Clamp device and clamp system

Abstract

The utility model discloses a clamp device and a clamp system. A jig device (10) is provided with: a first movable part (14) and a second movable part (16) for holding a workpiece (W); and a cylinder device (18) for bringing the first movable part and the second movable part close to each other and away from each other, the cylinder device being disposed between the first movable part and the second movable part in a movable direction in which the first movable part and the second movable part close to each other and away from each other, the cylinder device having a cylinder body (28) having a cylinder hole (44) extending in the movable direction, the dimension of the cylinder hole in the width direction of the cylinder device orthogonal to the moving direction is larger than the dimension in the height direction orthogonal to the moving direction and the width direction.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of clamp device and clamp system. BACKGROUND

[0002] In Japanese patent application publication No. 2002-079486, a clamp device is disclosed, which has a first movable portion and a second movable portion for holding a workpiece, and a cylinder device for bringing the first movable portion and the second movable portion closer to and farther from each other. The first movable portion and the second movable portion are arranged in a direction orthogonal to a movable direction in which the first movable portion and the second movable portion approach and move away from each other (a height direction of the clamp device) with respect to the cylinder device.

[0003] It is desirable to have a clamp device and a clamp system that can expand the maximum opening width of the first movable portion and the second movable portion while suppressing the size in the height direction of the clamp device. SUMMARY

[0004] The utility model will solve the above-mentioned technical problem as the purpose.

[0005] The first mode of the utility model is a clamp device, which has: a first movable portion and a second movable portion for holding a workpiece; and a cylinder device for bringing the first movable portion and the second movable portion closer to and farther from each other. The cylinder device is arranged between the first movable portion and the second movable portion in a direction orthogonal to a movable direction in which the first movable portion and the second movable portion approach and move away from each other. The cylinder device has a cylinder body with a cylinder bore extending in the movable direction. The size of the cylinder bore along a width direction of the cylinder device orthogonal to the movable direction is larger than the size along a height direction orthogonal to the movable direction and the width direction.

[0006] The second mode of the utility model is a clamp system, which has: a clamp device of the first mode, and a fluid flow path for supplying a compressed fluid for driving the cylinder device to the clamp device.

[0007] According to the utility model, the maximum opening width of the first movable portion and the second movable portion can be expanded while suppressing the size in the height direction of the cylinder device.

[0008] The above-mentioned objects, features, and advantages can be more easily understood by the following description of the embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 is a perspective view of a state in which the first holding member and the second holding member are mounted to the clamp device according to the embodiments.

[0010] Figure 2 This is a partially exploded perspective view of the clamping device.

[0011] Figure 3 This is a cross-sectional view of the clamping device.

[0012] Figure 4 It is along Figure 3 A cross-sectional view along line IV-IV.

[0013] Figure 5 It is along Figure 3 A cross-sectional view of the VV line.

[0014] Figure 6 This is a side view of the clamping device.

[0015] Figure 7 This is a schematic diagram of the fixture system.

[0016] Figure 8 This is a schematic diagram of the fixture system.

[0017] Figure 9 This is a diagram illustrating the operation of the clamping device.

[0018] Figure 10 This is a diagram illustrating the operation of the clamping device.

[0019] Figure 11 This is a diagram illustrating the operation of the clamping device.

[0020] Figure 12 This is a diagram illustrating the operation of the clamping device.

[0021] Figure 13 It is a cross-sectional view of a clamping device with a cylinder assembly as described in the modified example. Detailed Implementation

[0022] Hereinafter, with reference to the accompanying drawings, the clamping device 10 and clamping system 144 of the present invention will be described. Figure 1 This is a perspective view showing the first gripping member 300 and the second gripping member 302 mounted on the clamping device 10 according to the embodiment. Figure 2 This is a partially exploded perspective view of the clamping device 10.

[0023] like Figure 1 As shown, the clamping device 10 is used to grip the workpiece W (see reference 302) via the first gripping member 300 and the second gripping member 302. Figure 12 The device is a clamping device 10. For example, it can be loaded and unloaded relative to a robot arm (not shown). In addition, the clamping device 10 can also be loaded and unloaded relative to clamps other than a robot arm.

[0024] like Figure 1 andFigure 2 As shown, the clamping device 10 includes a clamping body 12, a first movable part 14, and a second movable part 16. The clamping body 12 includes a cylinder device 18, a first support part 20, a second support part 22, a first guide part 24, and a second guide part 26. The cylinder device 18 causes the first movable part 14 and the second movable part 16 to approach and move away from each other.

[0025] The first movable part 14 and the second movable part 16 are each formed in a plate shape. For example... Figure 1 As shown, the first gripping member (first accessory) 300 is detachable from the first movable part 14. The second gripping member (second accessory) 302 is detachable from the second movable part 16. The size and shape of the first gripping member 300 and the second gripping member 302 can be set according to the size and shape of the workpiece W.

[0026] Figure 3 This is a cross-sectional view of the clamping device 10. Figure 4 It is along Figure 3 A cross-sectional view along line IV-IV. (See example...) Figure 3 and Figure 4 As shown, the cylinder device 18 moves the first movable part 14 and the second movable part 16 along movable directions (X direction) that approach and move away from each other. The cylinder device 18 moves the first movable part 14 and the second movable part 16 in a direction that approaches each other, thereby enabling the clamping device 10 to hold the workpiece W. Specifically, the cylinder device 18 moves the first movable part 14 in a first direction (X2 direction) that approaches the second movable part 16 and moves the second movable part 16 in a second direction (X1 direction) that approaches the first movable part 14, thereby enabling the clamping device 10 to hold the workpiece W.

[0027] Furthermore, the cylinder device 18 moves the first movable part 14 and the second movable part 16 in a direction away from each other, thereby enabling the clamping device 10 to release the workpiece W. Specifically, the cylinder device 18 moves the first movable part 14 in a second direction (X1 direction) and moves the second movable part 16 in a first direction (X2 direction), thereby enabling the clamping device 10 to release the workpiece W.

