gripping device

Abstract

A clamping device is capable of fixing a fixed object (1) to a base (2), and includes a cylinder main body (100) fixed to the base (2), an output member (200) capable of reciprocating relative to the cylinder main body (100), a first cylinder chamber (300) driving the output member (200) in a first direction, and a second cylinder chamber (400) driving the output member (200) in a second direction. The cylinder main body (100) includes a main body portion (110) having a double pipe structure of an inner peripheral pipe portion (111) and an outer peripheral pipe portion (112), and a gap (32) is formed between the inner peripheral pipe portion (111) and the outer peripheral pipe portion (112). The output member (200) includes a rod portion (210) protruding from the cylinder main body (100), and a piston portion (220) connected to the rod portion (210) and dividing a space inside the inner peripheral pipe portion (111) into the first cylinder chamber (300) and the second cylinder chamber (400). The cylinder main body (100) is provided with a first port (30) supplying fluid pressure to the first cylinder chamber (300) and a second port (40) supplying fluid pressure to the second cylinder chamber (400). The fluid pressure supplied to the first port (30) is transmitted to the first cylinder chamber (300) via the gap (32) formed in the double pipe structure.

Description

Technical Field

[0001] This technology relates to a clamping device. Background Technology

[0002] Previously, a cylinder device was known that used fluid pressure such as air or hydraulic pressure to actuate an output component. Also previously known was a clamping device that used the output of the cylinder device to fix an object to a base.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2003-103425

[0006] Patent Document 2: International Publication No. 2019 / 026584

[0007] Patent Document 3: Japanese Patent Application Publication No. 04-175503

[0008] Patent Document 4: Japanese Statute No. 50-2947

[0009] Patent Document 5: Japanese Utility Model Application Publication No. 48-13689 Summary of the Invention

[0010] The problem the invention aims to solve

[0011] There is a demand for further miniaturization of clamping devices. The purpose of this technology is to provide a miniaturized clamping device.

[0012] Solution for solving the problem

[0013] The clamping device of this technology is capable of fixing an object to a base. The clamping device includes: a cylinder body fixed to the base; an output member capable of reciprocating relative to the cylinder body; a first cylinder chamber driving the output member in a first direction; and a second cylinder chamber driving the output member in a second direction. The cylinder body includes a main body portion having a double-tube structure consisting of an inner circumferential tube portion and an outer circumferential tube portion, with a gap formed between the inner and outer circumferential tube portions. The output member includes: a rod portion protruding from the cylinder body; and a piston portion connected to the rod portion, dividing the space inside the inner circumferential tube portion into the first cylinder chamber and the second cylinder chamber. The cylinder body has a first port for supplying fluid pressure to the first cylinder chamber and a second port for supplying fluid pressure to the second cylinder chamber. The fluid pressure supplied to the first port is transmitted to the first cylinder chamber via the gap formed in the double-tube structure.

[0014] The effects of the invention

[0015] This technology enables the miniaturization of clamping devices. Attached Figure Description

[0016] Figure 1 This is a longitudinal sectional view showing the first state (clamping state) of the clamping device according to one embodiment.

[0017] Figure 2 yes Figure 1 A top view of the clamping device shown.

[0018] Figure 3 yes Figure 2 The cross-sectional view around bolt 800 is shown.

[0019] Figure 4 This is a longitudinal sectional view showing the second state (released state) of the clamping device according to one embodiment.

[0020] Figure 5 This indicates that the fluid piping is connected to Figures 1-4 A top view showing the state of the clamping device.

[0021] Figure 6 It means Figure 5 The main view of the status. Detailed Implementation

[0022] The following describes the implementation of this technology. Furthermore, the same or equivalent parts are sometimes labeled with the same reference numerals, and their descriptions are not repeated.

