Gripping device

Abstract

To provide a gripping device capable of stably moving an output member.SOLUTION: A gripping device includes: an output member 3; a first claw member 16; a second claw member 17; a first pin member 22 which is provided in the first claw member 16, and is arranged in a first wedge groove 12 formed in an output member body part 4 of the output member 3; a second pin member 26 which is provided in the second claw member 17, and is arranged in a second wedge groove 13 formed in the output member body part 4; and an output part guide member 9 which is fixed to a housing 1, an is arranged in an output part guide groove 8 formed at an end in an axial direction of the output member body part 4.SELECTED DRAWING: Figure 1A

Description

[Technical field]

[0001] The present invention relates to a gripping device that clamps and fixes a component such as a workpiece. [Background technology]

[0002] An example of this type of device is the gripper described in Patent Document 1. This gripper includes an actuator fixed to a fluid piston. This actuator moves two flanges in opposite directions. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2001-260066 A Summary of the Invention [Problem to be solved by the invention]

[0004] The actuator is fixed at one end to the rod tip of the fluid piston. When the actuator presses the flange, a reaction force acts on the actuator from the flange, and a moment (a force that tries to rotate the actuator) acts on the actuator. This moment prevents the fluid piston from moving axially in a stable manner.

[0005] An object of the present invention is to provide a gripping device that can stably move an output member. [Means for solving the problem]

[0006] In order to achieve the above object, the gripping device disclosed in the present application is configured as follows, for example, as shown in FIGS. 1A to 4B.

[0007] (1) The gripping device includes a housing 1, an output member 3 arranged in a hole 2 formed in the housing 1 so as to be movable in the axial direction of the hole 2, a first claw member 16 arranged on a side of the output member 3, the first claw member 16 arranged in a first groove 18 formed in the housing 1 so as to be movable in a direction intersecting the axial direction, a second claw member 17 arranged on a side of the output member 3, the second claw member 17 arranged in a second groove 19 formed in the housing 1 so as to be movable in a direction intersecting the axial direction, and a gripping device for gripping the first claw member 16. The actuator includes a first pin member 22 provided on a claw member 16 and disposed in a first wedge groove 12 formed in an output member body portion 4 of the output member 3, a second pin member 26 provided on the second claw member 17 and disposed in a second wedge groove 13 formed in the output member body portion 4, an output section guide member 9 fixed to the housing 1 and disposed in an output section guide groove 8 formed at an end portion in the axial direction of the output member body portion 4, and a driving means D for moving the output member 3 in the axial direction. By moving the output member 3 in the axial direction, the wedge surface 12a or 12b of the first wedge groove 12 pushes the first pin member 22, and the wedge surface 13a or 13b of the second wedge groove 13 pushes the second pin member 26, so that the first claw member 16 and the second claw member 17 move in different directions from each other.

[0008] The gripping device disclosed in the present application has the following operational effects. The output member moves in the axial direction while being supported (guided) by the output guide member. Therefore, when the output member moves each claw member, the force (moment) that tries to rotate the output member is received by the output guide member. Therefore, with this gripping device, the output member can be moved more stably than before.

[0009] (2) In the holding device of (1) above, the driving means D may include an operating part 5 of the output member 3 provided on the opposite side of the output part guide groove 8 in the axial direction of the output member 3, the operating part 5 being supported by the inner surface of the hole 2 and protruding outward from the hole 2, and a spring 6 disposed in a cylindrical hole 5a formed in the operating part 5 and biasing the output member 3 in the opposite direction to the direction in which the operating part 5 is pushed into the hole 2.

[0010] According to this configuration, the output member (output member main body) can be driven without using a pressure fluid such as compressed air or pressure oil.

[0011] (3) In the gripping device of (2) above, the spring 6 may be received by the output portion guide member 9.

[0012] According to this configuration, the number of parts constituting the gripping device can be reduced.

[0013] (4) In any of the gripping devices described above in (1) to (3), an end of the first pin member 22 may be disposed in a first guide groove 24 formed on the inner surface of the first groove 18. Also, an end of the second pin member 26 may be disposed in a second guide groove 28 formed on the inner surface of the second groove 19.

[0014] With this configuration, the movement of each of the claw members is stabilized.

[0015] (5) The gripping device of (4) above may further include a first auxiliary pin member 30 provided on the first claw member 16, and a second auxiliary pin member 32 provided on the second claw member 17. In addition, an end of the first auxiliary pin member 30 may be disposed in the first guide groove 24, and an end of the second auxiliary pin member 32 may be disposed in the second guide groove 28.