[0028] like Figures 1-4 As shown, in the movable direction (X direction), the cylinder device 18 is disposed between the first movable part 14 and the second movable part 16. In other words, the first movable part 14 is located in the X1 direction of the cylinder device 18, and the second movable part 16 is located in the X2 direction of the cylinder device 18. In this embodiment, the first movable part 14, the cylinder device 18, and the second movable part 16 are arranged sequentially in the X2 direction. As a result, in the height direction (Z direction) of the cylinder device 18, the first movable part 14 and the second movable part 16 do not overlap with the cylinder device 18, thus making the size of the clamping device 10 compact along the height direction.

[0029] Further, the height direction of the cylinder device 18 is a direction orthogonal to the X direction. In other words, in a state where the jig device 10 holds the workpiece W, the height direction of the cylinder device 18 is the arrangement direction of the workpiece W and the cylinder device 18 (refer to Figure 12 ). In addition, since the cylinder device 18 is arranged between the first movable portion 14 and the second movable portion 16, it is possible to make the maximum opening width of the first movable portion 14 and the second movable portion 16 relatively wide. Therefore, the jig device 10 is able to hold a relatively wide workpiece W (refer to Figure 12 ).

[0030] As shown in Figure 3 and Figure 4 , the cylinder device 18 is provided with a cylinder body 28, a first end member 30, a second end member 32, an intermediate wall portion 34, a first piston portion 36, a second piston portion 38, a first rod 40, and a second rod 42.

[0031] The cylinder body 28 extends in the X direction. The cylinder body 28 has a cylinder bore 44 extending in the X direction. The cylinder bore 44 extends in the movable direction (X direction). The cylinder bore 44 penetrates the cylinder body 28 in the X direction. The cylinder bore 44 extends in the width direction (Y direction) of the cylinder device 18. Further, the Y direction is a direction orthogonal to the X direction and the Z direction (the height direction of the cylinder device 18).

[0032] Figure 5 is a cross-sectional view along the V-V line of Figure 3 . As shown in Figure 5 , the dimension of the cylinder bore 44 in the width direction (Y direction) of the cylinder device 18 is larger than the dimension in the height direction (Z direction) of the cylinder device 18. Thereby, it is possible to suppress the height dimension of the jig device 10. In a cross section observed from the X direction, the intermediate portion of the Y direction of the cylinder bore 44 extends in a rectangular shape. In a cross section observed from the X direction, both end portions of the Y direction of the cylinder bore 44 are formed in a semicircular shape protruding toward the outside in the Y direction. The shape of the cylinder bore 44 is not limited thereto, and for example, can be a rectangular shape, an elliptical shape, or the like.

[0033] As shown in Figure 3 and Figure 4 , the first end member 30 is a plate-shaped member attached to one end portion of the cylinder body 28 (the end portion of the cylinder body 28 in the XI direction). The one end portion of the cylinder body 28 is in the Zl direction of the first end member 30. The first end member 30 is fixed to the one end portion of the cylinder body 28 by a plurality of (two in the present embodiment) threaded members 46 (refer to Figure 1 and Figure 2 ). The first end member 30 covers the cylinder bore 44 from the XI direction. The first end member 30 and the first movable portion 14 are arranged to face each other in the X direction.

[0034] The second end member 32 is a plate-shaped member installed to the other end portion of the cylinder 28 (the end portion of the cylinder 28 in the X2 direction). The other end portion of the cylinder 28 is located in the Zl direction of the second end member 32. The second end member 32 is fixed to the other end portion of the cylinder 28 by a plurality of (two in the present embodiment) threaded members 48 (refer to FIG. 2). Figure 1 and Figure 2 ) The second end member 32 covers the cylinder bore 44 from the X2 direction. The second end member 32 and the second movable portion 16 are arranged to face each other in the X direction.

[0035] The intermediate wall portion 34 is arranged inside the cylinder bore 44. The intermediate wall portion 34 divides the cylinder bore 44 in the axial direction (X direction) of the cylinder 28. The intermediate wall portion 34 is fixed to the inner peripheral surface of the cylinder 28 in an airtight manner. An unillustrated sealing member is provided between the outer peripheral surface of the intermediate wall portion 34 and the inner peripheral surface of the cylinder 28.

[0036] The first piston portion 36 and the second piston portion 38 are arranged in the cylinder bore 44 in a slidable manner. The first piston portion 36 and the second piston portion 38 are arranged in the movable direction (X direction). The first piston portion 36 is arranged in the Xl direction of the second piston portion 38. The first piston portion 36 has an inner piston 50 and an outer piston 52. The inner piston 50 is arranged between the intermediate wall portion 34 and the second piston portion 38. An unillustrated piston gasket is installed to the outer peripheral surface of the inner piston 50, which seals between the inner piston 50 and the cylinder 28 in an airtight manner. The outer piston 52 is located in the opposite direction of the second piston portion 38 with respect to the intermediate wall portion 34. In other words, the outer piston 52 is installed to the first rod 40 in a state of being located in the opposite direction of the inner piston 50 with respect to the intermediate wall portion 34. The outer piston 52 is arranged between the intermediate wall portion 34 and the first end member 30. An unillustrated piston gasket is installed to the outer peripheral surface of the outer piston 52, which seals between the outer piston 52 and the cylinder 28 in an airtight manner.

[0037] The second piston portion 38 is arranged between the inner piston 50 and the second end member 32. An unillustrated piston gasket is installed to the outer peripheral surface of the second piston portion 38, which seals between the second piston portion 38 and the cylinder 28 in an airtight manner.

[0038] The first rod 40 connects the first piston portion 36 and the first movable portion 14. The X2 end of the first rod 40 is fixed to the inner piston 50. The first rod 40 extends from the inner piston 50 along the X1 direction, passing through the intermediate wall portion 34, the outer piston 52, and the first end member 30. A sealing member (not shown) is installed on the inner surface of the hole in the intermediate wall portion 34 through which the first rod 40 is inserted, providing an airtight seal between the first rod 40 and the intermediate wall portion 34. The outer piston 52 is fixed to the middle portion of the first rod 40 in the X direction. A sealing member 54 is installed on the inner surface of the hole in the first end member 30 through which the first rod 40 is inserted, providing an airtight seal between the first rod 40 and the first end member 30. The X1 end of the first rod 40 is fixed to the first movable portion 14.

