JPH077112Y2 - Swing gripping device - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a swing gripping device for swinging a fluid pressure chuck by a swing actuator.

[0002]

2. Description of the Related Art A fluid pressure chuck for grasping and releasing a work by opening and closing fingers by fluid pressure is already known without needing a specific example. The fluid pressure chuck is
It is used by attaching it to the tip of the shaft of the swing actuator when changing the direction of the work. However, if the fluid pressure chuck is simply attached to the tip of the shaft, the axial length of the entire device will increase. is there.

Further, there is a problem that the pipe for supplying and discharging the pressure fluid to the fluid pressure chuck attached to the tip of the shaft is entangled by the rotational swing of the swing actuator, which is an obstacle to the work.

[0004]

SUMMARY OF THE INVENTION The problem to be solved by the present invention is to provide an oscillating gripping device which can be miniaturized, has a simple piping for a fluid pressure chuck, and which does not disturb work. It is in.

[0005]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides a swinging apparatus including a fluid pressure chuck in which a finger is opened and closed by fluid pressure, and a swing actuator for rotating and swinging the fluid pressure chuck. in the gripping device, the finger drive unit for opening and closing the fingers, incorporated into the shaft of the swing actuator as double acting cylinder, the
The tip of the double-acting cylinder is the pressure of one side of the shaft in the axial direction.
A through hole that opens to the chamber is provided, and the end is
Pressure chamber outside the swing actuator and the other pressure chamber of the double-acting cylinder
Insert a tube that opens into
In one pressure chamber, the pressure between the tube and the through hole
The chamber is characterized in that the pressure fluid is supplied to and discharged from each tube .

[0006]

Since the finger driving section of the fluid pressure chuck is incorporated at the tip of the shaft of the swing actuator, the axial length of the swing gripping apparatus as a whole can be shortened and miniaturized. Also, the through hole provided in the axial direction of the shaft and the through hole
With the tube inserted in the through hole,
Since pressure fluid can be supplied to and discharged from the pair of pressure chambers, pressure fluid can be supplied and discharged.
Is easy, and the piping to the fluid pressure chuck is not entangled and does not interfere with the work.

[0007]

1 and 2 show a first embodiment of the present invention,
This swing gripping device comprises a swing actuator 1 and a fluid pressure chuck 1 which is swung by the swing actuator.
1 is provided. The swing actuator 1 is constructed by connecting a pair of bodies 2a and 2b by an appropriate connecting means such as a bolt, and a stopper 3 is provided in a space formed by a recess formed so as to face the bodies 2a and 2b. A shaft 4 which is fixed and axially penetrates the bodies 2a and 2b.
The blades 5 that are closely rotated and rocked in the space are fixed to the above. Further, ports 6 and 6 for supplying compressed air to the pressure chamber defined by the stopper 3 and the blades 5 are opened at positions close to both sides of the stopper 3 of the body 2a.

The fluid pressure chuck 11 is provided with a finger drive section 12 and fingers 13 and 13 which are opened and closed by the finger drive section 12, and the finger drive section 12 is incorporated in the tip portion of the shaft 4.

As shown in detail in FIG. 2, a cylinder 1 forming a finger drive unit 12 is provided at the tip of the shaft 4.
5, the fingers 13 and 13 are moved in the direction orthogonal to the axial direction of the shaft 4 by the roller guides 17 and 17 provided between the guide portions 16 and 16 (only one is shown) formed at the tip of the shaft 4. It is movably installed. The pistons 19 and 20 in the cylinder 15 are concentrically and relatively slidably arranged when the rod 21 of the piston 19 penetrates the piston 20 in an airtight manner. Is pivotally attached to the tip of the rod 21, and the intermediate chevron is pivotally attached to the upper portions of the fingers 13 and 13, respectively.
The roller provided at the other end is a guide portion 20 below the piston 20.
It is rotatably in contact with a and 20a.

A through hole 7 is formed in the axial direction of the shaft 4 in the axial direction, and a fluid pressure chuck 11 is formed in the through hole 7.
A tube 24 that constitutes a pipe to the tube is attached by a suitable means substantially concentrically. The tube 24 has a distal end that penetrates the piston 19 densely and has a radial through hole 19a ,.
Is opened to the recess 21a communicating with the pressure chamber 25 between the pistons 19 and 20, and the through hole 7 is opened to the pressure chamber 26 above the piston 19.

