Information
-
Patent Grant
-
6547258
-
Patent Number
6,547,258
-
Date Filed
Tuesday, October 23, 200123 years ago
-
Date Issued
Tuesday, April 15, 200321 years ago
-
Inventors
-
Original Assignees
-
Examiners
Agents
- Oblon, Spivak, McClelland, Maier & Neustadt, P.C.
-
CPC
-
US Classifications
Field of Search
US
- 279 110
- 279 117
- 279 209
- 279 123
- 294 88
- 294 1191
- 901 30
- 901 31
- 901 32
- 901 36
- 901 37
- 901 38
- 901 39
- 269 285
- 269 43
- 269 95
- 269 101
- 269 309
- 269 227
-
International Classifications
-
Abstract
A chuck body has a first surface for fixing to a support body and a second surface opposite to the first surface, and the second surface of the chuck body is provided with a pair of chuck members for chucking a workpiece and a guide rail for guiding an open and close operation of these chuck members. Further, a plurality of stationary holes for fixing the chuck body to the support body is formed at a position overlapping with the chuck members of the guide rail so as to communicate with the first surface, and each of the chuck members is provided with a work hole for inserting a screw into these stationary holes.
Description
TECHNICAL FIELD
The present invention relates to an opening and closing chuck, which is attached to an industrial robot arm or the like, and is used for the grasping (holding) of a workpiece.
PRIOR ART
Conventionally, an opening and closing chuck having the following construction has been known as an opening and closing chuck, which is attached to an industrial robot arm or the like, and is used for the grasping of a workpiece. More specifically, the opening and closing chuck includes a pair of cylinder mechanisms, a pair of chuck members, a pinion, and one guide rail. The pair of cylinder mechanisms is located in a chuck body in parallel with each other, and the pair of chuck members is driven so as to open and close by each piston of the cylinder mechanisms. The pinion engages with a rack provided on the pair of pistons so as to synchronize their piston operation, and the guide rail is incorporated into a side where the pair of chuck members of the chuck body is arranged, in order to guide the chuck members. The pair of chuck members is opened and closed in parallel with a driving direction of the cylinder mechanisms.
In the case of attaching this type of opening and closing chuck to a support body such as a robot arm or the like, in general, the following manner is done. More specifically, a plurality of stationary holes are formed in the chuck body from the side where the pair of chuck members of the chuck body is arranged toward an attaching side opposite to there, and a fixation screw is screwed into these stationary holes.
However, the center axial line of the chuck body is the most effective in stable fixation; nevertheless, usually, the pinion is arranged on the center of the chuck body, and further, places other than above are a moving range of the chuck member having a small stroke. For this reason, even if the stationary hole is formed on the position keeping away from the pinion, the chuck member is an obstacle; as a result, it is impossible to insert the fixation screw into the stationary hole. Therefore, the stationary hold must be formed on a position such that it does not overlap with a cylinder hole of each cylinder mechanism, and is positioned outside the moving range of the chuck member. After all, the stationary hole has been frequently formed on the end side of the chuck body so as to avoid the cylinder hole, the pinion, a moving space of the chuck member.
As a result, in order to secure a space for providing the stationary hole, the chuck body must be made large by the above space, and further, the opening and closing chuck is made into a large size as a whole. This is a serious problem because it is desirable to miniaturize the opening and closing chuck.
DISCLOSURE OF THE INVENTION
As described above, the conventional opening and closing chuck is constructed in a manner that the pair of chuck members is opened and closed in parallel with a driving direction of each cylinder mechanism by the pair of cylinder mechanisms arranged in the chuck body in parallel with each other. Therefore, the technical problem of the present invention is to prevent the chuck body from being made into a large size by securing a space required for providing a stationary hole for attaching a fixation screw, and to achieve a miniaturization of the whole of opening and closing chuck.