[0023] Furthermore, in the embodiments described below, when numbers, quantities, etc., are mentioned, the scope of this technology is not limited to those numbers, quantities, etc., unless specifically stated otherwise. Additionally, in the embodiments described below, each structural element is not essential to this technology unless specifically stated otherwise. Furthermore, this technology is not limited to achieving all the effects mentioned in these embodiments.

[0024] Furthermore, in this specification, terms such as "comprise," "include," and "have" are open-ended. That is, when a structure is included, it may or may not include other structures besides that structure.

[0025] Furthermore, in this specification, when using geometric terms and terms indicating positional and directional relationships, such as "parallel," "orthogonal," "tilted at 45°," "coaxial," and "along," slight errors or variations are permissible. In this specification, when using terms indicating relative positional relationships such as "upper side" and "lower side," these terms are used to indicate the relative positional relationship in a given state. Depending on the orientation of each mechanism (e.g., flipping the entire mechanism upside down), the relative positional relationship can be flipped or rotated at any angle.

[0026] Figure 1 This is a longitudinal sectional view showing the first state (clamping state) of the clamping device (link clamping) of this embodiment. Figure 2 yes Figure 1 A top view of the clamping device shown. Figure 1 exist Figure 2 The diagram is illustrated by adding a first opening 30 (the radial position observed from the cylinder center remains unchanged) to the AA section.

[0027] The clamping device in this embodiment is a clamping device capable of fixing the object 1 to the base 2. Figure 1 In the example, the fixed position 10 of the fixed object 1 is fixed by a clamping device.

[0028] like Figure 1 , Figure 2 As shown, the clamping device includes a cylinder body 100, an output component 200, a first cylinder chamber 300, a second cylinder chamber 400, a clamping arm 500, a bolt 600, a sealing component 700, and a bolt 800.

[0029] The cylinder body 100 is fixed to the base 2. The cylinder body 100 includes a main body portion 110 and a flange portion 120.

[0030] The main body portion 110 of the cylinder body 100 is inserted into the hole portion 20 provided in the base body 2. The main body portion 110 has a double tube structure of an inner peripheral tube portion 111 and an outer peripheral tube portion 112.

[0031] The flange portion 120 of the cylinder body 100 extends radially outward from the bore portion 20 and abuts against the upper surface of the base 2. The flange portion 120 has a first portion 121 integrally formed with the inner peripheral tube portion 111 and a second portion 122 integrally formed with the outer peripheral tube portion 112. The first portion 121 and the second portion 122 of the flange portion 120 abut against each other from above and below, respectively, thereby being positioned relative to each other in the vertical direction. The upper surface of the flange portion 120 is formed flat in a manner that extends in the horizontal direction.

[0032] The output member 200 is configured to reciprocate relative to the cylinder body 100. The output member 200 includes: a rod portion 210 that protrudes from the cylinder body 100; and a piston portion 220 that is connected to the rod portion 210, dividing the space inside the inner circumferential tube portion 111 into a first cylinder chamber 300 and a second cylinder chamber 400.

[0033] The first cylinder chamber 300 is formed within the interior space of the main body portion 110 of the cylinder body 100. More specifically, the first cylinder chamber 300 is formed inside the inner circumferential tube portion 111. The first cylinder chamber 300 drives the output member 200 upward (in a first direction). Figure 1 In the state shown (clamping state), fluid pressure is supplied to the first cylinder chamber 300.

[0034] The second cylinder chamber 400 is formed within the internal space of the main body portion 110 of the cylinder body 100. More specifically, the second cylinder chamber 400 is formed inside the inner circumferential tube portion 111. The second cylinder chamber 400 drives the output member 200 downward (in a second direction). Figure 1 In the state shown (clamping state), the fluid pressure in the second cylinder chamber 400 is discharged.

[0035] The clamping arm 500 is rotatably mounted on the upper end of the output member 200. Furthermore, the connecting rod member 510 is mounted to connect the cylinder body 100 and the clamping arm 500. The connecting rod member 510 is rotatably connected to the cylinder body 100 and the clamping arm 500. The cylinder body 100, the output member 200, the clamping arm 500, and the connecting rod member 510 constitute a linkage mechanism. As the output member 200 moves up and down, the linkage mechanism drives the clamping arm 500 to rotate. This achieves clamping and releasing actions.

