JPS637509Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a claw opening/closing mechanism for opening and closing a pair of claws like scissors, and particularly to a claw opening/closing mechanism used in the hand of an industrial robot.

Conventionally, a mechanism for opening and closing a pair of claws provided on the hand of an industrial robot in order to grasp an object uses a spring or the like to constantly apply force in the direction of closing (or opening) the claws, and There was a mechanism to open and close the claws by moving rollers that were in contact with the outside) sides. However, in order to move this roller, a large guide mechanism is required, which has the drawback of increasing the inertia of the hand section.
For this reason, there have been problems in that the operating speed of industrial robots becomes slow and vibrations are more likely to occur. Furthermore, when the guide mechanism for moving the rollers is made smaller, the rollers do not move smoothly, resulting in poor opening and closing operations of the claws.

An object of the present invention is to provide a pawl opening/closing mechanism that does not require a large guide mechanism and can smoothly open and close the pawl.

According to the present invention, a central shaft, a moving member that slides while being guided by a first guide provided on the central shaft, a pair of claws that are rotatably attached to the central shaft, and a pair of claws that are rotatably attached to the central shaft. When the movable member is moved by a pressing means that applies force to the pair of claws so that the claws always come into contact with the contact portion of the moving member, and a drive means attached to the central shaft, the pair of claws opens and closes. The claw opening/closing mechanism includes a rod-shaped second guide provided on the central axis, a cursor guided by the second guide and movable in the same direction as the movable member, and one end fixed to the cursor. There is obtained a pawl opening/closing mechanism characterized in that it includes a spring whose other end is fixed to the moving member.

Next, embodiments of the present invention will be described with reference to the drawings.

Referring to FIG. 1, in one embodiment of the present invention, a handler shaft is provided at the tip of an arm (not shown) of an industrial robot;
A guide rod 2 serving as a second guide, a spacer 3, and a guide plate 5 having a convex portion 4 are fixed to the guide plate 5. The center part 7 of the pair of claws 6 is connected to the spacer 3 and the convex part 4
and is rotatably attached to the handler shaft 1. The moving member 8 has a claw 6
and a guide plate 5, and is attached to the handler shaft 1 so as to be movable to the left in FIG. 2 by fitting the protrusion 4 into the elongated hole 9. A pair of rollers 10 are attached to the moving member 8, and a tension spring 11 is provided between the pair of claws 6, so that the inner edges of the claws 6 are always brought into contact with the rollers 10.

As shown in FIG. 3, which is an AA cross-sectional view of FIG. 6 opens and closes.

As shown by solid lines in the figure, the pair of claws 6 are connected to the roller 1.
It closes when roller 10 is moved to the right and opens when roller 10 is moved to the left. Also, Figures 1 and 2
As shown in the figure, the moving member 8 is moved by a piston rod of a pneumatic cylinder 12 attached to the guide plate 5.

A cursor 13 is slidably attached to the guide rod 2, and a plate 14 provided on the moving member 8 is slidably engaged in a longitudinal groove 13 provided in the cursor 13. Therefore, the cursor 15 moves only in the left-right direction following the moving member 8, and the vertical displacement of the cursor 15 is restricted by the guide rod 2. A tension spring 16 is provided between the cursor 15 and the moving member 8. When the movable member 8 is moved to the left from the state shown in FIG. Although it receives a rotational moment,
This rotational moment is canceled by the force of the tension spring 16, preventing galling of the moving member 8 between the center portion 7 and the guide plate 5, and ensuring smooth movement.

Note that when moving the moving member 8 to the right in the figure, the force of the tension spring 11 and the pneumatic cylinder 12 are
Since the force is in the same direction, no large rotational moment acts on the movable member 8, the movable member 8 moves smoothly, and the claw 6 closes smoothly.

Furthermore, since the tension spring 16 is used, even if the guide rod 2 is slightly bent, the rear end of the movable member 8 can be pulled up with a substantially constant force, which reduces the weight of the guide rod 2 and allows it to bend slightly. Even in this case, the moving member 8 can be moved smoothly.

As described above, the claw opening/closing mechanism of the present invention does not require a large guide mechanism, can be lightweight, and has the effect of smoothly opening and closing the claw.

[Brief explanation of drawings]

1 and 2 are a side view and an exploded perspective view of an embodiment of the present invention, respectively, and FIG. 3 is a cross-sectional view along line AA shown in FIG. 1. DESCRIPTION OF SYMBOLS 1... Handler shaft, 2... Guide rod, 5... Guide plate, 6... Claw, 8... Moving plate, 10... Roller, 11, 16... Tension spring, 12... Pneumatic cylinder, 13 ……cursor.

Claims (1)

[Claims for Utility Model Registration] A central axis, a movable member that slides in a direction perpendicular to the central axis guided by a first guide provided on the central axis, and a movable member that is rotatably attached around the central axis. a pair of scissor-shaped claws having a pressing means biased in a direction to close the tip; a driving means attached to the central shaft at a distance from the moving member and driving one end of the moving member; attached to the central shaft; a rod-shaped second guide extending in the same direction as the movable member; a cursor guided by the second guide and movable in the same direction as the movable member; and a cursor provided at the other end of the movable member. a plate that engages with the movable member; a roller that is provided at the one end of the movable member and abuts on the inside of each of the pair of tapered claws; and a spring that is biased in a direction to cancel the moment applied to the one end of the movable member. is provided between the other end of the movable member and the cursor, and the pair of claws are opened and closed by movement of the movable member.