JPS6213154B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a chuck used in equipment for supplying and discharging parts, robots, etc., and is characterized in that the claws open and close in parallel.

BACKGROUND TECHNOLOGY Rotating claw type chucks are often used for robots because of their simple structure, but parallel opening/closing chucks are also used, which are advantageous in terms of grip reliability.

This parallel opening/closing chuck has a structure in which the pawl is guided back and forth using a guide bar or sliding groove, and has a complicated structure, is large for its function, is difficult to assemble, and can become twisted depending on the way force is applied. There were some drawbacks, such as:

Therefore, the present applicant had previously proposed a parallel opening/closing chuck that solved this problem in Japanese Patent Application Laid-Open No. 60-255387.

However, this chuck is a single-acting type (opening is done by spring force).
Therefore, it is not possible to take a large load in the opening direction, and if the fingers and attachments are heavy, the operation will become unstable.If the environment is bad, the operation will also be unstable, and the clamping force will be weakened by the spring load, and the pneumatic pressure will become unstable. If it is low, there are drawbacks such as loss of functionality.

Problems to be Solved by the Invention This invention aims to solve the above-mentioned drawbacks of the parallel opening/closing chuck, and particularly to make it compact, lightweight, simple in structure, easy to assemble, and capable of bidirectional drive.

Means for Solving the Problems In order to achieve the above object, the present invention reduces the number of parts, guides the slide pawl with a shaft and a plane, separates the distance between the fulcrum points and makes it common with the guide shaft, and uses a reference piece for the pawl. The assembly space is reduced by making the assembly space smaller. Specifically, there is a pressing member that is supported by the main body and can be slid in the direction that intersects the opening and closing of the slide claw, and two opposing parts that are guided by the main body and can be opened and closed freely. A slide claw, an expanding member of the slide claw supported by the main body and slidable in the same direction as the pressure member through the center of the pressing member, and a member rotatably supported by the main body at a position away from the center of rotation. has an abutting part that comes into contact with the pressing member in its advancing direction, an abutting part that comes into contact with the expanding member in its advancing direction, and an engaging part that engages with the slide claw, and transmits the displacement of the pressing member and the expanding member to the sliding claw. action lever and
It consists of a rotation fulcrum for the action lever provided on the main body and two shafts that guide the slide claw, and the slide claw projects upwardly, and this protruding part has a
It has a reference piece with a long hole into which two shafts fit, and a notch in the center into which the action lever fits. This objective was achieved by a double-acting parallel opening/closing chuck supported by a double-acting parallel chuck.

Furthermore, the pressing member and the expanding member were made into pistons to enable fluid control, and the pawl was guided through a bearing to solve the twisting phenomenon and smoothen the operation.

Embodiment An embodiment of the present invention will be described with reference to the drawings. A cylinder 1 provided with fluid passages 10 and 17 is provided with a center hole opening downwardly, and cylinder chambers 11 and 15 whose diameters become smaller in order. , 16.
A closing piston 2 is slidably fitted into the cylinder chamber 11.

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

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

A V packing 23 is installed in the groove 22 of the closing piston 2.
The pressing pieces 20, 20 extending downward from both sides and bent downward are fitted between the notch guide surfaces 14, 14 and prevented from rotating, and in the vertical direction (first direction) in FIG. are being guided.

Also, the grooves 92, 93, 94 of the expansion piston 9 have V
Packings 95, 96, and 97 are fitted in the directions shown.

The center hole 21 is a hole for weight reduction.

The lower part of the cylinder 1 is a wide notch 12, into which the later-described action levers 3, 3 and slide pawls 4, 4 are inserted, and side surfaces 13, 13 guide the slide pawls 4, 4.

Holes 1 are provided on both sides of the notch 12 of the cylinder 1.
5, 15 are provided, through which shafts 5, 5 pass through sleeves 6, 6, and both ends are E-rings 8, 8.
It is prevented from falling out.

Action levers 3, 3 are rotatably fitted into these shafts 5, 5, and guide elongated holes 41, 41 provided in reference pieces 40, 40 of slide claws 4, 4 are formed on both sides of the shafts through bearings 7, 7. It is slidably fitted.
(See Figure 4) The action lever 3 has a substantially triangular shape, and one end 3
3 comes into contact with the pressing piece 20, and the protruding piece 32 on the opposite side comes into contact with the tip 91 of the expansion piston 9, and the lower end notch 31
The pin 42 of the slide claw 4 is fitted into the hole.

The slide claw 4 is centered above the action lever 3.
A notch 44 with the same width is formed, and a pin 42 is supported here, and a guide elongated hole 41 in the sliding direction is formed in a reference piece 40 that is biased upward on one side, so that the gap between the shafts 5, 5 is the same. It is formed in two places.

