Chuck device and loader device

Abstract

To stably grip an object while greatly securing a movement stroke of a claw part.SOLUTION: A chuck device comprises: a sun gear 30 which is provided in a drive shaft 20 and rotates around a central axis AX1; an internal gear 40 which rotates around the central axis AX1 with rotation of the sun gear 30; a plurality of planetary gears 50 which are engaged with the sun gear 30 and revolve around the sun gear 30 while rotating around a prescribed axis AX2 with rotation of the sun gear 30 and internal gear 40; an arm part 60 which is provided in each of the plurality of planetary gears 50 and extends in the direction orthogonal to the prescribed axis AX2 from a base part 61 located in the prescribed axis AX2; and a claw part 70 which extends in the direction in parallel with the central axis AX1 from the tip of the arm part 60. With the circular movement of the base part 61 of the arm part 60 due to the revolution of the planetary gears 50 and the oscillation of the arm part 60 due to the rotation of the planetary gears 50, the claw part 70 is advanced and retracted with respect to the central axis A1.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a chuck device and a loader device.

Background Art

[0002] There is known a chuck device that grips an object by moving a plurality of claw portions forward and backward with respect to a central axis. As such a chuck device, there is a configuration in which a plurality of claw portions are moved forward and backward in a linear direction along the radial direction of the central axis. However, in a configuration in which the claw portions are moved forward and backward in a linear direction, increasing the movement stroke of the claw portions will result in an increase in the size of the entire chuck device. Further, in order to increase the movement stroke of the claw portions, a configuration has been proposed in which the arm portion provided with the claw portions is rotated around a predetermined axis to move the claw portions forward and backward with respect to the central axis (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a configuration in which the claw portions are rotated around a predetermined axis as in the chuck device of Patent Document 1, the movement stroke of the claw portions can be increased without increasing the size of the entire chuck device. However, when the claw portions move, the position of the claw portions in the circumferential direction around the central axis will change. Therefore, when gripping an object with the claw portions, a force may be applied to the object in the rotational direction around the central axis. As a result, the object gripped by the chuck device rotates, and problems such as variations in the posture of the object occur when the object is transferred to, for example, another chuck device.

[0005] An object of the present invention is to provide a chuck device and a loader device that can stably grip an object while ensuring a large movement stroke of a claw portion.

Means for Solving the Problems

[0006] The chuck device according to an aspect of the present invention includes a sun gear provided on a drive shaft and rotating about the central axis, an internal gear rotating about the central axis by the rotation of the sun gear, and a plurality of planetary gears meshing with the sun gear and revolving around the sun gear while rotating about a predetermined axis by the rotation of the sun gear and the internal gear. Each of the plurality of planetary gears is provided with an arm portion extending in a direction orthogonal to the predetermined axis from a base portion located on the predetermined axis, and a claw portion extending in a direction parallel to the central axis from the tip of the arm portion. The claw portion is advanced and retracted with respect to the central axis by the circumferential movement of the base portion of the arm portion due to the revolution of the planetary gear and the swinging of the arm portion due to the rotation of the planetary gear. The lengths of the sun gear, the planetary gears, the internal gear, and the arm portion are respectively set so that the claw portion advances and retracts along the radial direction from the central axis. Also, The chuck device according to an aspect of the present invention includes a sun gear provided on a drive shaft and rotating about a central axis, an internal gear rotating about the central axis by the rotation of the sun gear, and a plurality of planetary gears that mesh with the sun gear and revolve around the sun gear while rotating about a predetermined axis by the rotation of the sun gear and the internal gear. Each of the plurality of planetary gears is provided with an arm portion extending in a direction orthogonal to the predetermined axis from a base portion located on the predetermined axis, and a claw portion extending in a direction parallel to the central axis from the tip of the arm portion. The claw portion is advanced and retracted with respect to the central axis by the circular movement of the base portion of the arm portion due to the revolution of the planetary gear and the swinging of the arm portion due to the rotation of the planetary gear.

[0007] The loader device according to an aspect of the present invention includes the above-described chuck device.

Effects of the Invention

[0008] According to the chuck device and the loader device according to the above aspect, the claw portion is advanced and retracted with respect to the central axis by the circular movement of the base portion of the arm portion due to the revolution of the planetary gear and the swinging of the arm portion due to the rotation of the planetary gear. Therefore, it is possible to suppress fluctuations in the position of the claw portion in the circumferential direction of the central axis while ensuring a large movement stroke of the claw portion. As a result, when the object is gripped by the claw portion, it is possible to prevent the posture of the object from fluctuating by suppressing the application of a rotational force to the object, and to stably grip the object.

