JPS6246317B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a gripping device using a circular cylinder.

(Prior art) In conventional hydraulic cylinders, the direction of motion of the piston rod is generally linear;
Even if an attempt is made to install a gripping device that uses a cylinder to grip a workpiece in an increasingly complex and sophisticated processing line for a machine tool, for example, other incidental members may get in the way, making it impossible to install the gripping device.

Furthermore, as is well known, the stroke of the conventional linear motion cylinder is a straight line, so it requires space in the linear direction, and the space becomes long, making it difficult to utilize.

It is desired that a workpiece gripping device installed in a processing line has a simple structure, a small stroke, and is easy to install.

(Problems to be Solved by the Invention) Therefore, the present invention is an attempt to meet the above-mentioned conventional problems and demands, and uses a circular cylinder whose stroke is a curve to save space for the operating stroke. It is an object of the present invention to provide a gripping device that can be made small, can be easily installed in a processing line, and has a simple structure.

(Means for Solving the Problems) In order to solve the above problems, the means of this invention is that two circular cylinders each having a gripping part for the workpiece at the tip of the cylinder rod are mounted on a base in an opposing manner. The gripping device is fixed to a cylinder rod, and both gripping portions of the cylinder rod move forward and backward by the operation of the two circular cylinders, and the workpiece is gripped between the two advanced gripping portions. A cylinder body having both ends of a cylinder tube closed with a head cover and a rod cover, a piston slidably fitted in the cylinder body, one end fixed to the piston and the other end penetrating through the rod cover. The gripping device includes a piston rod having a curvature that matches the curvature of the cylinder tube, and has a structure in which the piston rod is moved circularly by hydraulic or pneumatic pressure.

(Function) When the double-headed circular cylinder is pressurized into both chambers R and R' from the port 2a, the piston rods 4 and 4' move forward (protrude), and both gripping parts 8 and 8' hold the workpiece 20. approach so that it can be grasped. Then, when the ports 3a, 3a' are pressurized, the advanced piston rods 4, 4' move back and release the gripped pressurized object 20.

(Example) Hereinafter, an example of the present invention will be described based on the drawings.

First, a single type circular cylinder that can be used in the present invention will be described with reference to FIG. 1. The cylinder body H includes a cylinder tube 1 having an appropriate curvature a, a head cover 2 and a rod cover that close both ends in the axial direction. It consists of 3,
In this embodiment, a double-acting cylinder type is adopted, and the head cover 2 and rod cover 3 are provided with hydraulic or pneumatic ports 2a and 3a, respectively.
A piston rod 4 has a curvature a' that matches the curvature a of the cylinder tube 1, and the piston rod passes through the rod cover 3 so that its tip is connected to the cylinder body H.
A piston 5 that slides inside the cylinder tube 1 is fixed to the rear part of the cylinder tube 1 so as to protrude outward. It should be noted that a plurality of pistons 5 may be used to prevent rotational vibration of the piston rod 4 and to operate with a predetermined arcuate curvature a'. For example, as shown in FIG. Advantageously, at least one further piston 5' is installed therethrough. In FIG. 1, 6 is an O-ring for sealing, and 7 is a flange for mounting. It goes without saying that by changing the curvatures a and a', a circular cylinder that makes a desired circular motion can be constructed.