The slide claws 4 are common to the left and right, and when they are opposed to each other (turned by 180 degrees), the reference pieces 40 are combined with each other facing on the opposite side through the notch 44, forming an opening/closing claw. Notch 4
4, the action lever 3 is rotatably inserted, a pin 42 is fitted into the notch 31 of the action lever 3, and the slide pawl 4 is interlocked with the rotation of the action lever 3.

Function Pressurized air is sent to the fluid passage 17, and the fluid passage 1
When exhausting from 0, the piston 9 (communicates with atmospheric pressure)
moves forward in the first direction (downward in Figure 1), the piston 2 retreats in the opposite direction via the action lever 3, the slide claws 4 open, and when grasping parts etc., pressure is applied from the fluid passage 10. Contrary to the above, the piston 2 advances in the first direction and the piston 9 retreats in the opposite direction by sending pressurized air and exhausting it from the fluid passage 17. (The state shown in Fig. 1) That is, as the piston 2 advances, both the pressing pieces 20,
20 is one end 33, 3 of both action levers 3, 3
3 to rotate and push the respective pins 42, 42.

Therefore, the sliding claws 4, 4 are guided by bearings 7, 7 fitted on the shafts 5, 5, and the sliding surfaces 43, 4
3 is guided by the side surfaces 13, 13, and the guide elongated hole 41
(direction intersecting the first direction), and parts etc. are grasped.

On the other hand, when releasing the parts, etc., exhaust air is discharged from the fluid passage 10, pressurized air is sent from the fluid passage 17, and the pawls 4, 4 are opened as described above.

Although not shown, the slide claws 4, 4 are used with fixed fingers for gripping parts and the like.

Further, the V packing is used to reduce sliding resistance, and if an O ring is used, the groove 92 and packing 95 can be omitted.

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

Further, although a bearing is fitted to the shaft 5 for guidance, the shaft 5 may directly guide the elongated hole 41 of the slide claw. Further, the two guide elongated holes 41 may be made to communicate with each other to form one long elongated hole.

Effects of the invention: The number of parts is small, and since guide bars and sliding grooves are not used, the workability and assemblability of the parts are good.Since the parts slide on the same surface, the accuracy is good, and the double-acting parallel opening/closing chuck is small and lightweight. It's rising.

By using two pistons and controlling the opening and closing of the chuck using fluid pressure (drive source), strong loads can be generated in both directions, and the load on the attachment can be reduced.
Highly reliable operation can be obtained regardless of the working environment.

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

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

The displacement of the piston (pressing member) is converted by the rotation of the action lever to change the direction of action and open/close the slide pawl, making the direction change efficient and the gripping force large. It is 1.5 to 2 times as much as the parallel opening/closing chuck.

[Brief explanation of the drawing]

Fig. 1 is a sectional view of an embodiment of the present invention with the chuck closed, Fig. 2 is a plan view thereof, Fig. 3 is a bottom view of the same, Fig. 4 is a sectional view of the shaft portion, and Fig. 5 is a view of the cylinder. Figure 6 is a parts diagram of the slide claw (front view, side view), Figure 7 is an outline diagram of the slide jaw, and Figure 8 is a parts diagram of the piston (front view, side view). 1 is a cylinder, 2 is a closing piston, 20 is a pressing piece, 4 is a sliding piece, 5 is a fulcrum and a shaft for guiding,
7 is a bearing, and 9 is an expansion piston.

Claims (1)

[Scope of Claims] 1. A pressing member supported by the main body and slidable in a direction intersecting the opening and closing of the slide claw; two slide claws guided by the main body and facing each other so as to be freely openable and closable; supported by the main body, A sliding pawl expansion member that passes through the center of the pressing member and is slidable in the same direction as the pressing member, and a sliding claw expansion member that is rotatably supported by the main body and abuts the pressing member in its advancing direction at a position away from the center of rotation. contact part,
An action lever that has an abutment part that contacts the expansion member in its advancing direction and an engagement part that engages with the slide pawl and that transmits the displacement of the pressing member and the expansion member to the slide pawl, and an action lever provided on the main body. It consists of a rotation fulcrum and two shafts that guide the slide pawl.The slide pawl protrudes upward, and in this protrusion there is a reference piece with an elongated hole into which the two shafts fit, and an action lever in the center. A double-acting parallel opening/closing chuck having a notch into which a reference piece of one pawl, an action lever, and a reference piece of the other pawl are aligned and supported on the shaft. 2. The double-acting parallel opening/closing chuck according to claim 1, wherein the main body is a cylinder, the pressing member and the expanding member are pistons, and the expanding member slidably passes through the center hole of the pressing member. 3. The double-acting parallel opening/closing chuck according to claims 1 and 2, wherein a bearing is fitted to the shaft, and this bearing is fitted into the elongated hole of the reference piece.