[0016] With this configuration, the movement of each of the claw members becomes more stable.

[0017] (6) In any of the gripping devices described above in (1) to (5), a first wedge groove rolling bearing 23 may be disposed between the first pin member 22 and the first wedge groove 12. In addition, a second wedge groove rolling bearing 27 may be disposed between the second pin member 26 and the second wedge groove 13.

[0018] With this configuration, the movement of each of the claw members becomes more stable.

[0019] (7) In the gripping device of (4) above, an end of the first pin member 22 may be disposed in the first guide groove 24 via a first rolling bearing 25. Also, an end of the second pin member 26 may be disposed in the second guide groove 28 via a second rolling bearing 29.

[0020] With this configuration, the movement of each of the claw members becomes more stable.

[0021] (8) In the gripping device of (5) above, an end of the first auxiliary pin member 30 may be disposed in the first guide groove 24 via a first auxiliary rolling bearing 31. Also, an end of the second auxiliary pin member 32 may be disposed in the second guide groove 28 via a second auxiliary rolling bearing 33.

[0022] With this configuration, the movement of each of the claw members becomes more stable. Effect of the Invention

[0023] According to the present invention, it is possible to provide a gripping device capable of stably moving an output member. [Brief description of the drawings]

[0024] [Figure 1A] FIG. 1A shows the first embodiment, and is a diagram illustrating a state in which no external force is acting on an operation unit of a gripping device, and is a cross-sectional view taken along line AA in FIG. 1B. [Figure 1B] FIG. 1B is a cross-sectional view taken along line BB of FIG. 1A. [Figure 1C] FIG. 1C is a left side view of the gripping device shown in FIGS. 1A and 1B. [Diagram 2] FIG. 2 is a diagram showing a state in which the operating portion is pushed into the housing in the gripping device shown in FIGS. 1A to 1C, and corresponds to FIG. 1A. [Diagram 3] FIG. 3 is a view corresponding to FIG. 1A, illustrating the gripping device shown in FIGS. 1A to 1C in a locked state. [Figure 4A] FIG. 4A shows the second embodiment, and is a diagram illustrating a state in which no external force is acting on an operation unit of a gripping device, and is a cross-sectional view taken along line AA of FIG. 4B. [Figure 4B] FIG. 4B is a cross-sectional view taken along line BB in FIG. 4A, and corresponds to FIG. 1A showing the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] 1A to 3 show a first embodiment. First, the configuration of the gripping device of the first embodiment will be described.

[0026] A base plate BP is fixed to a table (not shown) of a machine tool or the like, and a housing 1 is fixed to the base plate BP.

[0027] An output member 3 is disposed in a hole 2 formed in the center of the housing 1. The output member 3 is disposed so as to be movable in the axial direction of the hole 2. The hole 2 is composed of a first hole 2a, a second hole 2b, and a third hole 2c, which are coaxial with one another. The first hole 2a, the second hole 2b, and the third hole 2c are disposed in this order from the bottom side of the housing 1. The first hole 2a is a circular hole, and is the smallest hole among the first hole 2a to the third hole 2c.

[0028] The output member 3 is composed of an output member main body 4 and an operating part 5. The operating part 5 is cylindrical with a bottom, supported by the inner surface of the first hole 2a, and protrudes from the first hole 2a to the outside of the housing 1. A spring 6 is disposed in a cylindrical hole 5a formed in the operating part 5. When the operating part 5 is pushed into the first hole 2a by a member 100 (see FIG. 2) or the like, the output member 3 rises. The spring 6 biases the output member 3 in the direction opposite to the direction in which the operating part 5 is pushed into the first hole 2a. When no external force is acting on the operating part 5, the output member 3 descends due to the biasing force of the spring 6. The cylindrical hole 5a extends into the output member main body 4 and penetrates the output member main body 4. A spring receiving member 7 is disposed in the cylindrical hole 5a. One end of the spring 6 abuts against a flange portion 7a of the spring receiving member 7, and the other end of the spring 6 abuts against the bottom surface of the cylindrical hole 5a.