[0039] The second rod 42 connects the second piston portion 38 and the second movable portion 16. The X1-direction end of the second rod 42 is fixed to the second piston portion 38. The second rod 42 extends from the second piston portion 38 in the X2 direction, passing through the second end member 32. A sealing member 56 is installed on the inner surface of the hole in the second end member 32 through which the second rod 42 is inserted, and this sealing member 56 airtightly seals the second rod 42 and the second end member 32. The X2-direction end of the second rod 42 is fixed to the second movable portion 16.

[0040] like Figure 2 and Figure 3 As shown, the first support portion 20 supports the first movable portion 14. The first support portion 20 is a plate-shaped portion that protrudes from one end (the end in the X1 direction) of the cylinder body 28 in the opposite direction (X1 direction) to the second movable portion 16. The second support portion 22 supports the second movable portion 16. The second support portion 22 is a plate-shaped portion that protrudes from the other end (the end in the X2 direction) of the cylinder body 28 in the opposite direction (X2 direction) to the first movable portion 14. The cylinder body 28, the first support portion 20, and the second support portion 22 are integrally molded from metal material. Hereinafter, the component formed by the cylinder body 28, the first support portion 20, and the second support portion 22 will sometimes be referred to as the "cylinder body 58".

[0041] Furthermore, the cylinder body 58 may not be a one-piece molded product. That is, the cylinder body 28, the first support portion 20, and the second support portion 22 may be formed as separate parts, and these parts may be connected to each other by threaded components or the like to form the cylinder body 58. When the cylinder body 58 is a one-piece molded product, threaded components or other parts are not required, thus reducing the number of parts.

[0042] like Figure 4As shown, a pair of first mounting holes 60 for mounting the jig device 10 to a mounting object not shown are arranged in the Y direction at the end portion in the X2 direction (the portion adjacent to the cylinder device 18) in the first support portion 20.

[0043] As shown, Figure 2 and Figure 3 the first support portion 20 is located in the Xl direction compared to the pair of first mounting holes 60, and has a first guide support portion 62 that supports the first guide portion 24. A first recess portion 64 for arranging the first guide portion 24 is formed in the face of the first guide support portion 62 that faces the first movable portion 14 (the face that faces the Z2 direction). The first recess portion 64 penetrates the first guide support portion 62 in the X direction.

[0044] As shown, Figure 2 the first guide portion 24 has a pair of first guide rails 66 and a first slider 68. The pair of first guide rails 66 are arranged within the first recess portion 64 so as to face each other in the Y direction. Each first guide rail 66 extends in the X direction. The first slider 68 is arranged between the pair of first guide rails 66. The first movable portion 14 is fixed to the first slider 68 by a plurality of threaded members 70. A plurality of balls not shown are arranged between the pair of first guide rails 66 and the first slider 68. The pair of first guide rails 66 guide the first slider 68 in the X direction.

[0045] As shown, Figure 4 a pair of second mounting holes 72 for mounting the jig device 10 to a mounting object not shown are arranged in the Y direction at the end portion in the Xl direction (the portion adjacent to the cylinder device 18) in the second support portion 22.

[0046] As shown, Figure 2 and Figure 3 the second support portion 22 is located in the X2 direction compared to the pair of second mounting holes 72, and has a second guide support portion 74 that supports the second guide portion 26. A second recess portion 76 for arranging the second guide portion 26 is formed in the face of the second guide support portion 74 that faces the second movable portion 16 (the face that faces the Z2 direction). The second recess portion 76 penetrates the second guide support portion 74 in the X direction.

[0047] As shown, Figure 2 the second guide portion 26 has a pair of second guide rails 78 and a second slider 80. The pair of second guide rails 78 are arranged within the second recess portion 76 so as to face each other in the Y direction. Each second guide rail 78 extends in the X direction. The second slider 80 is arranged between the pair of second guide rails 78. The second movable portion 16 is fixed to the second slider 80 by a plurality of threaded members 82. A plurality of balls not shown are arranged between the pair of second guide rails 78 and the second slider 80. The pair of second guide rails 78 guide the second slider 80 in the X direction.

[0048] The jig device 1 is provided with an adjuster mounting portion 86 for mounting an adjuster 84 for adjusting a movement limit position of the first movable portion 14 in the first direction (a position of the stroke end of the first piston portion 36) in contact with the first movable portion 14. The adjuster mounting portion 86 includes a pair of first mounting portions 88 and a pair of second mounting portions 90.

[0049] The pair of first mounting portions 88 is provided to the first guide support portion 62. The pair of first mounting portions 88 is respectively provided to a pair of faces of the first guide support portion 62 facing the Y direction. The first mounting portion 88 includes a first positioning recess 92 and two first threaded holes 94. The first positioning recess 92 extends over the entire length in the Z direction of the first guide support portion 62. The two first threaded holes 94 are formed in a bottom face of the first positioning recess 92. The two first threaded holes 94 are arranged at intervals in the X direction.

[0050] The pair of second mounting portions 90 is provided to the first movable portion 14. The pair of second mounting portions 90 is respectively provided to a pair of faces of the first movable portion 14 facing the Y direction. The second mounting portion 90 includes three second threaded holes 96 and two second positioning recesses 98. The three second threaded holes 96 are arranged at intervals in the X direction. The two second positioning recesses 98 are located between second threaded holes 96 adjacent to each other. The second positioning recess 98 extends over the entire length in the Z direction of the first movable portion 14.

[0051] The adjuster 84 has an adjuster main body 100 and a contact piece 102. The adjuster main body 100 is detachable with respect to the first mounting portion 88. A user can select which of the pair of first mounting portions 88 the adjuster main body 100 is mounted to. The adjuster main body 100 has a holding member 104, a bolt support portion 105, a nut 106, and an adjustment bolt 108. The holding member 104 has a shape corresponding to the first positioning recess 92.

