts, the tip of the claw protrudes from the outer peripheral surface of the cylindrical body.

The workpiece chuck apparatus according to claim 1, wherein a distance between the pin and the tip of the claw is shorter than a distance between the pin and the upward convex portion.

3. The work chuck apparatus according to claim 1, further comprising a floating mechanism.

The workpiece chuck device according to any one of claims 1 to 3, further comprising a pair of chuck claws for gripping the workpiece using two holes formed in the workpiece. Workpiece chuck device.