[0029] A U-shaped output section guide groove 8 is provided at the axial end of the output member main body 4 (the end opposite to the operation unit 5). As shown in FIG. 1B, two output section guide grooves 8 (one set) are provided on the output member main body 4. An output section guide member 9 is disposed in these output section guide grooves 8. The output section guide member 9 is a cylindrical (pin-shaped) member, and is composed of a small diameter columnar portion 9a and large diameter columnar portions 9b on both sides thereof. The large diameter columnar portions 9b are inserted into holes 1a formed in the housing 1, and thus the output section guide member 9 is attached to the housing 1. The spring 6 is received by the small diameter columnar portion 9a of the output section guide member 9 via the spring receiving member 7. The spring 6 and the operation unit 5 constitute a driving means D for moving the output member 3 in the axial direction of the hole 2. The spring 6 urges the spring receiving member 7 upward, so that the spring receiving member 7 fits into the small diameter columnar portion 9a. As a result, the output portion guide member 9 is prevented from coming off the hole 1a (fixed to the housing 1).

[0030] The output member main body 4 has a first plate portion 10 and a second plate portion 11 on its outer periphery. The first plate portion 10 and the second plate portion 11 are provided at a phase difference of 180° from each other in the circumferential direction of the output member main body 4. A U-shaped first wedge groove 12 is provided on the side surface of the first plate portion 10. The first wedge groove 12 is inclined with respect to the axial direction of the hole 2. The first wedge groove 12 is inclined with respect to the axial direction of the hole 2 in a direction away from the central axis of the operation unit 5 toward the lower end of the first plate portion 10. In addition, a U-shaped second wedge groove 13 is provided on the side surface of the second plate portion 11. The second wedge groove 13 is also inclined with respect to the axial direction of the hole 2. The second wedge groove 13 is also inclined with respect to the axial direction of the hole 2 in a direction away from the central axis of the operation unit 5 toward the lower end of the second plate portion 11. The first wedge groove 12 and the second wedge groove 13 have the same inclination angle with respect to the axial direction of the hole 2. The first wedge groove 12 is provided in the first plate portion 10, and the second wedge groove 13 is provided in the second plate portion 11 so that the first wedge groove 12 and the second wedge groove 13 are symmetrical with respect to the axial center of the hole 2. The first plate portion 10 and the second plate portion 11 are formed to protrude radially from the output member main body portion 4 so that the first plate portion 10 and the second plate portion 11 are symmetrical with respect to the axial center of the hole 2. When the output member 3 is moved in the vertical direction, the first claw member 16 and the second claw member 17 are simultaneously moved by the same distance in the directions facing each other in the horizontal plane (within the same plane). The first plate portion 10 and the second plate portion 11 have the same shape and dimensions.

[0031] A stopper portion 14 is provided on the output member main body 4 at the boundary between the output member main body 4 and the operation portion 5. When no external force is acting on the operation portion 5 and when the workpiece W to be gripped is not present, the output member 3 is lowered by the biasing force of the spring 6, and the stopper portion 14 of the output member main body 4 hits the step surface 15 between the first hole 2a and the second hole 2b, as shown in Fig. 1A. This causes the output member 3 biased by the spring 6 to stop.

[0032] The hole 2 in which the output member 3 is disposed is covered with a lid member 20. The lid member 20 is fixed to the housing 1 with screws 21. The lid member 20 is intended to prevent dust and the like from entering the hole 2. The lid member 20 also functions as a platform for placing the workpiece W. The lid member 20 may be omitted.

[0033] Two claw members, a first claw member 16 and a second claw member 17, are arranged on the sides of the output member main body 4. The first claw member 16 and the second claw member 17 are arranged with a phase difference of 180° from each other in the circumferential direction of the output member 3. The first claw member 16 and the second claw member 17 have the same shape and dimensions.

[0034] The first claw member 16 is disposed in a first groove 18 formed in the housing 1. The first claw member 16 is disposed so as to be movable in a direction intersecting the axial direction of the hole 2. The second claw member 17 is disposed in a second groove 19 formed in the housing 1. The second claw member 17 is disposed so as to be movable in a direction intersecting the axial direction of the hole 2.

[0035] The first groove 18 is formed on one side of the hole 2 in the housing 1, and the second groove 19 is formed on the other side of the hole 2. The first groove 18, the hole 2, and the second groove 19 are in communication with each other. The first groove 18 and the second groove 19 are arranged in a straight line. In this embodiment, the axial direction of the hole 2 and the direction in which the first groove 18 and the second groove 19 extend are perpendicular to each other.