In order to solve the above technical problem, the present invention provides an opening and closing chuck, characterized by including: a chuck body having a first surface for fixing to a support body such as a robot arm, and a second surface opposite to the first surface; a pair of cylinder mechanisms having a pair of cylinder holes formed in the chuck body in parallel with each other, and a pair of pistons freely slidable in the cylinder holes, the pair of pistons being moved to a direction opposite to each other by a reaction of fluid pressure; a pinion engaging with a rack provided in the pair of pistons, and synchronizing an operation of the pistons by its rotation; a guide rail positioned on the center portion of the second surface of the chuck body and extending along a moving direction of the pistons; a pair of chuck members arranged so as to be freely movable along the guide rail in a state of riding on the guide rail at a relative position on the second surface, and moving to a direction opposite to each other in association with the pistons; a stationary hole formed so as to communicate with the first surface penetrating through the guide rail and the chuck body at a position covered by the chuck members of the guide rail, in order to fix the chuck body to the support body by using a screw; and a work hole formed so as to be aligned with the stationary hole on a specified moving position of the chuck member at a portion covering the guide rail of the chuck member, in order to attach a screw to the stationary hole via the chuck member.
In the opening and closing chuck having the above construction, the stationary holes are formed at a position covered by the chuck members on the guide rail, further, each chuck member is provided with a work hole, and thereby, a screw can be inserted into the stationary hole via each chuck member. Therefore, there is no need of providing a space for the stationary hole at an end portion near to the chuck body in order to avoid a moving range of the chuck members, like the conventional case. As a result, the chuck body is made into a small size by the space, so that the whole of chuck can be miniaturized.
According to the preferred embodiment of the present invention, two stationary holes and the work hole of the pair of chuck members are formed at a position symmetrical to the pinion, and these stationary holes and work holes are simultaneously aligned with each other in their hole position when the pair of chuck members is synchronously moved.
According to the preferred embodiment of the present invention, the pair of chuck members individually have a recess groove into which the guide rail is fitted, and one groove wall of one chuck member and a groove wall on the opposite side of the other chuck member are individually provided with an arm extending in parallel with the guide rail. Further, each of the arms is provided with a pin, which extends from a slot formed in a hole wall of the cylinder hole into the cylinder hole so as to be abutted against the piston, and the pair of chuck members is connected to the corresponding piston via the pin and the arm.
According to another preferred embodiment, the present invention provides the opening and closing chuck, characterized in that a plurality of steel balls constituting a linear bearing is interposed between right and left groove walls of the pair of chuck members and the guide rail so as to freely roll.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1
shows an opening and closing chuck according to one embodiment of the present invention, and is a cross sectional view taken along the line I—I of
FIG. 2
;
FIG. 2
is a bottom view showing the opening and closing chuck shown in
FIG. 1
;
FIG. 3
is a cross sectional view taken along the line III—III of
FIG. 1
;
FIG. 4
is a cross sectional view taken along the line IV—IV of
FIG. 3
, and shows another chuck member; and
FIG. 5
is a cross sectional view taken along the line V—V of FIG.
4
.
DETAILED DESCRIPTION
FIG. 1
to
FIG. 5
show an opening and closing chuck according to one embodiment of the present invention. The opening and closing chuck includes a substantially rectangular chuck body
1
, a pair of fluid cylinder mechanisms
2
A and
2
B, a pair of chuck members
3
and
3
, and a guide rail
4
. More specifically, the pair of fluid cylinder mechanisms
2
A and
2
B are arranged in the chuck body
1
in parallel with each other, and the pair of chuck members
3
and
3
is driven so as to open and close by the fluid cylinder mechanisms
2
A and
2
B. The guide rail
4
guides the pair of chuck members
3
and
3
to a direction parallel with a driving direction of the cylinder mechanisms
2
A and
2
B.
The pair of cylinder mechanisms
2
A and
2
B includes a pair of cylinder holes
5
A and
5
B, pistons
6
A and
6
B slidably inserted in the cylinder holes
5
A and
5
B, and ports
18
and
19
, respectively. More specifically, the pair of cylinder holes
5
A and
5
B are formed inside the chuck body
1
in parallel with each other, and the ports
18
and
19
supply and discharge a pressure fluid such as a compressed air to each of the cylinder mechanisms
2
A and
2
B. These ports
18
and
19
are formed in end members
7
A and
7
B closing one end side of the cylinder holes
5
A and
5
B, respectively. In this case, the other end sides of the cylinder holes
5
A and
5
B are closed by end members
8
A and
8
B, respectively.
