JPH0158036B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a chuck device for supplying and unloading parts to and from processing equipment and the like.

(Prior art) In general, when processing mechanical parts, electrical parts, etc., when supplying and taking out parts to processing equipment, or when supporting parts at predetermined processing positions, electric motors are used. A device is used in which a chuck is provided on an articulated arm that is operated by a drive mechanism that is a combination of a pump and a gear or a chain, or a drive mechanism that is a combination of a fluid cylinder and a link.

(Problem) In the articulated arm operated by the drive mechanism described above, there is almost no play between the parts that transmit motion, so it can only move as set in advance, and there may be variations in the shape, size, etc. of the parts. If there is, there is a problem that the parts cannot be fed to a predetermined processing position or cannot be supported at a predetermined position.

Further, in a structure in which a fluid cylinder for operating the chuck is provided between the articulated arm and the chuck, there are problems in that the entire device becomes very large.

Therefore, as described in Japanese Patent Application Laid-Open No. 58-51091, a cylinder and a keyway are bored in the spherical part of a spherical joint that forms a movable arm that is rotatably attached to the joint body, and A jointed arm is manufactured in which a spherical piston having a key is movably attached to a cylinder having the above-mentioned keyway, the spherical piston is operated by pressure fluid, and a chuck for gripping parts is attached to the jointed arm. However, with the device configured as described above, the chuck only rotates in one horizontal direction, so even if there are variations in the shape, size, or direction of the parts, the chuck is still necessary. The movable arm with the chuck attached cannot rotate in the horizontal direction, making it impossible to reliably grip the component, and even if the component can be gripped by rotating in one horizontal direction, the movable arm with the chuck still grips the component. There was a problem in that it was not possible to fix the joint body to the joint body.

(Objective) The object of the present invention is to enable a movable arm equipped with a chuck to rotate in all directions when gripping a component, and to connect the movable arm in a straight line when the chuck is opened.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the chuck device of the present invention has a spherical concave portion formed on both sides of the joint body member, a spherical portion formed on the first movable arm, and a second movable arm. A fluid working chamber is formed so that the pressure receiving surface of each movable arm is located in the joint body member, and a fluid working chamber is formed so that the pressure receiving surface of each movable arm is located in the joint body member. A chuck is attached to one end of the movable arm, a cylinder portion is formed in the second movable arm, and a piston with a protruding pin is installed therein, and the piston is pressed by a spring to move the pin to the second movable arm. The first movable arm is made to protrude from the end opposite to the chuck, and a hole is formed in the first movable arm so that the pin is engaged with the fluid operating chamber of the joint body member and the second movable arm. Pressure fluid supply pipes are made to face the fluid operation chambers of the cylinders of the movable arms, respectively, and the pin is configured to separate from the hole when pressure fluid is supplied to the cylinder portion of the second movable arm.

(Example) The configuration of the chuck device of the present invention will be explained based on the drawings.

Reference numeral 1 denotes an arm installed on the machine base (not shown) of the feeding device, which moves parts along a trajectory set by a drive mechanism (not shown) such as an electric motor and gears to the feeding position, processing position, and It is designed to be moved to a take-out position, etc. Reference numeral 2 denotes a guide fixed to the end of the arm 1, in which a hole having a guide groove a is bored, and the first movable arm 6 is movably attached thereto. 3 is a joint body, and spherical female parts are formed at both ends thereof. A presser 4 is screwed onto one end of the joint body 3, and a presser 5 is screwed onto the other end to form an indirect body member, and a spherical female portion formed on the joint body 3 allows a predetermined It is adapted to form a spherical female part. A pressure receiving surface e is formed on one side of the first movable arm 6, and a hole b for pin engagement is bored therein. Further, a first pressure fluid supply pipe 14 is attached to the other side by a fitting 15, a hole c for pressure fluid supply is bored, and a second pressure fluid supply pipe 16 is attached to the fitting 17. Supported by. A hole for inserting a wedge 20 is bored in the pressure fluid supply hole c. 7
is a second movable arm, one of which is formed with a spherical male part that engages with a spherical female part formed by the above-mentioned joint body 3 and presser 5, and a cylinder 7a. is formed, and the other pressure receiving surface f
The above-mentioned second pressure fluid supply pipe 16 is attached to the cylinder 7a by a fitting 19.
Pressure fluid is supplied into the pressure working chamber g of the. 8 is a presser screwed onto the second movable arm 6, and 9 is a piston shaft having a piston 9a movably inserted into the cylinder 7a of the second movable arm 7 at one end thereof. A spring 10 is installed between the presser 8 and the piston 9a, and is designed to always press the piston 9a toward the first movable arm 6. Reference numeral 11 denotes a pin fixed to the piston of the piston shaft 9, which is fitted into the pressure receiving surface f of the second movable arm 7 and is always projected from the open portion by the pressing force of the spring 10. It is sufficient to provide at least one pin 11. Reference numeral 12 denotes an O-ring attached to the piston 9a to prevent leakage of pressure fluid. Reference numeral 13 denotes an O-ring attached to the cylinder 7a of the second movable arm 7 to prevent leakage of pressure fluid. Reference numeral 18 denotes an O-ring attached to the second pressure fluid supply pipe 16 to prevent leakage of pressure fluid. The wedge 20 is pressed toward the guide groove a of the guide 2 by pressure fluid, and fixes the first movable arm 6 to the guide 2. The first movable arm 6 can also be fixed to the arm 1 by using an electromagnetic clutch or the like instead of the wedge 20.
21 is an O-ring attached to the wedge 20 to prevent leakage of pressure fluid, and 22 is a screw shaft for fixing the actuating piece 23 to the piston shaft 9. 2
Reference numeral 4 denotes a bracket that is integrally fixed to the presser 8, and has a movable claw 25 that swings about a shaft 26 as a fulcrum.
A movable claw 28 that swings about a shaft 29 is attached. The movable claw 25 has a roll 27,
Rolls 30 are rotatably mounted on the movable claws 28, respectively. 31 is a spring installed between the movable claw 25 and the movable claw 28;
The tip side of 28 is opened. The above-mentioned movable claws 25 and 28 can also be made to swing by interposing a link mechanism between them and the piston shaft 9. Reference numeral 32 denotes a positioning piece movably attached to the bracket 24 when gripping a component. High-pressure fluid and low-pressure fluid are supplied to the second pressure fluid supply pipe 16 through a switching valve (not shown) so that the parts can be gripped lightly and firmly. It is becoming more and more like this. The pressure of the pressure fluid is appropriately selected depending on the weight of the parts, the weight of the jointed arm, and the like. Moreover, hydraulic pressure or compressed air is used as the pressure fluid.