[0036] The first plate portion 10 of the output member main body 4 is disposed in a recess 16a formed in a side portion of the first claw member 16. Similarly, the second plate portion 11 of the output member main body 4 is disposed in a recess 17a formed in a side portion of the second claw member 17.

[0037] A first pin member 22 is provided on the first claw member 16. The first pin member 22 is inserted into holes 16b formed on both sides of the recess 16a of the first claw member 16. The first pin member 22 is inserted into the hole 16b to such an extent that the first pin member 22 does not rotate. In other words, the first pin member 22 is fixed in the hole 16b to such an extent that there is no rattling. The first pin member 22 may rotate.

[0038] The first pin member 22 is disposed in the first wedge groove 12 of the first plate portion 10. As shown in FIG. 1A and other figures, a rolling bearing 23 (first wedge groove rolling bearing) is disposed between the first pin member 22 and the first wedge groove 12. The rolling bearing 23 may be omitted. In this case, the groove width of the first wedge groove 12 and the diameter of the first pin member 22 at the portion where the first pin member 22 and the first wedge groove 12 come into contact are made to be approximately the same.

[0039] A first guide groove 24 is formed on each of the opposing side walls of the first groove 18 formed in the housing 1. The first guide groove 24 is formed on the bottom side of the first groove 18. An end of the first pin member 22 is disposed in this first guide groove 24. The end of the first pin member 22 is disposed in the first guide groove 24 via a rolling bearing 25 (first rolling bearing). The rolling bearing 25 may be omitted. In this case, the groove width of the first guide groove 24 and the diameter of the end of the first pin member 22 are made to be approximately the same.

[0040] Similar to the first claw member 16, the second claw member 17 is provided with a second pin member 26. The second pin member 26 is inserted into holes (not shown) formed on both sides of the recess 17a of the second claw member 17. The second pin member 26 is inserted into the above-mentioned hole to such an extent that the second pin member 26 does not rotate. In other words, the second pin member 26 is fixed into the above-mentioned hole to such an extent that there is no rattling. The second pin member 26 may rotate.

[0041] The second pin member 26 is disposed in the second wedge groove 13 of the second plate portion 11. As shown in FIG. 1A and other figures, a rolling bearing 27 (second wedge groove rolling bearing) is disposed between the second pin member 26 and the second wedge groove 13. The rolling bearing 27 may be omitted. In this case, the groove width of the second wedge groove 13 and the diameter of the second pin member 26 at the portion where the second pin member 26 and the second wedge groove 13 come into contact are made to be approximately the same.

[0042] A second guide groove 28 is formed on each of the opposing side walls of the second groove 19 formed in the housing 1. The second guide groove 28 is formed on the bottom side of the second groove 19. An end of the second pin member 26 is disposed in this second guide groove 28. The end of the second pin member 26 is disposed in the second guide groove 28 via a rolling bearing 29 (second rolling bearing). The rolling bearing 29 may be omitted. In this case, the groove width of the second guide groove 28 and the diameter of the end of the second pin member 26 are made to be approximately the same.

[0043] Further, a first auxiliary pin member 30 is provided on the first claw member 16. The first auxiliary pin member 30 is inserted into a hole 16c formed in the first claw member 16. The first auxiliary pin member 30 is inserted into the hole 16c to such an extent that the first auxiliary pin member 30 does not rotate. In other words, the first auxiliary pin member 30 is fixed in the hole 16c to such an extent that there is no rattling. The first auxiliary pin member 30 may rotate.

[0044] The end of the first auxiliary pin member 30 is disposed in the first guide groove 24, similarly to the first pin member 22. The end of the first auxiliary pin member 30 is disposed in the first guide groove 24 via a rolling bearing 31 (first auxiliary rolling bearing). Note that the rolling bearing 31 may be omitted. In this case, the groove width of the first guide groove 24 and the diameter of the end of the first auxiliary pin member 30 are made approximately the same.

[0045] Similar to the first claw member 16, the second claw member 17 is provided with a second auxiliary pin member 32. The second auxiliary pin member 32 is inserted into a hole (not shown) formed in the second claw member 17. The second auxiliary pin member 32 is inserted into the hole to such an extent that the second auxiliary pin member 32 does not rotate. In other words, the second auxiliary pin member 32 is fixed into the hole to such an extent that there is no rattling. The second auxiliary pin member 32 may rotate.