[0052] Two first insertion holes 110 are provided to the holding member 104. In a state where the holding member 104 is arranged to the first positioning recess 92, the two first insertion holes 110 of the holding member 104 overlap the two first threaded holes 94 when viewed from the Y direction. The holding member 104 is mounted to the first mounting portion 88 by two threaded members 112. The bolt support portion 105 protrudes from the holding member 104 in the Z2 direction. A bolt insertion hole 114 that penetrates in the X direction is formed in the bolt support portion 105. The adjustment bolt 108 is inserted through the bolt insertion hole 114.

[0053] Nut 106 is mounted on bolt support 105. Adjusting bolt 108 is screwed into nut 106. By rotating adjusting bolt 108 relative to nut 106, the protrusion length of adjusting bolt 108 in the X1 direction relative to bolt support 105 can be adjusted.

[0054] The contact piece 102 is detachable from the second mounting portion 90. The contact piece 102 is mounted on the second mounting portion 90, which corresponds to the first mounting portion 88 on which the user adjuster body 100 is mounted. The contact piece 102 has, for example, a cuboid shape. The contact piece 102 is provided with a positioning protrusion 116 and two second through holes 118. The positioning protrusion 116 can be inserted into the second positioning recess 98. When viewed from the Y direction with the positioning protrusion 116 inserted into the second positioning recess 98, the two second through holes 118 of the contact piece 102 overlap with two adjacent second threaded holes 96 of the three second threaded holes 96. The contact piece 102 is mounted to the second mounting portion 90 via two threaded members 120.

[0055] like Figure 4 As shown, the cylinder assembly 18 includes a first chamber 122a, a first chamber 122b, a second chamber 124, a third chamber 126, and a fourth chamber 128. The first chamber 122a is formed between the outer piston 52 and the first end member 30. The first chamber 122b is formed between the intermediate wall portion 34 and the inner piston 50. The second chamber 124 is formed between the second piston portion 38 and the second end member 32. The third chamber 126 is formed between the outer piston 52 and the intermediate wall portion 34. The fourth chamber 128 is formed between the inner piston 50 and the second piston portion 38.

[0056] The compressed fluid in the first chamber 122a presses the outer piston 52 in the X2 direction. The compressed fluid in the first chamber 122b presses the inner piston 50 in the X2 direction. That is, the first piston portion 36 is pressed in the X2 direction by the compressed fluid in the first chamber 122a and the compressed fluid in the first chamber 122b. The compressed fluid in the second chamber 124 presses the second piston portion 38 in the X1 direction.

[0057] The first piston portion 36 has a first pressure receiving surface 130. The first pressure receiving surface 130 is pressed by the compressed fluid in the first chamber 122a and the compressed fluid in the first chamber 122b in the X2 direction (first direction). The first pressure receiving surface 130 includes a pressure receiving surface 132 in the outer piston 52 facing the X1 direction and a pressure receiving surface 134 in the inner piston 50 facing the X1 direction. The second piston portion 38 has a second pressure receiving surface 136. The second pressure receiving surface 136 is pressed by the compressed fluid in the second chamber 124 in the X1 direction (second direction). The second pressure receiving surface 136 is a surface in the second piston portion 38 facing the X1 direction. The area of the first pressure receiving surface 130 (the area obtained by adding the area of the pressure receiving surface 132 and the area of the pressure receiving surface 134) is larger than the area of the second pressure receiving surface 136. That is, the first thrust of the first piston portion 36 in the X2 direction (first direction) is larger than the second thrust of the second piston portion 38 in the X1 direction (second direction).

[0058] Figure 6 is a side view of the clamp device 10. In other words, Figure 6 is a side view of the clamp device 10 as viewed from the X2 direction. As Figure 1 , Figure 2 , Figure 5 and Figure 6 indicated, the cylinder main body 58 is formed with a first port 138, a second port 140, and a third port 142. The first port 138 communicates with the first chamber 122a and the first chamber 122b. The second port 140 communicates with the second chamber 124. The third port 142 communicates with the third chamber 126 and the fourth chamber 128. Each of the first port 138, the second port 140, and the third port 142 opens at both end faces of the cylinder main body 58 in the X direction. In other words, each of the first port 138, the second port 140, and the third port 142 opens at the outer surface of the first support portion 20 and the outer surface of the second support portion 22.

[0059] Figure 7 and Figure 8 are schematic views of a clamp system 144. As Figure 7 and Figure 8 indicated, the above-described clamp device 10 is provided to the clamp system 144. The clamp system 144 is provided with the clamp device 10 and a fluid circuit 146. The fluid circuit 146 is provided with a fluid supply source 148, a supply flow path 150, a switching valve 152, a discharge flow path 154, a discharge port 156, a first circuit portion 158, and a second circuit portion 160.

[0060] The fluid supply source 148 is capable of supplying compressed fluid (e.g., high-pressure air). The muffler 162 is provided at the discharge port 156. The fluid circuit 146 can also not be provided with the muffler 162. The supply flow path 150 guides the compressed fluid supplied from the fluid supply source 148 to the switching valve 152. The discharge flow path 154 guides the compressed fluid discharged from the switching valve 152 to the discharge port 156.

[0061] The first circuit portion 158 has a connection flow path 164, a first flow path 166, a first flow control valve 168, a second flow path 170, a second flow control valve 172, and a third flow control valve 174. The connection flow path 164 is connected to the switching valve 152. The connection flow path 164 is connected to the first flow path 166 and the second flow path 170.

[0062] The first flow path 166 connects the connection flow path 164 to the first port 138. The first flow path 166 communicates with the first chamber 122a and the first chamber 122b via the first port 138. The first flow control valve 168 is provided at the first flow path 166. The first flow control valve 168 performs outlet throttle control that adjusts the flow rate of the compressed fluid discharged from the first chamber 122a and the first chamber 122b of the clamp device 10. The first flow control valve 168 has a throttle portion 178 and a check valve 180. The throttle portion 178 is provided in parallel with the check valve 180. The throttle portion 178 is, for example, a variable throttle portion that is capable of adjusting the flow rate discharged from the clamp device 10. The check valve 180 allows the passage of the compressed fluid in the direction from the switching valve 152 toward the clamp device 10, and blocks the passage of the compressed fluid in the direction from the clamp device 10 toward the switching valve 152.