The operation of gripping a component by the chuck device configured as described above will be explained.

Part A is prepared at the supply position, and pressure fluid (4Kg/cm ² ) is supplied from the first pressure fluid supply pipe 14 to the fluid working chamber d of the joint body 3 through the pressure fluid supply hole c of the first movable arm 6. When the pressure fluid is supplied to the pressure receiving surfaces e and f of the first and second movable arms 6 and 7, the spherical male part is pressed against the spherical female part, and the first, The second movable arms 6 and 7 are integrally fixed via the joint body 3. Simultaneously with this operation, pressure fluid acts on the pressure receiving surface j from the above-mentioned supply hole c through the hole h formed in the wedge 20, and the wedge 20 is pressed against the guide 2, and as a result, the first movable arm 6 is arm 1
is integrally fixed to. On the other hand, when the pressure fluid in the second pressure fluid supply pipe 16 is discharged, the pressing force against the piston 9a disappears, and the pressing force of the spring 10 moves the piston 9a and the piston shaft 9 toward the first movable arm 6 side. is moved in the direction of A. Then, the pin 11 fixed to the piston shaft 9 is engaged with the hole b formed in the movable arm 6. Simultaneously with this operation, the actuating piece 23 moves in the direction A, so the movable claws 25 and 28 are
It is moved in the direction of C by the tensile force of C and opens.
In this state, a drive mechanism (not shown) for the arm 1 is activated to move the arm 1 along a preset trajectory, and the movable claws 25 and 28 that are integrally provided with the arm 1 are activated. is moved to the supply position. When the positioning piece 32 comes into contact with the component A, low pressure (1 Kg/cm ² ) pressure fluid is supplied to the second pressure fluid supply pipe 16. Then, the piston shaft 9 becomes able to move in the direction B against the pressing force of the spring 10, and the actuating piece 23 moves the rolls 27,
The movable claws 25 and 28 are moved in the direction D via the lever 30 to lightly grip the part A. At this time, if the movable claws 25 and 28 do not match accurately with the part A and an external force acts on the movable claws 25 and 28 in the direction C, the actuating piece 23 overcomes the pressing force of the pressure fluid. It moves in the direction of A and swings around the shafts 26 and 29 as fulcrums. The piston 9a together with the above-mentioned piston shaft 9
When the pin 11 is moved in the direction B, the pin 11 is disengaged from the engagement hole b of the first movable arm 6. Then, the first
The supply of pressure fluid to the pressure fluid supply pipe 14 is stopped, and the pressure fluid in the fluid working chamber d is discharged. Then, the pressing force acting on the pressure receiving surface j of the wedge 20 disappears, and the first movable arm 6 moves toward the guide 2.
At the same time, the pressing force acting on the pressure receiving surfaces e and f of the first and second movable arms 6 and 7 disappears, and the second movable arm moves with respect to the first movable arm 6. 7 can move freely via the joint body 3. In this state, the low pressure fluid supplied to the second pressure fluid supply pipe 16 is switched to the high pressure (4 kg/cm ² ) pressure fluid. Then, the movable claws 25 and 28 firmly grip the component A. If the movable claws 25 and 28 do not correctly grasp the predetermined grasping position of the part A, the joint parts of the joint body 3 and the first and second movable arms 6 and 7 may be moved in the respective predetermined directions. At the same time, the first movable arm 6 is moved by a predetermined amount in the direction A or B relative to the arm 1, and the part A is accurately gripped. When the part A is gripped, pressure fluid is supplied from the first pressure fluid supply pipe 14 through the pressure fluid supply hole c to the fluid working chamber d of the joint body 3, and the first and second movable arms A pressing force acts on the pressure-receiving surfaces e and f of 6 and 7, respectively, and the spherical male part is pressed against the spherical female part, so that the first and second movable arms 6 and 7 move through the joint body 3. Fixed integrally. Simultaneously with this operation, pressure fluid flows from the above-mentioned supply hole c into the wedge 20.
When the wedge 20 is supplied to the pressure receiving surface j through the hole h formed in the hole h, the wedge 20 is pressed against the guide 2, and the first movable arm 6 is integrally fixed to the arm 1.