Next, the gripping device 23 for the workpiece 20 will be explained with reference to FIGS. 2 and 3. This gripping device 2
3 is basically formed by arranging two of the above-mentioned single type circular cylinders on the base 21 so as to face each other to form a double-ended type. In the double-headed circular cylinder of this example, the head covers 2, 2 sides of the cylinder bodies H, H are processed in advance to form a robot handle 22, and the ports 2a are combined into one. Further, in the robot handle 22, the mounting flanges 7, 7 on the distal end side of the cylinder tubes 1, 1 are omitted. To explain this double-headed circular cylinder, this cylinder is a combination of the aforementioned single-type cylinders facing each other, and the cylinder body H includes a cylinder tube 1 having a substantially semicircular arc shape, and both ends of the cylinder tube in the axial direction are sealed. It consists of rod covers 3 and 3', which are attached to the cylinder body, and a head cover 2 provided at the axial center of the rod covers 3 and 3'.The head cover 2 divides the inside of the cylinder body H into two chambers R and R'. A piston rod 4 having a curvature a' that matches the arc curvature a of the cylinder tube 1 is provided on the left side arc part (as viewed in the drawing), and this piston rod 4 passes through the rod cover 3. The tip part is made to protrude to the outside of the cylinder body H, and a piston 5 that slides inside the cylinder tube 1 is fixed to the rear part. Further, on the right side arcuate portion of the cylinder tube 1 (as viewed in the drawing), a piston rod 4' and a piston (not shown) are provided, respectively, as described above.
8 and 8' are gripping parts provided at the tips of the piston rods 4 and 4', 2a and 3a are ports, 6 is an O-ring, and 7
is a flange. Although the double-acting cylinder type has been described in detail above, it goes without saying that the same applies to the single-acting cylinder type. This double-headed circular cylinder, that is, the robot handle 22
is a gripping device 23 that is fixed to the arm portion of the base 21 and grips the workpiece 20.

Next, the operating state and usage state of the present invention will be described.

In Fig. 2, for example, when hydraulic pressure is injected and pressurized through port 2a, the pistons 5 in both chambers R and R' are pressed, and both piston rods 4 and 4' are moved to the direction indicated by the arrow.
Move forward in each direction. This allows the workpiece 20 to be gripped by the gripping portions 8, 8' provided at the tips thereof. On the other hand, when hydraulic pressure is injected and pressurized through the ports 3a and 3a', the piston 5 is now pressed and both the piston rods 4 and 4' move back in the direction of arrow B, respectively. As a result, the workpiece 20 gripped by the gripping parts 8, 8' is released.

(Effects of the Invention) Since the present invention has the configuration as described in detail above, it can move forward and backward in a curved direction, and is useful as a gripping device for gripping in a machine tool processing line. In other words, since the gripping device of the present invention uses a double-headed circular cylinder, the space that protrudes during operation is smaller than that of a conventional gripping device configured with a linear motion cylinder, so it is expected that the installation space will be reduced. This makes it convenient for installation in complex processing lines. The circular cylinder according to the present invention does not require a rack or pinion, has a simple structure, and operates smoothly without strain, so it has practical advantages such as fewer breakdowns and easy maintenance. It also has the effect of

[Brief explanation of the drawing]

Fig. 1 is a partially broken plan view of a single type circular cylinder, Fig. 2 is a partially broken plan view showing a double ended type circular cylinder of the present invention, and Fig. 3 is a partially broken plan view of a double ended type circular cylinder. FIG. 3 is a plan view of a gripping device using a mold cylinder. 1... Cylinder tube, 2... Head cover, 3, 3'... Rod cover, 4, 4'... Piston rod, 5, 5'... Piston, 8, 8'...
Gripping part, 21...base, 23...gripping device, a,
a'...Curvature, H...Cylinder body, R, R'...
Room.

Claims (1)

[Claims] 1 Two circular cylinders each having a gripping part for the workpiece at the tip of the cylinder rod are fixed to a base in a facing manner, and both gripping parts of the cylinder rod move forward and backward by the operation of both circular cylinders, and the workpiece is advanced. The gripping device grips a workpiece between two gripping portions, and the two circular cylinders include a cylinder body in which both ends of a cylinder tube having an appropriate curvature are closed with a head cover and a rod cover, and a cylinder body that slides into the cylinder body. The piston rod has one end fixedly attached to the piston and the other end penetrating through the rod cover and having a curvature matching the curvature of the cylinder tube. A gripping device using a circular cylinder characterized by a structure that allows it to move.