[0063] The second flow path 170 connects the connection flow path 164 to the second port 140. The second flow path 170 communicates with the second chamber 124 via the second port 140. The second flow control valve 172 and the third flow control valve 174 are provided in series at the second flow path 170. The second flow control valve 172 performs inlet throttle control that adjusts the flow rate of the compressed fluid introduced into the second chamber 124 of the clamp device 10. The second flow control valve 172 has a throttle portion 182 and a check valve 184. The throttle portion 182 is provided in parallel with the check valve 184. The throttle portion 182 is, for example, a variable throttle portion that is capable of adjusting the flow rate introduced into the clamp device 10. The check valve 184 blocks the passage of the compressed fluid in the direction from the switching valve 152 toward the clamp device 10, and allows the passage of the compressed fluid in the direction from the clamp device 10 toward the switching valve 152.

[0064] The third flow control valve 174 performs outlet throttle control that adjusts the flow rate of the compressed fluid discharged from the second chamber 124 of the clamp device 10. The third flow control valve 174 has the same structure as the first flow control valve 168. Therefore, the description of the structure of the third flow control valve 174 is omitted.

[0065] The second circuit portion 160 has a third flow path 186 and a fourth flow control valve 188. The third flow path 186 connects the switching valve 152 with the third port 142. The third flow path 186 communicates with the third chamber 126 and the fourth chamber 128 via the third port 142. The fourth flow control valve 188 is provided to the third flow path 186. The fourth flow control valve 188 performs outlet throttle control that adjusts the flow rate of the compressed fluid discharged from the third chamber 126 and the fourth chamber 128 of the jig device 10. The fourth flow control valve 188 has the same structure as the first flow control valve 168. Therefore, the description of the structure of the fourth flow control valve 188 is omitted.

[0066] The first flow path 166, the second flow path 170, and the third flow path 186 are connected with the first port 138, the second port 140, and the third port 142, respectively, via unillustrated pipe joints. In the present embodiment, the first port 138, the second port 140, and the third port 142 each open at the outer surface of the first support portion 20 and the outer surface of the second support portion 22, respectively (refer to Figure 1 Figure 2 Figure 6 ). Therefore, it is possible to arrange the pipe joints adjacent to the first support portion 20 or the second support portion 22 depending on the use environment of the jig device 10.

[0067] The switching valve 152 is an electromagnetic valve that can switch between a first state and a second state. As shown in Figure 7 , in the first state, the switching valve 152 causes the supply flow path 150 and the third flow path 186 to communicate with each other, and causes the discharge flow path 154 and the connection flow path 164 to communicate with each other. As shown in Figure 8 , in the second state, the switching valve 152 causes the supply flow path 150 and the connection flow path 164 to communicate with each other, and causes the discharge flow path 154 and the third flow path 186 to communicate with each other. The switching valve 152 is, for example, an electromagnetic pilot switching valve, but is not limited thereto.

[0068] Next, the operation of the jig device 10 will be described. Figures 9-12 is a diagram for explaining the operation of the jig device 10. As shown in Figure 9 , in an initial state, the first gripping member 300 and the second gripping member 302 are attached to the jig device 10.

[0069] In a case where the workpiece W is gripped by the jig device 10, the first movable portion 14 and the second movable portion 16 are moved in directions away from each other, thereby expanding the interval between the first gripping member 300 and the second gripping member 302. Specifically, as shown in Figure 7 ​​As shown, the switching valve 152 is set to the first state. Then, the compressed fluid supplied from the fluid supply source 148 to the supply flow path 150 is guided to the third flow path 186 via the switching valve 152. The compressed fluid guided to the third flow path 186 is guided to the third chamber 126 and the fourth chamber 128 via the third port 142 after passing through the check valve 180 of the fourth flow control valve 188.

[0070] The compressed fluid guided to the third chamber 126 presses the outer piston 52 in the Xl direction. The compressed fluid guided to the fourth chamber 128 presses the inner piston 50 in the Xl direction and presses the second piston portion 38 in the X2 direction. Thus, the first piston portion 36 (the outer piston 52 and the inner piston 50) moves in the Xl direction, and in conjunction therewith, the first movable portion 14 and the first gripping member 300 move in the Xl direction. In addition, the second piston portion 38 moves in the X2 direction, and in conjunction therewith, the second movable portion 16 and the second gripping member 302 move in the X2 direction. Thus, the first gripping member 300 and the second gripping member 302 move away from each other.

[0071] When the first piston portion 36 moves in the Xl direction, the compressed fluid in the first chamber 122a and the compressed fluid in the first chamber 122b are guided to the first flow path 166 via the first port 138. The compressed fluid guided to the first flow path 166 flows to the connection flow path 164 after passing through the throttle portion 178 of the first flow control valve 168.

[0072] When the second piston portion 38 moves in the X2 direction, the compressed fluid in the second chamber 124 is guided to the second flow path 170 via the second port 140. The compressed fluid guided to the second flow path 170 is guided to the connection flow path 164 after passing through the throttle portion 178 of the third flow control valve 174 and the check valve 184 of the second flow control valve 172. The compressed fluid guided to the connection flow path 164 is discharged to the outside from the discharge port 156 via the switching valve 152 and the discharge flow path 154. In the present embodiment, the first flow control valve 168 subjected to outlet throttle control and the third flow control valve 174 subjected to outlet throttle control are used to adjust the moving speed of the first piston portion 36 and the second piston portion 38.