In the pair of cylinder mechanisms
2
A and
2
B, a pressure fluid is supplied and discharged via the ports
18
and
19
of the end members
7
A and
7
B, and thereby, the pistons
6
A and
6
B are reciprocated to a direction opposite to each other.
In this embodiment, as shown in
FIG. 3
, when a pressure fluid is supplied from the port
18
positioned on the left-hand side, the pressure fluid flows into a first pressure chamber
25
A and a second pressure chamber
26
B. More specifically, the pressure fluid flows into the first pressure chamber
25
A on the end member
7
A side of the left-hand cylinder mechanism
2
A and the second pressure chamber
26
B on the end member
8
B side of the right-hand cylinder mechanism
2
B via a passageway
20
from the first pressure chamber
25
A. By doing so, each piston is moved toward the position opposite to the position shown in
FIG. 3
, that is, a direction opposite to each other. In that time, the pressure fluid of a first pressure chamber
25
B on the end member
7
B side of the cylinder mechanism
2
B is discharged from the right-hand port
19
. Further, the pressure fluid of a second pressure chamber
26
A on the end member
8
A side of the cylinder mechanism
2
A communicating via a passageway
20
from the first pressure chamber
25
B and a passageway
21
is discharged from the right-hand port
19
, likewise.
Conversely, when a pressure fluid is supplied from the port
19
, the pressure fluid flows into the first pressure chamber
25
B of the cylinder mechanism
2
B and the second pressure chamber
26
A of the cylinder mechanism
2
A. Then, the pressure fluid of the first pressure chamber
25
A of the left-hand cylinder mechanism
2
A and the second pressure chamber
26
B of the right-hand cylinder mechanism
2
B is discharged from the port
18
. By doing so, each of the pistons
6
a
and
6
B is driven toward a direction reverse to the above-mentioned case.
The pistons
6
A and
6
B are individually provided with racks
9
A and
9
B, which mutually engage with a pinion
11
described later so that their tooth portions face each other. On the other hand, the cylinder holes
5
A and
5
B are formed with rack openings
10
A and
10
B for mutually engaging the rack
9
A and
9
B of the pistons
6
A and
6
B with the pinion
11
, respectively.
Further, both end portions of the pistons
6
A and
6
B are individually attached with a seal member
16
so that a pressure fluid flows out of the pressure chamber of the cylinder holes
5
A and
5
B.
In this case, a permanent magnet
27
for positional detection is attached at the vicinity of both end portions of the pistons
6
A and
6
B. On the other hand, the chuck body
1
is formed with switch attachment grooves
22
and
22
at its outer both sides. By using a magnetic detection switch (not shown) mounted to these attachment grooves
22
and
22
, it is possible to detect each operating position of the pistons
6
A and
6
B.
The chuck body
1
is formed into a shape of substantially rectangular cross section, and has a first surface
1
a
used for fixing to a support body such as a robot arm and a second surface
1
b
opposite to the first surface
1
a
. Further, the chuck body
1
is provided with the slidable pinion
11
between the pair of cylinder mechanisms
2
A and
2
B at the internally central position. The pinion
11
engages with each of the racks
9
A and
9
B of the pistons
6
A and
6
B. The pinion
11
rotates while engaging with the racks
9
A and
9
B of the pistons
6
A and
6
B via the rack openings
10
A and
10
B of the cylinder holes
5
A and
5
B, and thereby, the operation of these pistons
6
A and
6
B is synchronized.
The second surface
1
b
of the chuck body
1
is formed with a recess groove
12
along the center axial line of the chuck body. A recess portion
13
for receiving the pinion
11
is formed from the recess groove
12
toward the inside of the chuck body
1
. One end portion of an axis
11
a
of the pinion
11
received in the recess portion
13
is rotatably supported to the chuck body
1
at the bottom portion of the recess portion
13
.