[0036] Bolt 600 secures cylinder body 100 to base 2. Bolt 600 passes through the first portion 121 and the second portion 122 of flange portion 120 of cylinder body 100 from above. The front end (lower end) of bolt 600 is fixed to base 2. Alternatively, other fastening components such as pins may be used instead of bolt 600.

[0037] The sealing member 700 includes a first sealing member 710, a second sealing member 720, and a third sealing member 730.

[0038] The first sealing member 710 is provided on the outer periphery of the piston portion 220 of the output member 200. The first sealing member 710 seals the space between the first cylinder chamber 300 and the second cylinder chamber 400.

[0039] The second sealing member 720 is disposed between the first portion 121 and the second portion 122 of the flange portion 120 of the cylinder body 100. The position (vertical and radial) of the second sealing member 720 can be appropriately varied within the flange portion 120. The second sealing member 720 seals the first cylinder chamber 300 between it and the exterior of the cylinder body 100. The first portion 121 and the second portion 122 of the flange portion 120 of the cylinder body 100 are radially positioned relative to each other by means of the second sealing member 720. Figure 1 The text indicates an ideal positioning state in which the inner circumferential tube portion 111 and the outer circumferential tube portion 112 are aligned. However, as long as the flow path to the first cylinder chamber 300 can be ensured, a slight positional offset (offset of the axis of the inner circumferential tube portion 111 and the outer circumferential tube portion 112) caused by the deformation of the second sealing member 720 is permissible.

[0040] The third sealing member 730 is disposed between the rod portion 210 of the output member 200 and the cylinder body 100. The third sealing member 730 seals the space between the second cylinder chamber 400 and the exterior of the cylinder body 100. A scraper 700A (dustproof seal) is provided above the third sealing member 730.

[0041] Figure 3 This is a sectional view of the area around bolt 800. (For example...) Figure 3 As shown, bolt 800 passes through the first part 121 and the second part 122 of the flange portion 120 of cylinder body 100 from below. The front end (upper end) of bolt 800 is fixed to the first part 121. Alternatively, other fastening components such as pins may be used instead of bolt 800.

[0042] like Figure 2 As shown, a first port 30 and a second port 40 are provided on the upper surface of the cylinder body 100. The first port 30 and the second port 40 are provided in the cylinder body 100 in an upward-opening manner. The first port 30 and the second port 40 are formed in the first portion 121 of the flange portion 120. The first port 30 and the second port 40 are located closer to the axis of the output member 200 than the bolts 600 and 800. The first port 30 and the second port 40 are positioned relative to the central axis of the clamping arm 500 (…). Figure 2 The axes extending in the left and right directions are located on opposite sides of each other. The first opening 30 and the second opening 40 are positioned so as not to overlap with the clamping arm 500 (clamping state, releasing state and intermediate state) when the clamping device is viewed from above or below.

[0043] Port 1 30 is used to supply fluid pressure to the first cylinder chamber 300. Port 2 40 is used to supply fluid pressure to the second cylinder chamber 400.

[0044] like Figure 1As shown, the first port 30 is connected to the first cylinder chamber 300 via the inclined hole 31 and the gap 32. The fluid pressure supplied to the first port 30 can be supplied to the first cylinder chamber 300 via the inclined hole 31 and the gap 32. The fluid pressure supplied to the first cylinder chamber 300 can be discharged from the first port 30 via the gap 32 and the inclined hole 31.

[0045] An inclined hole 31 extends from the bottom of the first opening 30 in a direction that intersects with an inclination relative to the upper and lower directions, reaching the gap 32. The inclined hole 31 connects the first opening 30 and the gap 32. The inclined hole 31 is inclined radially outward toward the cylinder body 100 as it moves toward the lower part of the cylinder body 100. The inclination angle of the inclined hole 31 relative to the upper and lower directions is 5° or more and 60° or less (more preferably 15° or more and 45° or less). However, the inclination angle is not limited to the range described above.