[0046] The end of the second auxiliary pin member 32 is disposed in the second guide groove 28, similarly to the case of the second pin member 26. The end of the second auxiliary pin member 32 is disposed in the second guide groove 28 via a rolling bearing 33 (second auxiliary rolling bearing). It should be noted that the rolling bearing 33 may be omitted. In this case, the groove width of the second guide groove 28 and the diameter of the end of the second auxiliary pin member 32 are made approximately the same.

[0047] The gripping device having the above configuration operates as follows.

[0048] In the state shown in FIG. 1A where the workpiece W is not present and no external force is acting on the operation portion 5 of the output member 3, the output member 3 is lowered to the lower limit position by the biasing force of the spring 6. The lower limit position of the output member 3 is the position of the output member 3 in a state where the stopper portion 14 of the output member main body portion 4 hits the step surface 15 between the first hole 2a and the second hole 2b. At this time, the wedge surface 12a of the first wedge groove 12 presses the first pin member 22 toward the center of the output member 3 via the rolling bearing 23, and the wedge surface 13a of the second wedge groove 13 presses the second pin member 26 toward the center of the output member 3 via the rolling bearing 27. Therefore, the first claw member 16 and the second claw member 17 move toward the center of the housing 1, and the gap between the first claw member 16 and the second claw member 17 is narrowest. The wedge surface 12 a refers to the wall surface of the first wedge groove 12 , and the wedge surface 13 a refers to the wall surface of the second wedge groove 13 .

[0049] When the workpiece W is gripped by the first claw member 16 and the second claw member 17, as shown in FIG. 2, first, the member 100 is raised, and the operating part 5 is pushed into the hole 2 of the housing 1 against the biasing force of the spring 6. This causes the output member 3 to rise (move upward in the axial direction of the hole 2). As the output member 3 rises, the wedge surface 12b of the first wedge groove 12 pushes the first pin member 22 toward the side of the output member 3 via the rolling bearing 23, and the wedge surface 13b of the second wedge groove 13 pushes the second pin member 26 toward the side of the output member 3 via the rolling bearing 27. The first claw member 16 and the second claw member 17 move in opposite directions, and the gap between the first claw member 16 and the second claw member 17 widens. The wedge surface 12b is the wall surface of the first wedge groove 12, and is the surface facing the wedge surface 12a. The wedge surface 13b is a wall surface of the second wedge groove 13, and is the surface facing the wedge surface 13a.

[0050] With the gap between the first claw member 16 and the second claw member 17 widened, the workpiece W is placed on the cover member 20. After that, the member 100 is lowered to release the external force acting on the operation unit 5. When the external force is released, the output member 3 is lowered by the biasing force of the spring 6 (moves downward in the axial direction of the hole 2). As the output member 3 is lowered, the wedge surface 12a of the first wedge groove 12 pushes the first pin member 22 toward the center of the output member 3 via the rolling bearing 23, and the wedge surface 13a of the second wedge groove 13 pushes the second pin member 26 toward the center of the output member 3 via the rolling bearing 27. As a result, the first claw member 16 and the second claw member 17 move in a direction approaching each other, and the workpiece W is gripped by the first claw member 16 and the second claw member 17 as shown in FIG. 3. At this time, a gap exists between the stopper portion 14 of the output member main body portion 4 and the step surface 15, and the workpiece W is securely gripped by the biasing force of the spring 6.

[0051] When releasing the grip of the workpiece W, the member 100 is raised to push the operating part 5 into the hole 2 of the housing 1, and the output member 3 is raised. This causes the first claw member 16 and the second claw member 17 to move in opposite directions, widening the gap between the first claw member 16 and the second claw member 17. As a result, the workpiece W can be removed from between the first claw member 16 and the second claw member 17.

[0052] The gripping device of the above embodiment has the following advantages.

[0053] An output section guide groove 8 is formed at an axial end of an output section main body 4 constituting the output section 3. The gripping device has an output section guide member 9 arranged in this output section guide groove 8. The output section guide member 9 is fixed to the housing 1. According to this configuration, the output section 3 moves in the axial direction while being supported (guided) by the output section guide member 9. Therefore, when the output section 3 pushes and moves each of the claw members via the pin members, a force (moment) acting on the output section 3 to rotate the output section 3 is received by the output section guide member 9 fixed to the housing 1. Therefore, the output section 3 can be moved in the axial direction more stably than before.