A guide rail
4
having a rectangular cross section is attached at the widthwise central position of the recess groove
12
in parallel with a moving direction of the pistons
6
A and
6
B of the cylinder mechanisms
2
A and
2
B. The pair of chuck members
3
and
3
is arranged at a relative position on the guide rail
4
so as to be movable along the guide rail
4
in a state that they ride on the guide rail
4
.
Further, the guide rail
4
is arranged so as to cover the lower surface of the recess portion
13
, and has a support hole
4
a
at the recess portion
13
. The lower end portion of the axis
11
a
of the pinion
11
is rotatably supported to the support hole
4
a
. By doing so, in the pinion
11
, both ends of the axis
11
a
are supported by the chuck body
1
and the guide rail
4
(see FIG.
4
). In this case, both ends of the pinion
11
may be supported by the chuck body
1
.
The chuck members
3
and
3
individually have a recess groove
15
into which the guide rail
4
is fitted, at the center portion on the upper surface thereof. A linear bearing
14
for smoothly moving the chuck members
3
and
3
is interposed between right and left groove walls
15
a
and
15
a
of the recess groove
15
and outer both surfaces of the guide rail
4
. The linear bearing
14
is composed of a plurality of steel balls
14
a
. These steel balls
14
a
are received in a loophole
14
b
so as to freely roll, and the loophole
14
b
is formed into a shape of ellipse extending from the facing surface of the groove walls
15
a
and
15
a
and the outer surface of the guide rail
4
to the inside of the groove walls
15
a
and
15
a
. When the chuck member
3
is moved, each steel ball
14
a
circulates while rotating in the loophole
14
b.
In this case, the linear bearing
14
is not limited to the circulating type as described above, and may use an arbitrary construction such as a linear type of attaching a plurality of steel balls and cylindrical rolling elements to a groove.
The pair of chuck members
3
and
3
is connected to the pistons
6
A and
6
B by the following mechanism. More specifically, an arm
3
a
is provided on one of right and left groove walls
15
a
of one chuck member
3
and the counter side groove wall
15
a
of the other chuck member
3
. The arm
3
a
extends in parallel with the guide rail
4
and toward another chuck member
3
. Each arm
3
a
is provided with a pin
30
, which extends from a slot
23
formed on the wall of the cylinder holes
5
A and
5
B into the cylinder holes
5
A and
5
B. The pin
30
is fitted into a stopper groove
17
of the pistons
6
A and
6
B, and then, is abutted against there. The pair of chuck members
3
and
3
is connected individually to the corresponding pistons
6
A and
6
B via the pin
30
and the arm
3
a
. Therefore, when the pistons
6
A and
6
B are synchronously moved to the mutually opposite direction by the reaction of pressure fluid, the pair of chuck members
3
and
3
is moved to a mutually closing and separating direction in association with the movement of pistons. By doing so, the pair of chuck members
3
and
3
chucks a workpiece between the attachments mounted thereto, and releases the chucked workpiece.
Each of the arms
3
a
is formed like a thin plate. When the pair of chuck members
3
and
3
is moved to a mutually closing position in order to chuck a workpiece, the arms
3
a
are fitted into a gap between the chuck members
3
and
3
and the lower surface of the chuck body
1
so that they have no interference with each other.
The chuck body
1
is formed with plural, preferably, two stationary holes
28
for fixing the chuck body to a support body such as a robot arm by a screw, in the axial direction of the chuck body
1
. These stationary holes
28
are formed one by one at the position covered by the chuck members
3
on the guide rail
4
attached to the center portion of the chuck body
1
so as to communicate with the first surface
1
a
penetrating through the guide rail
4
and the chuck body
1
.
On the other hand, the chuck members
3
is formed with work holes
29
for inserting a fixation screw into the stationary hole
28
and screwing it to a support body, at the portion covering the guide rail
4
. The work holes
29
are formed so as to correspond to the stationary holes
28
at a specified moving position of the chuck members
3
. In this case, the work holes
29
have a size (diameter) enabling a screw head of the fixation screw to pass through there.