[0046] A gap 32 is formed between the inner circumferential tube portion 111 and the outer circumferential tube portion 112 of the main body portion 110 of the cylinder body 100. When the clamping device is viewed from above or below, the gap 32 formed in the double tube structure of the cylinder body 100 is formed between the first sealing member 710 and the second sealing member 720. The gap 32 is formed along the entire length of the double tube structure of the cylinder body 100.

[0047] The upper end of the gap 32 communicates with the inclined hole 31. The lower end of the gap 32 communicates with the first cylinder chamber 300. The gap 32 is formed in an annular shape to surround the inner circumference of the inner circumferential tube portion 111. Therefore, the radial width of the gap 32 can also be smaller than the diameter of the inclined hole 31. The "radial width of the gap 32" referred to here means the radial width of the gap 32 in an ideal positioning state where the axis of the inner circumferential tube portion 111 is aligned with that of the outer circumferential tube portion 112.

[0048] Figure 4 This is a longitudinal sectional view showing the second state (released state) of the clamping device (linkage clamping) of this embodiment. Figure 4 In Figure 2 The diagram is illustrated by adding a second port 40 (the radial position observed from the cylinder center remains unchanged) to the AA section, which is equivalent to the section in the diagram.

[0049] like Figure 4 As shown, the second port 40 is connected to the second cylinder chamber 400 via the inclined hole 41. The fluid pressure supplied to the second port 40 can be supplied to the second cylinder chamber 400 via the inclined hole 41. The fluid pressure supplied to the second cylinder chamber 400 can be discharged from the second port 40 via the inclined hole 41.

[0050] An inclined hole 41 extends from the bottom of the second inlet 40 in a direction that intersects with an inclination relative to the upper and lower directions, and reaches the second cylinder chamber 400. The inclined hole 41 connects the second inlet 40 and the second cylinder chamber 400. The inclined hole 41 is inclined radially inward toward the cylinder body 100 as it moves toward the lower direction. The inclination angle of the inclined hole 41 relative to the upper and lower directions is 0° or more and 45° or less (more preferably 10° or more and 30° or less). However, the inclination angle is not limited to the range described above.

[0051] from Figure 1 From the indicated state (clamping state), the fluid pressure in the first cylinder chamber 300 is discharged, and fluid pressure is supplied to the second cylinder chamber 400. This causes the output member 200 to be driven downwards, and the linkage mechanism drives the clamping arm 500 to rotate in the direction of arrow B. Thus, [the following is achieved / realized]... Figure 4 The state shown is the released state.

[0052] Figure 5 This is a top view showing the state of fluid piping 3 and 4 connected to the clamping device. Figure 6 It means Figure 5 The main view of the status.

[0053] like Figure 5 , Figure 6 As shown, fluid pipe 3 is connected to port 30 at connection 3A. Fluid pressure is supplied and discharged relative to the first cylinder chamber 300 via fluid pipe 3. Fluid pipe 4 is connected to port 40 at connection 4A. Fluid pressure is supplied and discharged relative to the second cylinder chamber 400 via fluid pipe 4. Flow regulating valves for adjusting the flow rate of the working fluid may also be installed at connections 3A and 4A.

[0054] In the clamping device of this embodiment, the first port 30 and the second port 40 are provided with openings on the upper side of the cylinder body 100 (the side opposite to the base 2), so there is no need to provide a flow path on the base 2. Therefore, the base 2 can be made thinner. As a result, the entire mechanism including the clamping device can be miniaturized in the vertical direction.