[0054] The drive means D of the output member 3 is composed of an operating part 5 that protrudes outward from a hole 2 formed in the housing 1, and a spring 6 arranged inside the operating part 5 (output member 3). With this configuration, the output member 3 (output member main body part 4) can be driven without using a pressure fluid such as compressed air or pressure oil. Therefore, the gripping device of the above embodiment does not require a pressure fluid supply source. This makes it possible to reduce the cost of the entire facility. Note that the operating part 5 is not limited to being driven by an object such as the member 100. The operating part 5 may also be driven by pressing it with a finger or the like.

[0055] The spring 6 is received by an output guide member 9 fixed to the housing 1. The main role of the output guide member 9 is to receive the moment acting on the output member 3. A separate member may be used to receive the elastic force of the spring 6, but the output guide member 9 also serves to receive the elastic force of the spring 6. By configuring the output guide member 9 to receive the elastic force of the spring 6, the number of parts constituting the gripping device can be reduced. In addition, the spring receiving member 7 biased by the spring 6 fits into the small diameter columnar portion 9a of the output guide member 9, thereby preventing the output guide member 9 from falling out of the hole 1a of the housing 1.

[0056] An end of the first pin member 22 is disposed in a first guide groove 24 formed on the inner surface of the first groove 18 of the housing 1. An end of the second pin member 26 is disposed in a second guide groove 28 formed on the inner surface of the second groove 19 of the housing 1. The first guide groove 24 serves as a guide for the first pin member 22 when it moves, and the second groove 19 serves as a guide for the second pin member 26 when it moves. Therefore, the movements of the first claw member 16 and the second claw member 17 are stabilized.

[0057] The first claw member 16 is provided with a first auxiliary pin member 30 in addition to the first pin member 22. The second claw member 17 is provided with a second auxiliary pin member 32 in addition to the second pin member 26. Each of the first claw member 16 and the second claw member 17 is provided with a travel means constituted by two pin members, so that the movement of the first claw member 16 and the second claw member 17 becomes more stable.

[0058] A rolling bearing 23 is disposed between the first pin member 22 and the first wedge groove 12. A rolling bearing 27 is disposed between the second pin member 26 and the second wedge groove 13. This configuration can reduce the frictional force between the first pin member 22 and the first wedge groove 12 and between the second pin member 26 and the second wedge groove 13, and can increase the efficiency of force transmission from the output member 3 to the first claw member 16 and the efficiency of force transmission from the output member 3 to the second claw member 17. As a result, the movement of the first claw member 16 and the second claw member 17 becomes more stable.

[0059] An end of the first pin member 22 is disposed in the first guide groove 24 via a rolling bearing 25. An end of the second pin member 26 is disposed in the second guide groove 28 via a rolling bearing 29. With this configuration, the frictional force between the first pin member 22 and the first guide groove 24 and the frictional force between the second pin member 26 and the second guide groove 28 can be reduced, making the movement of the first claw member 16 and the second claw member 17 more stable.

[0060] The same is true for the first auxiliary pin member 30 and the second auxiliary pin member 32; by interposing the rolling bearings 31 and 33, the frictional force can be reduced and the movement of the first claw member 16 and the second claw member 17 becomes more stable.

[0061] 4A and 4B show a second embodiment. In the gripping device of the second embodiment, the same components as those of the first embodiment or components similar in function to those of the first embodiment are denoted by the same reference numerals. In the description of the second embodiment, the description of the configurations common to or similar to those of the first embodiment will be omitted as appropriate.

[0062] The housing 1 of the first embodiment has a rectangular shape in plan view as shown in Fig. 1B, whereas the housing 1 of the second embodiment has a circular shape in plan view as shown in Fig. 4A.

[0063] The gripping device of the first embodiment has two claw members, a first claw member 16 and a second claw member 17. In contrast, the gripping device of the second embodiment has three claw members, a first claw member 16, a second claw member 17, and a third claw member 34. The claw members 16, 17, and 34 are arranged at a phase difference of 120° from each other in the circumferential direction of the output member 3 (evenly arranged). The claw members 16, 17, and 34 all have the same shape and dimensions. The gripping device of the first embodiment is a device that grips the workpiece W from two directions. The gripping device of the second embodiment is a device that grips the workpiece W from three directions.

[0064] The third claw member 34 is disposed in a third groove 39 formed in the housing 1. The third groove 39 corresponds to the first groove 18 and the second groove 19.