[0009] In addition, in the chuck device according to the above aspect, the sun gear, the planetary gear, the internal gear, and the length of the arm portion may be respectively set so that the claw portion moves forward and backward along the radial direction from the central axis. According to this configuration, the claw portion can be reliably moved forward and backward along the radial direction from the central axis. Further, in the chuck device according to the above aspect, each of the plurality of planetary gears may have a shaft portion for forming a predetermined axis fixed to the internal gear and revolve around the sun gear by the rotation of the internal gear. According to this configuration, since the plurality of planetary gears revolve integrally with the rotation of the internal gear, the planetary gears can be reliably revolved with a small number of parts.

[0010] In addition, in the chuck device according to the above aspect, each of the plurality of planetary gears may be arranged so as to mesh with both the sun gear and the internal gear. According to this configuration, since the plurality of planetary gears revolve in conjunction with the rotations of the internal gear and the sun gear, the rotation and revolution of the planetary gears can be reliably performed. Further, in the chuck device according to the above aspect, the internal gear may rotate at a predetermined ratio in the same direction and with a smaller rotation amount than the sun gear with respect to one rotation of the sun gear when the rotation of the drive shaft is transmitted through an idler gear. According to this configuration, by adjusting the rotation amounts of the internal gear and the sun gear by the idler gear, the rotation and revolution of the planetary gears can be easily set.

[0011] In addition, in the chuck device according to the above aspect, the plurality of planetary gears may be arranged at equal intervals around the central axis. According to this configuration, the claw portions can be arranged at equal intervals in the circumferential direction around the central axis. Further, in the chuck device according to the above aspect, the claw portion may be provided in a columnar shape extending in a direction parallel to the central axis. According to this configuration, since the cross section of the claw portion is circular, even when the claw portion rotates around an axis parallel to the central axis when gripping an object with a different outer diameter, the claw portion can be brought into contact with the object at a point on the outer periphery of the claw portion. Therefore, even for objects with different outer diameters, the object can be reliably gripped at a plurality of points by the plurality of claw portions.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Embodiments for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the content described below. In the drawings, for the purpose of explaining the embodiments, the scale is appropriately changed such as enlarging or emphasizing a part, and the shape and dimensions may be different from those of the actual product. In FIG. 13, the directions in the figure are explained using the XYZ coordinate system. In this XYZ coordinate system, a plane parallel to the horizontal plane is defined as the XZ plane. One direction in the XZ plane is denoted as the X direction, and the direction orthogonal to the X direction is denoted as the Z direction. Further, the direction perpendicular to the XZ plane is denoted as the Y direction. Each of the X direction, Y direction, and Z direction is described such that the direction pointed by the arrow in the figure is the + direction, and the direction opposite to the direction pointed by the arrow is the - direction.

[0014] FIG. 1 is a perspective view showing an example of a chuck device 100 according to the first embodiment. As shown in FIG. 1, the chuck device 100 includes a case 10, a drive shaft 20, a sun gear 30, an internal gear 40, a planetary gear 50, an arm portion 60, and a claw portion 70. The case 10 is cylindrical and houses the drive shaft 20, the sun gear 30, the internal gear 40, and the planetary gear 50. The case 10 is attached and fixed to, for example, a loader head 241 (see FIG. 13) of a loader device 240.

[0015] The drive shaft 20 is disposed in a state of passing through the case 10 and is connected to a drive unit (not shown). As the drive unit, for example, a servo motor or the like is used. The drive shaft 20 is relatively rotatable with respect to the case 10 by a bearing (not shown) provided between the drive shaft 20 and the case 10 (see, for example, the bearing 12 of the second embodiment shown in FIG. 10). The drive shaft 20 rotates about the axis of the central axis AX1 by a drive unit (not shown). A transmission gear 21 (see FIG. 2) is attached to the drive shaft 20. Note that the transmission gear 21 will be described later. The transmission gear 21 may also be referred to as a rear-side or back-side sun gear.

[0016] The sun gear 30 is provided at the end of the drive shaft 20. When the drive shaft 20 rotates about the axis of the central axis AX1, the sun gear 30 rotates integrally with the drive shaft 20 about the axis of the central axis AX1. A plurality of teeth are formed on the outer periphery of the sun gear 30. When the drive shaft 20 rotates, the sun gear 30 and the transmission gear 21 described above rotate integrally and at the same rotation amount.