[0055] In the clamping device of this embodiment, fluid pressure is supplied to the lower first cylinder chamber 300 via a gap 32 formed using a double-tube structure, thus simplifying the machining for forming flow paths in the cylinder body 100. In particular, the hole machining for forming vertical flow paths in the main body portion 110 of the cylinder body 100 can be omitted. As a result, the cylinder body 100 can be miniaturized with an amount corresponding to the machining allowance required for hole machining, thereby achieving miniaturization of the clamping device.

[0056] In the clamping device described above, the outer diameter of the main body portion 110 of the cylinder body 100 can be set to, for example, 10 mm or more and 40 mm or less (more preferably 15 mm or more and 30 mm or less). Furthermore, the height of the cylinder body 100 (the height from the bottom surface of the main body portion 110 to the upper surface of the flange portion 120) can be set to 20 mm or more and 100 mm or less (more preferably 30 mm or more and 70 mm or less). However, the dimensions of the cylinder body 100 are not limited to the dimensions described above.

[0057] In addition to its use for fixing workpieces in machining processes, the aforementioned clamping device can also be used in applications requiring greater miniaturization, such as conveying devices and assembly devices. However, the applications of the clamping device of this technology are not limited to the above-mentioned uses.

[0058] In the above embodiment, the following linkage clamping is described: The linkage member 510 and the output member 200 move up and down without rotational motion. However, the clamping device of this technology is not limited to linkage clamping; it can also be other forms of clamping devices such as swing clamping. Furthermore, in linkage clamping, the output member 200 and the clamping arm 500 do not rotate. Therefore, the arrangement of the first port 30 and the second port 40 on the upper surface of the cylinder body 100 has a higher degree of freedom, enabling further miniaturization of the clamping device compared to swing clamping.

[0059] In the above embodiments, a cylinder using air pressure as the fluid pressure supplied to the first cylinder chamber 300 and the second cylinder chamber 400 was described. However, the fluid pressure cylinder of this technology is not limited to an air cylinder; for example, it can also be a hydraulic cylinder using hydraulic pressure. The fluid pressure supplied to the first cylinder chamber 300 and the second cylinder chamber 400 is, for example, below 1 MPa. By limiting the fluid pressure to below 1 MPa, the inner circumferential tube portion 111 and the outer circumferential tube portion 112 of the main body portion 110 of the cylinder body 100 can be formed thinner, thus enabling further miniaturization of the clamping device. However, in this technology, the fluid pressure is not limited to the range described above.

[0060] In the above embodiments, a structure is described that uses only fluid pressure to drive the output member 200. However, it is also possible to provide a force-applying member for driving the output member 200 in the first cylinder chamber 300 or the second cylinder chamber 400, either as an auxiliary measure or in place of fluid pressure.

[0061] The above describes the implementation methods of this technology, but it should be considered that the implementation methods disclosed herein are illustrative in all respects and not restrictive. The scope of this technology is defined by the claims and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0062] Explanation of reference numerals in the attached figures

[0063] 1. Fixed object; 2. Base; 3, 4. Fluid piping; 3A, 4A. Connecting part; 10. Fixed position; 20. Hole; 30. First opening; 31. Inclined hole; 32. Clearance; 40. Second opening; 41. Inclined hole; 100. Cylinder body; 110. Main body part; 111. Inner circumferential tube part; 112. Outer circumferential tube part; 120. Flange part; 121. First part; 122. Second part; 200. Output component; 210. Rod part; 220. Piston part; 300. First cylinder chamber; 400. Second cylinder chamber; 500. Clamping arm; 510. Connecting rod component; 600. Bolt; 700. Sealing component; 700A. Scraper; 710. First sealing component; 720. Second sealing component; 730. Third sealing component; 800. Bolt.

