JPH0739573Y2 - Gripping device for workpieces, parts, etc. - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a manipulator, that is, a gripping device for workpieces, parts and the like used in various automatic machines. It is composed.

[Prior Art] Conventionally, as a device of this type, the applicant of the present invention has disclosed that
The invention described in Japanese Patent No. 6890 is proposed. According to the invention, each gripping claw is housed in the main body, a pinion pivotally supported in the main body is engaged with a rack formed at the rear end of each gripping claw, and the gripping claws are synchronously opposed to each other. In a gripping device for workpieces, parts, etc., the racks are opposed to each other, and one pinion is interposed therebetween.

[Problems to be Solved by the Invention] Although the above-mentioned conventional device is also configured to perform an accurate gripping operation, the present invention pursues a more accurate gripping operation, and further, the use is continued for a long time, or An object of the present invention is to provide a gripping device for a work, a component, etc. that can be gripped accurately even in an extreme environment of use.

[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention provides roll guide grooves on both side surface portions near the rear end of the gripping claws provided so as to face the main body and on the side of the main body that faces the side surface portions. And a rack, and a roll and a pinion held by a retainer are interposed between both roll guide grooves and between both racks.

[Operation] In FIG. 1, the grip claws 7 and 8 are in the opened state.

Next, the case of gripping a work, a component, etc. will be described. The operation is performed such that compressed air is supplied from the ventilation passage 16 and exhaust is performed from the ventilation passage 14.

As a result, the compressed air is supplied from the ventilation passage 16 to the both side compartments 10 and 11 through the holes 17 and 18, respectively, and on the contrary, the air in the central compartment 6 is discharged from the hole 15 to the outside through the ventilation passage 14. Then, the grip claws 7 and 8 move inward, respectively, and grip the work, parts, and the like.

The operation of the gripping pawls 7 and 8 is actually performed by the pistons 4 and 5, but in the present invention, the gripping pawls 7 and 8 are synchronized by the action of the racks 22 and 23 and the pinion 24, and the racks 29 and
31 and pinion 34, roll guide grooves 28, 30 and roll 33 do not generate frictional heat, etc., and a smooth and predetermined gripping operation is ensured even in long-term use or in extreme use environments. It is a thing.

[Embodiment] An embodiment of the present invention will be described below in detail with reference to the drawings.

The details of the gripping device 1 of the present invention are not shown,
The movable control rod is attached to the tip of the movable control rod so as to be movable, and is used for transporting workpieces, parts and the like in various automatic machines or as a chuck.

First, the through holes 3 that serve as cylinders are provided on both ends of the main body 2.
Pistons 4, which have a generally U-shaped cross section,
5 are fitted with the recesses on the outside respectively, and a space between them is a central compartment 6.

Further, the convex portions 7a and 8a provided at the rear ends of the gripping pawls 7 and 8 are engaged with the recesses 4a and 5a previously provided in the pistons 4 and 5, respectively, so that the piston 4, the gripping pawl 7 and the piston 5 are connected to each other. The grip claws 8 are connected.

In the above structure, the pistons 4 and 5 and the grip claws 7 and 8 may be prepared in the same shape on the left and right sides, which is economical.

Next, the guide shaft 9 is provided so as to penetrate the pistons 4 and 5, and both side compartments 10 and 11 are formed.

That is, the pistons 4,5 are provided on both ends of the guide shaft 9.
The fitting portions 12 and 13 that fit into the concave portions of the air vent passage 14 are formed, and the ventilation passage 14 provided from one end is communicated with the central compartment 6 by the hole 15, and the ventilation passage 16 provided from the other end is the holes 17 and 18. To communicate with both compartments 10, 11.

Then, side plates 19 and 20 are attached to both ends of the guide shaft 9 by screws 21 to regulate the reciprocating direction of the pistons 4 and 5 and the gripping claws 7 and 8.

Further, in the embodiment shown in the drawings, one end of each of the racks 22 and 23 is fixed to the outer side surface near the rear end of both gripping claws 7 and 8 so that the tooth profiles 22a and 23a are inside, and the racks 2 and 23 are fixed so as to move oppositely.
A pinion 24 supported on the main body 2 side is interposed between 2 and 23.

That is, the stepped portions 7b and 8b formed on the outer side surface portions of the grip claws 7 and 8
Further, one ends of the racks 22 and 23 are fixed by screws 25 so as to face each other, and the pinion shaft 26 of the pinion 24 interposed between the racks 22 and 23 is driven into the main body 2 side. It is supported by a pinion support (27) provided from the main body 2 side.

In the present invention, a roll guide groove 28 and a rack 29 are formed on both side surfaces near the rear end portions of both gripping claws 7 and 8, and a roll guide groove 30 and a rack guide groove 30 are formed on the main body 2 side facing the roll guide groove 28 and the rack 29, respectively. The rack 31 is configured.

Further, between the roll guide grooves 28 and 30 and the rack 29.
A roll 33 held by a retainer 32 and a pinion 34 are interposed between the and 31.

In the figure, 35 is a roll holding hole provided in the retainer 32, and 36 is the same pinion holding hole.

The roll 33 may be a sphere, in which case the roll holding hole 35 is formed in a circular shape.

[Advantage of the Invention] According to the present invention, since the roll and the pinion held by the retainer are provided between the both side portions near the rear end portions of both gripping claws and the main body side, no friction heat is generated. The operation of the gripping claws is also smooth, and an accurate gripping operation is ensured even in the case of continuous use for a long period of time or in an extreme environment of use.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a front view with a cross section of a main part, FIG. 2 is a cross section of the main part with a cross section, and FIG. 3 is an exploded perspective view of the main part. FIG. 4 is a sectional view of the roll and pinion holder. 2 ... Main body, 7, 8 ... Gripping claw, 22, 23 ... Rack, 22a, 23a ... Tooth profile, 24 ... Pinion, 28, 30 ... Roll guide groove, 29, 31 ... Pinion, 32 ... Retainer, 33 ... Roll, 34 … Pinion.

Claims (1)

[Scope of utility model registration request] 1. A roll guide groove and a rack are formed on both side surface portions near a rear end portion of a gripping claw provided so as to face the main body, and on the side of the main body opposed thereto, respectively, and between the roll guide grooves and both racks. A gripping device for a work, a component, etc., characterized in that a roll and a pin-on held by a retainer are interposed therebetween.