[0065] The output member main body 4 (output member 3) of the second embodiment has a third plate portion 35 on its outer periphery in addition to the first plate portion 10 and the second plate portion 11. The third plate portion 35 corresponds to the third claw member 34. The plate portions 10, 11, 35 are arranged at a phase difference of 120° from each other in the circumferential direction of the output member 3 (arranged evenly). The plate portions 10, 11, 35 are all the same in shape and size.

[0066] The third claw member 34 is provided with a third pin member 36 and a third auxiliary pin member 37. The third pin member 36 corresponds to the first pin member 22 and the second pin member 26. The third auxiliary pin member 37 corresponds to the first auxiliary pin member 30 and the second auxiliary pin member 32.

[0067] A rolling bearing 38 (third wedge groove rolling bearing) is disposed in the longitudinal center of the third pin member 36. The rolling bearing 38 corresponds to the rolling bearing 23 (first wedge groove rolling bearing) and the rolling bearing 27 (second wedge groove rolling bearing).

[0068] A third guide groove 40 is formed on each of the opposing side walls of the third groove 39 formed in the housing 1. The third guide groove 40 corresponds to the first guide groove 24 and the second guide groove .

[0069] An end of the third pin member 36 is disposed in the third guide groove 40 via a rolling bearing 41 (third rolling bearing). The rolling bearing 41 corresponds to the rolling bearing 25 (first rolling bearing) and the rolling bearing 29 (second rolling bearing).

[0070] An end of the third auxiliary pin member 37 is disposed in the third guide groove 40 via a rolling bearing 42 (third auxiliary rolling bearing). The rolling bearing 42 corresponds to the rolling bearing 31 (first auxiliary rolling bearing) and the rolling bearing 33 (second auxiliary rolling bearing).

[0071] The output unit guide member 9 of the second embodiment is composed of a lid portion 9b that covers the hole 2 and a columnar portion 9a that protrudes from the lid portion 9b toward the inside of the housing 1. The output unit guide member 9 is fixed to the housing 1 at the lid portion 9b with a screw 21. As shown in FIG. 4B, in the second embodiment, the end portion of the cylindrical hole 5a on the open end side of the output member main body portion 4 becomes the output unit guide groove 8. The columnar portion 9a is slidably disposed in this output unit guide groove 8. The spring 6 is received by the columnar portion 9a of the output unit guide member 9 via the spring receiving member 7. In the gripping device of the first embodiment, the output unit guide member 9 of the second embodiment may be used instead of the pin-shaped output unit guide member 9 of the first embodiment.

[0072] The operation of the gripping device of the second embodiment is similar to that of the gripping device of the first embodiment, and therefore the description thereof will be omitted.

[0073] The gripping device of the second embodiment has the following advantages in particular.

[0074] As in the first embodiment, an output section guide groove 8 is formed at an axial end of an output section main body 4 constituting the output section 3. The gripping device has an output section guide member 9 disposed in this output section guide groove 8. The output section guide member 9 is fixed to the housing 1. According to this configuration, the output section 3 moves in the axial direction while being supported (guided) by the output section guide member 9. Therefore, when the output section 3 pushes each of the claw members to move it, a force (moment) acting as a reaction force to rotate the output section 3 is received by the output section guide member 9 fixed to the housing 1. Therefore, the output section 3 can be moved in the axial direction more stably than before.

[0075] The output unit guide member 9 of the second embodiment, in addition to the role played by the output unit guide member 9 of the first embodiment, further plays a role of covering the hole 2 to prevent dust and the like from entering the hole 2. Therefore, the number of parts constituting the gripping device can be reduced.

[0076] The present invention is not limited to the above-described embodiments, and it is possible to combine elements of the above-described embodiments as appropriate and to make various modifications to the above-described embodiments without departing from the spirit of the present invention.

[0077] For example, the above embodiment can be modified as follows.

[0078] The fixed base to which the gripping device is fixed is not limited to the base plate BP fixed to the table of the machine tool, and may be another fixed base.

[0079] The object to be grasped is not limited to the workpiece W, but may be a work pallet, a mold, etc.

[0080] The gripping device may be equipped with four or more claw members, i.e., the device may grip an object to be gripped from four or more directions.

[0081] In the gripping device of the second embodiment, the first claw member 16, the second claw member 17, and the third claw member 34 are arranged at equal intervals in a plan view on the housing 1, but are not limited to this. The arrangement of the first claw member 16, the second claw member 17, and the third claw member 34 does not have to be at equal intervals, i.e., even.