Claims

1. A clamping device capable of fixing an object to a base, wherein, The clamping device has the following features: The cylinder body is fixed to the base; The output component is capable of reciprocating relative to the cylinder body; The first cylinder chamber drives the output member in the first direction; and The second cylinder chamber drives the output component in the second direction. The cylinder body includes a main body portion, which has a double-tube structure consisting of an inner circumferential tube portion and an outer circumferential tube portion, with a gap formed between the inner circumferential tube portion and the outer circumferential tube portion. The output component includes: a rod portion protruding from the cylinder body; and a piston portion connected to the rod portion, dividing the space inside the inner circumferential tube portion into the first cylinder chamber and the second cylinder chamber. The cylinder body is provided with a first port for supplying fluid pressure to the first cylinder chamber and a second port for supplying fluid pressure to the second cylinder chamber. The fluid pressure supplied to the first port is transmitted to the first cylinder chamber via the gap formed in the double-tube structure. The main body portion of the cylinder body is inserted into the hole provided in the base. The cylinder body includes a flange portion. The flange portion has: a first portion extending radially outward from the hole and integrally formed with the inner circumferential tube portion; and a second portion extending radially outward from the hole and abutting against the surface of the substrate on the first direction side, integrally formed with the outer circumferential tube portion.

2. The clamping device according to claim 1, wherein, The first port and the second port are formed in the first part.

3. The clamping device according to claim 1 or 2, wherein, The clamping device also includes a first sealing member disposed on the outer periphery of the piston portion and a second sealing member disposed between the first portion and the second portion of the flange portion. When the clamping device is viewed from the first direction or the second direction, the gap formed by the double tube structure is formed between the first sealing member and the second sealing member.

4. The clamping device according to claim 3, wherein, The first and second portions of the flange abut against each other from the first and second directions, respectively, thereby positioning them relative to each other in the first and second directions. The first part and the second part are positioned radially in the cylinder body by means of the second sealing member disposed between the first part and the second part.

5. The clamping device according to claim 1 or 2, wherein, The gap formed between the inner circumferential tube portion and the outer circumferential tube portion is formed along the entire length of the double tube structure.

6. The clamping device according to claim 1 or 2, wherein, The clamping device has a flow path that extends from the bottom of the first port in a direction that intersects obliquely with respect to the first and second directions, and reaches the gap formed between the inner circumferential tube portion and the outer circumferential tube portion.

7. The clamping device according to claim 1 or 2, wherein, The output component reciprocates relative to the cylinder body without rotational motion.

8. The clamping device according to claim 1 or 2, wherein, The first port and the second port are provided on the cylinder body in such a way that they open on the side opposite to the base.

9. A clamping device capable of fixing an object to a base, wherein, The clamping device has the following features: The cylinder body is fixed to the base; The output component is capable of reciprocating relative to the cylinder body; The first cylinder chamber drives the output member in the first direction; and The second cylinder chamber drives the output component in the second direction. The cylinder body includes a main body portion, which has a double-tube structure consisting of an inner circumferential tube portion and an outer circumferential tube portion, with a gap formed between the inner circumferential tube portion and the outer circumferential tube portion. The output component includes: a rod portion protruding from the cylinder body; and a piston portion connected to the rod portion, dividing the space inside the inner circumferential tube portion into the first cylinder chamber and the second cylinder chamber. The cylinder body is provided with a first port for supplying fluid pressure to the first cylinder chamber and a second port for supplying fluid pressure to the second cylinder chamber. The fluid pressure supplied to the first port is transmitted to the first cylinder chamber via the gap formed in the double-tube structure. The gap formed between the inner circumferential tube portion and the outer circumferential tube portion is formed in a ring shape along the entire length of the double tube structure in a manner that surrounds the inner circumference of the inner circumferential tube portion.

10. The clamping device according to claim 9, wherein, The clamping device has a flow path that extends from the bottom of the first port in a direction that intersects obliquely with respect to the first and second directions, and reaches the gap formed between the inner circumferential tube portion and the outer circumferential tube portion.

11. The clamping device according to claim 9 or 10, wherein, The output component reciprocates relative to the cylinder body without rotational motion.

12. The clamping device according to claim 9 or 10, wherein, The first port and the second port are provided on the cylinder body in such a way that they open on the side opposite to the base.

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