When the part A is gripped by each of the above operations, the drive mechanism (not shown) of the arm 1 is activated to move the arm 1 along a preset trajectory, and the part A is processed from the supply position. transported to the location. and,
When the predetermined processing is performed, the drive mechanism (not shown) of the arm 1 is activated, and the processed part A is transported from the processing position to the take-out position. Then, the supply of pressure fluid from the second pressure fluid supply pipe 16 to the compressed air working chamber g of the cylinder 7a is stopped, and when the pressure fluid in the fluid working chamber g is discharged, the spring 10 causes the piston 9a to is pressed, the actuating piece 23 is moved together with the piston shaft 9 in the direction A, and the spring 31
The movable claws 25 and 28 are swung in the direction C by the tensile force of , releasing the grip on the part, and releasing the processed part A.

When the parts are discharged, the drive mechanism (not shown) of arm 1 is activated to move the arm 1 along a preset trajectory and return to the supply position, completing the first part supply and removal operation. do.

Each of the above-mentioned operations is sequentially repeated to continuously process the parts.

(Effects of the Invention) The chuck device of the present invention has a spherical recess formed on both sides of the joint body member, and a spherical portion formed on the first movable arm and a spherical portion formed on the second movable arm, respectively. are connected so that they can rotate in the direction of
A fluid working chamber is formed in the joint body member so that the pressure receiving surface of each movable arm is located, a chuck is attached to one end of the second movable arm, and a cylinder portion is formed in the second movable arm. A piston with a protruding pin is installed inside the piston, and a spring presses the piston to cause the pin to protrude from the end of the second movable arm opposite to the chuck, and a hole is formed in the first movable arm. A pressurized fluid supply pipe is made to face the fluid working chamber of the joint body member and the fluid working chamber of the cylinder of the second movable arm, respectively, and the pin is engaged with the pin. Since the pin is configured to separate from the hole when pressure fluid is supplied to the hole, the following effects can be achieved.

(1) When the chuck is opened, the movable pin provided in the second movable arm is engaged with the hole bored in the first movable arm, and the two movable arms are aligned in a straight line. Since the movable arms are connected without twisting, the chuck can be accurately moved to a preset position.

(2) In the gripping operation of the part, pressurized fluid is supplied to the movable pin attachment part, the movable pin is removed from the hole drilled in the first movable arm, and the movable arm with the chuck attached is attached to the joint main body member. The chuck is moved freely in a 360 degree direction at the connecting part of the part, and the chuck is moved along the shape of the part to grip the part, and then pressurized fluid is supplied to the fluid working chamber to move each movable arm. is fixed to the joint main body member in the same state as when the part was gripped, so even if there are variations in the shape, size, or direction of the part, the part can be reliably gripped and fed into the specified position. , can be supported.

(3) The chuck device of the present invention only needs to be installed on the arm of a new or existing robot, etc.;
Assembly work is easy and work time can be shortened.

[Brief explanation of drawings]

FIG. 1 is a schematic sectional view showing one embodiment of the chuck device of the present invention. Figure 2 shows Z in Figure 1.
It is an arrow view. 3: Joint body, 4, 5, 8: Presser, 6: 1st
movable arm, 7: second movable arm, 9: piston shaft,
10, 31: spring, 11: pin, 14: first pressure fluid supply pipe, 15, 17, 19: fitting, 16: second pressure fluid supply pipe, 20: wedge,
23: Actuation piece, 24: Bracket, 25, 28:
Movable claw, 26: fulcrum pin, 27, 30: roll,
32: Positioning piece.

Claims (1)

[Claims] 1 In the spherical recesses formed on both sides of the indirect main body member,
A spherical part formed on the first movable arm and a spherical part formed on the second movable arm are connected so as to be rotatable in all directions, and the pressure receiving surface of each movable arm is located at the joint body member. forming a fluid working chamber so as to allow the second movable arm to move, and attaching a chuck to one end of the second movable arm;
A cylinder portion is formed in the second movable arm, and a piston with a protruding pin is installed therein, and the piston is pressed by a spring so that the pin is attached to the end of the second movable arm opposite to the chuck. a hole is formed in the first movable arm so that the pin is engaged with the fluid operating chamber of the joint body member, and
Pressure fluid supply pipes are arranged to face the fluid operation chambers of the cylinders of the second movable arm, and the pin is configured to separate from the hole when pressure fluid is supplied to the cylinder portion of the second movable arm. Features a chuck device.