[0017] The internal gear 40 rotates about the axis of the central axis AX1 via the idle gears 81 and 82 described later due to the rotation of the drive shaft 20 (rotation of the transmission gear 21). The internal gear 40 is rotatably supported by the case 10 via the bearing 11 and rotates relative to the case 10. When the rotation of the drive shaft 20 is transmitted to the internal gear 40 via the idle gears 81 and 82, the internal gear 40 rotates in the same direction as the sun gear 30 at a predetermined ratio and at a rotation amount less than that of the sun gear 30 for one rotation of the sun gear 30.

[0018] A plurality of planetary gears 50 are arranged around the axis of the central axis AX1. Each of the plurality of planetary gears 50 is arranged to mesh with the sun gear 30. Each of the planetary gears 50 rotates about its own axis of the predetermined axis AX2 while revolving around the sun gear 30 about the axis of the central axis AX1 due to the rotation of the sun gear 30 and the internal gear 40. Each of the plurality of planetary gears 50 has a shaft portion 51 (see FIG. 3) described later for forming the predetermined axis AX2. The shaft portion 51 is fixed to the internal gear 40. Therefore, when the internal gear 40 rotates, the planetary gear 50 revolves around the sun gear 30 about the axis of the central axis AX1. The configuration of the shaft portion 51 will be described later. Also, the plurality of planetary gears 50 are arranged at equal intervals around the axis of the central axis AX1. For this reason, the claw portions 70 can be arranged at equal intervals in the direction around the axis of the central axis AX1.

[0019] The wrist part 60 is provided on each of the plurality of planetary gears 50. The wrist part 60 is provided so as to extend in a direction orthogonal to the predetermined axis AX2 from a base part 61 located on the predetermined axis AX2. The wrist part 60 is detachable from the planetary gear 50. Further, the direction in which the wrist part 60 extends from the predetermined axis AX2 can be adjusted. In each of the plurality of planetary gears 50, the direction in which the wrist part 60 extends is adjusted to be the same.

[0020] The claw part 70 is provided so as to extend in a direction parallel to the central axis AX1 from the tip 62 of the wrist part 60. The claw part 70 moves forward and backward with respect to the central axis AX1 by the base part 61 of the wrist part 60 revolving around the axis of the central axis AX1 and the wrist part 60 swinging around the predetermined axis AX2. By the plurality of claw parts 70 moving forward and backward simultaneously, the object W is gripped and released. In the present embodiment, the object W is, for example, a columnar object W (refer to FIG. 5) whose outer periphery of the cross section is circular. However, the object W is not limited to being columnar and may have other shapes.

[0021] The claw part 70 is provided in a columnar shape extending in a direction parallel to the central axis AX1. According to the outer diameter of the object W, the revolving position of the base part 61 and the swinging position of the wrist part 60 vary, and accordingly, the portion of the outer peripheral surface of the claw part 70 that abuts against the object W is different. By providing the claw part 70 in a columnar shape as described above, even if the portion of the outer peripheral surface of the claw part 70 that abuts against the object W is different due to the different outer diameter of the object W, the claw part 70 can be brought into contact with the object W in the same state.

[0022] FIG. 2 is a diagram showing a form in which rotation is transmitted from the drive shaft 20 to the internal gear 40 via two idler gears 81 and 82. As described above, when the drive shaft 20 rotates, the transmission gear 21 rotates integrally with the drive shaft 20 about the axis of the central axis AX1. As shown in FIG. 2, the idler gears 81 and 82 are disposed between the transmission gear 21 and the internal gear 40 and transmit the rotation of the transmission gear 21 to the internal gear 40. The transmission gear 21 meshes with the idler gear 81. The idler gear 81 meshes with the idler gear 82. The idler gear 82 meshes with the internal gear 40.

[0023] The idler gear 81 is rotatably supported by a shaft portion 13 provided in the case 10. The idler gear 81 rotates about the axis of the idler shaft AX3 by the shaft portion 13. Similarly, the idler gear 82 is rotatably supported by a shaft portion 14 provided in the case 10. The idler gear 82 rotates about the axis of the idler shaft AX3 by the shaft portion 14. The idler gears 81 and 82 have shaft portions 13 and 14 provided in the case 10, do not revolve about the axis of the central axis AX1, and are fixed in position.