[0082] The installation orientation of the gripping device is not limited to the vertical orientation as in the above embodiment, and may be a horizontal orientation or an oblique orientation. [Explanation of symbols]

[0083] 1: housing, 2: hole, 3: output member, 4: output member main body, 5: operation portion, 5a: tube hole, 6: spring, 8: output portion guide groove, 9: output portion guide member, 12: first wedge groove, 12a: wedge surface, 12b: wedge surface, 13: second wedge groove, 13a: wedge surface, 13b: wedge surface, 16: first claw member, 17: second claw member, 18: first groove, 19: second groove, 22: first pin member, 23: rolling bearing (first wedge groove rolling bearing), 24: first guide groove, 25: rolling bearing (first rolling bearing), 26: second pin member, 27: rolling bearing (second wedge groove rolling bearing), 28: second guide groove, 29: rolling bearing (second rolling bearing), 30: first auxiliary pin member, 31: rolling bearing (first auxiliary rolling bearing), 32: second auxiliary pin member, 33: rolling bearing (second auxiliary rolling bearing), D: driving means

Claims

1. A housing (1); an output member (3) disposed in a hole (2) formed in the housing (1) so as to be movable in an axial direction of the hole (2); a first claw member (16) disposed on a side of the output member (3), the first claw member (16) being disposed in a first groove (18) formed in the housing (1) so as to be movable in a direction intersecting the axial direction; a second claw member (17) disposed on a side of the output member (3) and disposed in a second groove (19) formed in the housing (1) so as to be movable in a direction intersecting the axial direction; a first pin member (22) provided on the first claw member (16), the first pin member (22) being disposed in a first wedge groove (12) formed in an output member main body portion (4) of the output member (3); a second pin member (26) provided on the second claw member (17), the second pin member (26) being disposed in a second wedge groove (13) formed in the output member main body portion (4); an output guide member (9) fixed to the housing (1), the output guide member (9) being disposed in an output guide groove (8) formed at an end of the output member main body portion (4) in the axial direction; a driving means (D) for moving the output member (3) in the axial direction; Equipped with By moving the output member (3) in the axial direction, the wedge surface (12a or 12b) of the first wedge groove (12) pushes the first pin member (22), and the wedge surface (13a or 13b) of the second wedge groove (13) pushes the second pin member (26), so that the first claw member (16) and the second claw member (17) move in different directions from each other. gripping device.

2. The gripping device of claim 1, The driving means (D) an operation portion (5) of the output member (3) provided on the output member (3) on the opposite side to the output portion guide groove (8) in the axial direction, the operation portion (5) being supported by an inner surface of the hole (2) and protruding outward from the hole (2); a spring (6) disposed in a cylindrical hole (5a) formed in the operating portion (5) and biasing the output member (3) in a direction opposite to a direction in which the operating portion (5) is pushed into the hole (2); having gripping device.

3. The gripping device according to claim 2, The spring (6) is received by the output portion guide member (9). gripping device.

4. In the gripping device according to any one of claims 1 to 3, An end of the first pin member (22) is disposed in a first guide groove (24) formed on the inner surface of the first groove (18), An end of the second pin member (26) is disposed in a second guide groove (28) formed on the inner surface of the second groove (19). gripping device.

5. The gripping device according to claim 4, The locking mechanism further includes a first auxiliary pin member (30) provided on the first claw member (16) and a second auxiliary pin member (32) provided on the second claw member (17), An end of the first auxiliary pin member (30) is disposed in the first guide groove (24), and an end of the second auxiliary pin member (32) is disposed in the second guide groove (28). gripping device.

6. In the gripping device according to any one of claims 1 to 3, A first wedge groove rolling bearing (23) is disposed between the first pin member (22) and the first wedge groove (12), A second wedge groove rolling bearing (27) is disposed between the second pin member (26) and the second wedge groove (13). gripping device.

7. The gripping device according to claim 4, An end of the first pin member (22) is disposed in the first guide groove (24) via a first rolling bearing (25), An end portion of the second pin member (26) is disposed in the second guide groove (28) via a second rolling bearing (29). gripping device.

8. The gripping device according to claim 5, An end of the first auxiliary pin member (30) is disposed in the first guide groove (24) via a first auxiliary rolling bearing (31), An end of the second auxiliary pin member (32) is disposed in the second guide groove (28) via a second auxiliary rolling bearing (33). gripping device.

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