[0073] Next, as shown in FIG. 6, the workpiece W is positioned between the first gripping member 300 and the second gripping member 302. Then, as shown in FIG. 7, the switching valve 152 is set to the second state. Then, the compressed fluid supplied from the fluid supply source 148 to the supply flow path 150 is guided to the connection flow path 164 via the switching valve 152. The compressed fluid guided to the connection flow path 164 is divided and flows to the first flow path 166 and the second flow path 170. Figure 9 Figure 8 The compressed fluid guided to the third chamber 126 presses the outer piston 52 in the Xl direction. The compressed fluid guided to the fourth chamber 128 presses the inner piston 50 in the Xl direction and presses the second piston portion 38 in the X2 direction. Thus, the first piston portion 36 (the outer piston 52 and the inner piston 50) moves in the Xl direction, and in conjunction therewith, the first movable portion 14 and the first gripping member 300 move in the Xl direction. In addition, the second piston portion 38 moves in the X2 direction, and in conjunction therewith, the second movable portion 16 and the second gripping member 302 move in the X2 direction. Thus, the first gripping member 300 and the second gripping member 302 move away from each other.

[0074] ​The compressed fluid flowing to the first flow path 166 is guided to the first chambers 122a and 122b via the first port 138 after passing through the check valve 180 of the first flow control valve 168. The compressed fluid introduced to the second flow path 170 is guided to the second chamber 124 via the second port 140 after flowing through the throttle portion 182 of the second flow control valve 172 and the check valve 180 of the third flow control valve 174. In this case, since the second flow control valve 172 in which the inlet throttle control is provided is arranged in the second flow path 170, the compressed fluid is guided to the first chambers 122a and 122b earlier than to the second chamber 124. That is, the timing at which the compressed fluid is introduced to the first chambers 122a and 122b is earlier than the timing at which the compressed fluid is introduced to the second chamber 124.

[0075] The compressed fluid guided to the first chamber 122a presses the outer piston 52 in the X2 direction. The compressed fluid supplied to the first chamber 122b presses the inner piston 50 in the X2 direction. Thus, the first piston portion 36 (the outer piston 52 and the inner piston 50) moves in the X2 direction, and in conjunction therewith, the first movable portion 14 and the first gripping member 300 move in the X2 direction (the first direction). In addition, the compressed fluid guided to the second chamber 124 presses the second piston portion 38 in the X2 direction. Thus, the second piston portion 38 moves in the XI direction, and in conjunction therewith, the second movable portion 16 and the second gripping member 302 move in the XI direction (the second direction).

[0076] In the present embodiment, the movement of the second piston portion 38 starts after the movement of the first piston portion 36 starts. In addition, since the first thrust of the first piston portion 36 is greater than the second thrust of the second piston portion 38, the movement speed of the first piston portion 36 is faster than the movement speed of the second piston portion 38.

[0077] When the first movable portion 14 and the first gripping member 300 move in the X2 direction in conjunction with the movement of the first piston portion 36, as shown in FIG. 6, the first gripping member 300 comes into contact with the workpiece W. In addition, the contact piece 102 attached to the first movable portion 14 comes into contact with the adjusting bolt 108, and thus the movement of the first movable portion 14 in the X2 direction is stopped (see FIG. 7). That is, the first movable portion 14 reaches the movement limit position. In other words, the first piston portion 36 is at the stroke end. Figure 10 Figure 11

[0078] In the state where the first movable portion 14 reaches the movement limit position, the second movable portion 16 does not reach the movement limit position. Thus, in the state where the movement of the first movable portion 14 and the first gripping member 300 is stopped, the second movable portion 16 and the second gripping member 302 move in the XI direction. As shown in FIG. 8, the second gripping member 302 comes into contact with the workpiece W. In addition, the contact piece 104 attached to the second movable portion 16 comes into contact with the adjusting bolt 110, and thus the movement of the second movable portion 16 in the XI direction is stopped (see FIG. 9). That is, the second movable portion 16 reaches the movement limit position. In other words, the second piston portion 38 is at the stroke end. Figure 12 ​​As shown, the second gripping member 302 presses the workpiece W in the Xl direction by contacting the workpiece W. Thus, the workpiece W is gripped by the first gripping member 300 and the second gripping member 302. In this case, since the first pushing force of the first piston portion 36 is greater than the second pushing force of the second piston portion 38, the workpiece W pressed by the second gripping member 302 does not return in the Xl direction. Thus, it is possible to make the gripping position of the workpiece W in the movable direction (X direction) constant. In addition, in the present embodiment, by adjusting the contact position of the contact piece 102 with the adjusting bolt 108, it is possible to appropriately adjust the position at which the workpiece W is gripped (the movement limit position of the first movable portion 14). Thus, in the X direction, it is possible to uniformly grip the workpiece W at the central position of the jig device 10.

[0079] (Modified Example)

[0080] Figure 13 is a cross-sectional view of the jig device 10 provided with the cylinder device 18a according to the modified example. As shown, the jig device 10 can be provided with the cylinder device 18a according to the first modified example instead of the cylinder device 18. In addition, in the present modified example, the same reference numerals are assigned to the structural elements substantially the same as those described above, and detailed description thereof is omitted. Figure 13 According to the present embodiment, in the movable directions of the first movable portion 14 and the second movable portion 16, the cylinder device 18a is disposed between the first movable portion 14 and the second movable portion 16. Thus, the first movable portion 14 and the second movable portion 16 and the cylinder device 18a do not overlap each other in the height direction (Z direction) of the jig device 10, and thus it is possible to suppress the size in the height direction of the jig device 10. In addition, it is possible to expand the maximum opening width of the first movable portion 14 and the second movable portion 16.

[0081] The cylinder device 18a is provided with the cylinder 28, the first end member 30, the second end member 32, the first piston portion 36a, the second piston portion 38, the first rod 40a, and the second rod 42. In addition, the cylinder device 18a is not provided with the intermediate wall portion 34 described above. In this case, the first chamber 190, the second chamber 124, and the third chamber 192 are provided in the cylinder device 18a. The first chamber 190 is formed between the first piston portion 36a and the first end member 30. The second chamber 124 is formed between the second piston portion 38 and the second end member 32. The third chamber 192 is formed between the first piston portion 36a and the second piston portion 38.