In the first embodiment, when compressed air is supplied to the swing actuator 1 from the ports 6 and 6, the shaft 4
When the fluid pressure chuck 11 rotates and swings to supply compressed air to the pressure chambers 25 and 26 of the fluid pressure chuck 11 through the tube 24 and the through hole 7, the fingers 13 and 13 open and close to grip or release the work.

In this case, the tube 24 and the piston 19 move relative to each other due to the reciprocating motion of the piston 19, but the stroke of the piston 19 is small, so that the sealing member 27 for sealing between the tube 24 and the piston 19 is appropriately selected. By providing the position, the tube 24 can be communicated with the pressure chamber 25 even if the piston 19 reciprocates.

Further, by incorporating the finger driving section 12 of the fluid pressure chuck 11 into the shaft 4, the shaft 4
Is increased and the volume of the pressure chamber of the swing actuator 1 is slightly reduced, but since the torque of the blades near the shaft 4 is small, the torque of the actuator is slightly reduced.

In the first embodiment, the swing actuator 1 is used.
The finger drive unit 1 of the fluid pressure chuck 11 is attached to the shaft 4 of the
By incorporating 2, the axial length of the entire device can be shortened, so that the gripping device can be downsized. Further, since the compressed air is supplied to and discharged from the finger drive unit 12 by the through hole 7 of the shaft 4 and the tube 24, the tube 24 and the like do not interfere with the work.

FIG. 3 shows a second embodiment of the present invention, in which the finger driving section 42 of the fluid pressure chuck 41 of the second embodiment is used.
Is configured to swing the fingers 43, 43 around the pins 44, 44 as a center.
One end of 3, 43 is swingably engaged with a roller 47 provided on a center pin at the tip of the rod 46 of the piston 19, and rollers 48, 48 provided at the other ends of the fingers 43, 43 are provided with a guide portion 20a of the piston 20. , 20a. Another structure and operation of the second embodiment is that fingers 43, 43
Since it is the same as the first embodiment except that it swings and opens,
The same reference numerals are given to the main parts of the drawing, and detailed description will be omitted.

Further, although the swing actuators in the illustrated embodiments are all of vane type, the swing actuator of the present invention is not limited to the vane type, and other swing type such as rack and pinion type. It can be an actuator.

[0017]

Since the swing gripping device of the present invention incorporates the finger drive portion of the fluid pressure chuck at the tip of the shaft of the swing actuator, the swing gripping device can be made compact as a whole.

Further, a double-acting type structure which constitutes the finger driving unit.
The rocking actuator is used to supply and discharge pressurized fluid to and from the pressure chambers of the binder.
The through hole formed in the shaft of the chute and the through hole
Since it is done with the inserted tube, the fluid pressure chuck
Is easy to pipe and the pipe does not interfere with work.

[Brief description of drawings]

FIG. 1 is a sectional view of a first embodiment of the present invention.

FIG. 2 is a sectional view of a main part of FIG.

FIG. 3 is a sectional view of an essential part of the second embodiment.

[Explanation of symbols]

1 Swing Actuator 4 Shaft 11, 41 Fluid Pressure Chuck 12, 42 Finger Drive Unit 13, 43 Finger 24 Tube

Claims (1)

[Scope of utility model registration request] 1. An oscillating gripping device comprising a fluid pressure chuck that opens and closes a finger by fluid pressure and an oscillating actuator that oscillates the fluid pressure chuck. incorporated into the shaft of the swing actuator as acting cylinder, the
The tip of the double-acting cylinder is the pressure of one side of the shaft in the axial direction.
A through hole that opens to the chamber is provided, and the end is
Pressure chamber outside the swing actuator and the other pressure chamber of the double-acting cylinder
Insert the tube opening into bets, the double acting cylinder one
In one pressure chamber, the pressure between the tube and the through hole
An oscillating gripping device characterized in that pressure fluid is supplied to and discharged from a tube through a chamber .