Preferably, the above two stationary holes
28
and work holes
29
of the chuck member
3
are formed at a position symmetrical to the pinion
11
. By doing so, the pair of chuck members
3
is synchronously moved, and thereby, these stationary holes
28
and work holes
29
are simultaneously aligned in their hole position.
Further, the stationary hole
28
is formed at a position avoiding the pinion
11
and the passageways
20
and
21
, and a hole portion
28
b
positioning in the chuck body
1
is formed slightly smaller than a diameter of hole portion
28
a
positioning in the guide rail
4
. By doing so, the screw head of the fixation screw is attached in the hole portion
4
a
on the guide rail
4
side in a state of being abutted against an edge of the hole portion
28
b
of the chuck body
1
.
The opening and closing chuck having the above construction is formed with the stationary holes
28
at the position overlapping with the chuck member
3
on the guide rail
4
. The chuck members
3
and
3
are formed with work holes
29
, which are aligned with the stationary holes
28
in its hole position, and further, it is possible to insert a screw into the stationary holes
28
via the chuck members
3
. Therefore, there is no need of providing a space for the stationary hole at an end portion near to the chuck body in order to avoid a moving range of the chuck members, like the conventional case. As a result, the chuck body is made into a small size by the space, so that the whole of chuck can be miniaturized.
In addition, the stationary hole
28
is formed at the position on the center axis of the chuck body
1
; therefore, it is possible to realize a stable and balanced fixation by using a little fixing portion.
In the above embodiment, a driving force of the cylinder mechanisms
2
A and
2
B has been transmitted to each of the chuck members
3
by the drive pins
30
and levers
3
a
of the chuck members
3
. The present invention is not always limited to the above construction, and of course, the driving force of the cylinder mechanisms may be transmitted to the chuck members by using arbitrary means.
Claims
- 1. An opening and closing chuck, characterized by including:a chuck body having a first surface for fixing to a support body such as a robot arm, and a second surface opposite to the first surface; a pair of cylinder mechanisms having a pair of cylinder holes formed in the chuck body in parallel with each other, and a pair of pistons freely slidable in the cylinder holes, the pair of pistons being moved to a direction opposite to each other by a reaction of fluid pressure; a pinion engaging with a rack provided in the pair of pistons, and synchronizing an operation of the pistons by its rotation; a guide rail positioned on the center portion of the second surface of the chuck body and extending along a moving direction of the pistons; a pair of chuck members arranged so as to be freely movable along the guide rail in a state of riding on the guide rail at a relative position on the second surface, and moving to a direction opposite to each other in association with the pistons; a stationary hole formed so as to communicate with the first surface penetrating through the guide rail and the chuck body at a position covered by the chuck members of the guide rail, in order to fix the chuck body to the support body by using a screw; and a work hole formed so as to be aligned with the stationary hole on a specified moving position of the chuck member at a portion covering the guide rail of the chuck member, in order to attach a screw to the stationary hole via the chuck member.
- 2. The opening and closing chuck according to claim 1, characterized in that two stationary holes and the work hole of the pair of chuck members are formed at a position symmetrical to the pinion, and these stationary holes and work holes are simultaneously aligned with each other in their hole position when the pair of chuck members is synchronously moved.
- 3. The opening and closing chuck according to claim 1, characterized in that the pair of chuck members individually have a recess groove into which the guide rail is fitted, and one groove wall of one chuck member and a groove wall on the opposite side of the other chuck member are individually provided with an arm extending in parallel with the guide rail, and further, each of the arms is provided with a pin, which extends from a slot formed in a hole wall of the cylinder hole into the cylinder hole so as to be abutted against the piston, and the pair of chuck members is connected to the corresponding piston via the pin and the arm.
- 4. The opening and closing chuck according to claim 3, characterized in that a plurality of steel balls constituting a linear bearing is interposed between right and left groove walls of the pair of chuck members and the guide rail so as to freely roll.
Priority Claims (1)
| Number |
Date |
Country |
Kind |
| 2000-370413 |
Dec 2000 |
JP |
|
US Referenced Citations (9)