[0082]

[0083] ​The first piston portion 36a is configured similarly to the above-described inner piston 50. In a modification, the first piston portion 36a does not have the above-described outer piston 52. The outer diameter of the first rod 40a is smaller than the outer diameter of the second rod 42. Therefore, the area of the first pressure receiving surface 130 of the first piston portion 36a is larger than the area of the second pressure receiving surface 136 of the second piston portion 38. Therefore, the first thrust in the X2 direction (first direction) of the first piston portion 36a is larger than the second thrust in the X1 direction (second direction) of the second piston portion 38.

[0084] According to the cylinder device 18a according to the modification, the same effects as those of the above-described cylinder device 18 can be obtained.

[0085] The present embodiment is not limited to the above-described structure. The jig device 10 can not have the adjuster mounting portion 86.

[0086] With respect to the above-described embodiment, the following notes are also disclosed.

[0087] (Note 1)

[0088] The jig device 10 according to the present application includes a first movable portion 14 and a second movable portion 16 for holding a workpiece W; a cylinder device 18, 18a for bringing the first movable portion and the second movable portion closer to and farther from each other, the cylinder device being disposed between the first movable portion and the second movable portion in a movable direction in which the first movable portion and the second movable portion move closer to and farther from each other, the cylinder device having a cylinder body 28 with a cylinder bore 44 extending in the movable direction, the cylinder bore having a dimension in a width direction of the cylinder device orthogonal to the movable direction that is larger than a dimension in a height direction orthogonal to the movable direction and the width direction.

[0089] According to such a structure, since the first movable portion and the second movable portion and the cylinder device do not overlap each other in the height direction of the jig device, the dimension in the height direction of the jig device can be suppressed. In addition, the maximum opening width of the first movable portion and the second movable portion can be increased. Further, since the dimension of the cylinder bore in the width direction of the cylinder device is larger than the dimension in the height direction, the height dimension of the jig device can be suppressed.

[0090] (Note 2)

[0091] The clamp device described in the supplementary note 1 can also be such that the cylinder device has a first piston portion 36, 36a and a second piston portion 38 that are arranged in a slidable manner in the cylinder hole, a first rod 40, 40a that links the first piston portion and the first movable portion to each other, and a second rod 42 that links the second piston portion and the second movable portion to each other, and the first piston portion and the second piston portion are arranged in the movable direction.

[0092] According to such a structure, the size of the cylinder device in the movable direction and the direction orthogonal thereto (the height direction and the width direction of the clamp device) can be suppressed, and the diameter (outer diameter) of the first piston portion and the second piston portion can be set to be relatively large. In other words, the cylinder device can be made compact and the thrust of the first piston portion and the second piston portion can be increased.

[0093] (Supplementary Note 3)

[0094] The clamp device described in the supplementary note 2 can also be such that the first thrust of the first piston portion in the first direction in which the first movable portion approaches the second movable portion is greater than the second thrust of the second piston portion in the second direction in which the second movable portion approaches the first movable portion.

[0095] According to such a structure, since the first thrust is greater than the second thrust, the movement of the first piston portion in the first direction can be started before the movement of the second piston portion in the second direction is started. In addition, the movement speed of the first piston portion in the first direction can be made faster than the movement speed of the second piston portion in the second direction. Furthermore, the work can be pressed in the second direction by the second piston portion in a state in which the first piston portion is moved to the end of the stroke. That is, the work can be held in a state in which the first piston portion is at the end of the stroke. Thus, the holding position of the work in the movable direction can be made constant.

[0096] (Supplementary Note 4)

[0097] The clamp device described in the supplementary note 3 can also be such that the first piston portion has a first pressure receiving surface 130 that is pressed in the first direction by the compressed fluid, the second piston portion has a second pressure receiving surface 136 that is pressed in the second direction by the compressed fluid, and the area of the first pressure receiving surface is greater than the area of the second pressure receiving surface.

[0098] According to such a structure, the first thrust can be made greater than the second thrust with a simple structure.

[0099] (Supplementary Note 5)

[0100] The clamp device described in the supplementary note 4 can also be such that an intermediate wall portion 34 is provided in the cylinder body to divide the cylinder bore in the axial direction of the cylinder body, the first rod passes through the intermediate wall portion, and the first piston portion includes an inner piston 50 that is attached to the first rod in a state of being positioned between the intermediate wall portion and the second piston portion, and an outer piston 52 that is attached to the first rod in a state of being positioned in the opposite direction of the inner piston with respect to the intermediate wall portion.

[0101] According to such a structure, it is possible to make the area of the first pressure surface larger than the area of the second pressure surface with a simple structure.

[0102] (Supplementary note 6)

[0103] The clamp device described in the supplementary note 4 can also be such that the outer diameter of the first rod is made smaller than the outer diameter of the second rod to make the area of the first pressure surface larger than the area of the second pressure surface.

[0104] According to such a structure, it is possible to make the area of the first pressure surface larger than the area of the second pressure surface with a simple structure.

[0105] (Supplementary note 7)

[0106] The clamp device described in any one of the supplementary notes 3 to 6 can also be such that an adjuster mounting portion 86 for mounting an adjuster 84 that contacts the first movable portion and is capable of adjusting the limit position of movement in the first direction of the first movable portion is provided.

[0107] According to such a structure, it is possible to adjust the holding position of the work by adjusting the limit position of movement in the first direction of the first movable portion.

[0108] (Supplementary note 8)

[0109] The clamp device described in any one of the supplementary notes 2 to 7 can also be such that a first support portion 20 that protrudes from the cylinder body in the opposite direction of the second movable portion, a first guide portion 24 that is provided to the first support portion to guide the first movable portion, a second support portion 22 that protrudes from the cylinder body in the opposite direction of the first movable portion, and a second guide portion 26 that is provided to the second support portion to guide the second movable portion are provided, and the first support portion, the cylinder body, and the second support portion are a unitary molded product.

[0110] According to such a structure, since the first support portion, the cylinder body, and the second support portion are a unitary molded product, it is possible to achieve a reduction in the number of parts and weight reduction of the clamp device compared to a case in which these components are formed as different parts.

[0111] (Note 9)

[0112] The jig device described in Note 8 can also be such that ports for supplying compressed fluid for driving the cylinder device open on the outer surface of the first support portion and the outer surface of the second support portion, respectively.

[0113] According to such a structure, it is possible to arrange a member (e.g., a pipe joint) connected to the ports adjacent to the first support portion or the second support portion, depending on the usage environment of the jig device.

[0114] (Note 10)

[0115] The jig system 144 of the present application includes: the jig device described in any one of Notes 3 to 9; and a fluid circuit 146 for supplying compressed fluid for driving the cylinder device to the jig device.

[0116] According to such a structure, it is possible to obtain a jig system that includes the jig device described in any one of Notes 3 to 9.

[0117] (Note 11)

[0118] The jig system described in Note 10 can also be such that the cylinder device has a first chamber 122a, 122b, 190 and a second chamber 124, the first piston portion is pressed in a first direction in which the first movable portion approaches the second movable portion by introducing compressed fluid into the first chamber, the second piston portion is pressed in a second direction in which the second movable portion approaches the first movable portion by introducing compressed fluid into the second chamber, the fluid circuit includes: a first flow path 166 that communicates with the first chamber; and a second flow path 170 that communicates with the second chamber, a first flow control valve 168 that performs outlet throttle control is provided in the first flow path, and a second flow control valve 172 that performs inlet throttle control and a third flow control valve 174 that performs outlet throttle control are connected in series in the second flow path.

[0119] According to such a structure, it is possible to introduce compressed fluid into the first chamber before the second chamber by using a simple structure. Thus, it is possible to make the timing at which the first piston portion starts to move in the first direction earlier than the timing at which the second piston portion starts to move in the second direction.

[0120] While the present application has been described in detail, the present application is not limited to the above-described embodiments. These embodiments can be variously added, substituted, changed, partially deleted, or the like, within a range not departing from the gist of the present application or within a range not departing from the gist of the present application derived from the content recited in the scope of claims and equivalents thereof. In addition, these embodiments can be implemented in combination. For example, in the above-described embodiments, the order of each action, the order of each process, and the like are shown as examples, but are not limited thereto. In addition, the same applies to the case where numerical values or mathematical expressions are used in the description of the above-described embodiments.

Claims

1. A clamp device, characterized by Possessing: a first movable portion and a second movable portion for holding a workpiece; and a cylinder device for bringing the first movable portion and the second movable portion closer to and farther from each other, in a movable direction in which the first movable portion and the second movable portion are brought closer to and farther from each other, the cylinder device is disposed between the first movable portion and the second movable portion, the cylinder device has a cylinder body having a cylinder bore extending in the movable direction, a dimension of the cylinder bore in a width direction of the cylinder device orthogonal to the movable direction is larger than a dimension in a height direction orthogonal to the movable direction and the width direction.

2. The jig device according to claim 1, wherein the cylinder device has: a first piston portion and a second piston portion disposed in the cylinder bore in a slidable manner; a first rod connecting the first piston portion and the first movable portion to each other; and a second rod connecting the second piston portion and the second movable portion to each other, the first piston portion and the second piston portion are arranged in the movable direction.

3. The jig device according to claim 2, wherein a first thrust of the first piston portion in a first direction in which the first movable portion approaches the second movable portion is larger than a second thrust of the second piston portion in a second direction in which the second movable portion approaches the first movable portion.

4. The jig device according to claim 3, wherein the first piston portion has a first pressure receiving surface pressed by a compressed fluid in the first direction, the second piston portion has a second pressure receiving surface pressed by a compressed fluid in the second direction, an area of the first pressure receiving surface is larger than an area of the second pressure receiving surface.

5. The jig device according to claim 4, wherein an intermediate wall portion separating the cylinder bore in an axial direction of the cylinder body is attached to the cylinder body, the first rod penetrates the intermediate wall portion, the first piston portion includes: an inner piston attached to the first rod in a state of being positioned between the intermediate wall portion and the second piston portion; and an outer piston attached to the first rod in a state of being positioned in an opposite direction of the inner piston with respect to the intermediate wall portion.

6. The jig device according to claim 4, wherein an outer diameter of the first rod is formed to be smaller than an outer diameter of the second rod so that the area of the first pressure receiving surface is larger than the area of the second pressure receiving surface.

7. The jig device according to claim 3, wherein an adjuster attachment portion for attaching an adjuster capable of adjusting a movement limit position of the first direction of the first movable portion in contact with the first movable portion is provided. possessing:

8. The gripper device of claim 2, wherein, a first support portion protruding from the cylinder body toward an opposite direction of the second movable portion; a first guide portion provided to the first support portion and guiding the first movable portion; ​ a second support portion that protrudes from the cylinder body in a direction opposite to the first movable portion; and a second guide portion that is provided to the second support portion and guides the second movable portion, the first support portion, the cylinder body, and the second support portion are an integral product.

9. The clamp device according to claim 8, wherein ports for supplying a compressed fluid for driving the cylinder device are respectively opened at an outer surface of the first support portion and an outer surface of the second support portion.

10. A clamp system characterized in that, provided with: the clamp device according to any one of claims 3 to 9; and a fluid circuit for supplying a compressed fluid for driving the cylinder device to the clamp device.

11. The clamp system according to claim 10, wherein the cylinder device has a first chamber and a second chamber, by introducing a compressed fluid into the first chamber, the first piston portion is pressed in a first direction in which the first movable portion approaches the second movable portion, by introducing a compressed fluid into the second chamber, the second piston portion is pressed in a second direction in which the second movable portion approaches the first movable portion, the fluid circuit is provided with: a first flow path that communicates with the first chamber; and a second flow path that communicates with the second chamber, a first flow control valve that performs outlet throttle control is provided in the first flow path, a second flow control valve that performs inlet throttle control and a third flow control valve that performs outlet throttle control are connected in series in the second flow path.

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