[0024] As shown in FIG. 2, when the drive shaft 20 rotates about the central axis AX1, the idler gears 81 and 82 rotate, and due to the rotation of these idler gears 81 and 82, the internal gear 40 rotates about the axis of the central axis AX1. The rotation direction of the internal gear 40 is the same as the rotation direction of the sun gear 30. By using the two idler gears 81 and 82, the internal gear 40 and the sun gear 30 can be rotated in the same direction. Further, in the present embodiment, each time the sun gear 30 makes one rotation, the internal gear 40 makes 1 / 2 rotation. The rotation amount of the internal gear 40 relative to the rotation amount of the sun gear 30 is set by the number of teeth of the idler gears 81 and 82. That is, in the present embodiment, the number of teeth of the transmission gear 21, the internal gear 40, and the idler gears 81 and 82 are set so that the internal gear 40 makes 1 / 2 rotation each time the sun gear 30 (transmission gear 21) makes one rotation.

[0025] FIG. 3 is a perspective view showing the arrangement of the sun gear 30, the internal gear 40, and the planetary gears 50. As shown in FIG. 3, the shaft portion 51 of the planetary gear 50 is fixed to the internal gear 40, and revolves around the sun gear 30 about the axis of the central axis AX1 due to the rotation of the internal gear 40. According to this configuration, since a plurality of planetary gears 50 revolve integrally with the rotation of the internal gear 40, the planetary gears 50 can be revolved with a small number of parts. Also, as described above, the rotation amounts of the internal gear 40 and the sun gear 30 can be adjusted by the number of teeth of the transmission gear 21, the internal gear 40, and the idler gears 81 and 82. As a result, the rotation and revolution of the planetary gear 50 can be easily set.

[0026] As shown in FIG. 3, when the sun gear 30 and the internal gear 40 rotate, due to the difference in the rotation amounts of the two, each of the plurality of planetary gears 50 revolves around the sun gear 30 about the axis of the central axis AX1 while rotating about the axis of a predetermined axis AX2. In this case, the plurality of planetary gears 50 rotate in a direction opposite to the rotation directions of the sun gear 30 and the internal gear 40. Also, the plurality of planetary gears 50 revolve in the same direction as the rotation directions of the sun gear 30 and the internal gear 40. When the planetary gear 50 revolves, the base portion 61 of the arm portion 60 moves in a circular motion about the axis of the central axis AX1. Further, when the planetary gear 50 rotates, the arm portion 60 swings about the predetermined axis AX2. Due to the circular motion of this base portion 61 and the swinging of the arm portion 60, the claw portion 70 can be advanced and retracted with respect to the central axis AX1.

[0027] The locus along which the claw portion 70 advances and retracts can be set by the number of teeth of the sun gear 30, the number of teeth of the planetary gear 50, the number of teeth of the internal gear 40, the length from the central axis AX1 to the predetermined axis AX2, and the length of the arm portion 60 (the length from the predetermined axis AX2 to the claw portion). In the present embodiment, the claw portion 70 is set to advance and retract linearly along the radial direction from the central axis AX1. With this configuration, a plurality of claw portions 70 can be efficiently opened and closed. Note that the claw portion 70 is not limited to advancing and retracting linearly along the radial direction from the central axis AX1. For example, the claw portion 70 may be offset in a direction deviating from the central axis AX1 and advance and retract linearly, or the claw portion 70 may advance and retract in a curved manner. 。

[0028] FIG. 4 is a view showing a state in which the claw portions 70 are open. As shown in FIG. 4, each of the plurality of claw portions 70 is disposed at an open position P1 away from the object W (or releasing the gripping of the object W). In this case, each of the plurality of planetary gears 50 is in a position in the circumferential direction about the central axis AX1 corresponding to the open position P1 and a rotational state with respect to the predetermined axis AX2. To hold the claw portions 70 at the open position P1, it is possible to do so by holding the rotational position of the sun gear 30 (drive shaft 20). For example, the rotational position of the sun gear 30 can be realized by using a servo motor as a drive source of the drive shaft 20. With the claw portions 70 in the open position P1, the object W can be disposed between the plurality of claw portions 70, and the object W can be gripped by closing the claw portions 70.

[0029] FIG. 5 is a view showing a state in which the claw portions 70 are closed and gripping the object W. As shown in FIG. 5, each of the plurality of claw portions 70 advances from the open position P1 to a gripping position P2 for gripping the object W by rotating the sun gear 30 (drive shaft 20). In this case, each of the plurality of planetary gears 50 is in a position in the circumferential direction about the central axis AX1 corresponding to the gripping position P2 and a rotational state with respect to the predetermined axis AX2. Note that the gripping force by the claw portions 70 can be adjusted by the rotational driving force of the sun gear 30.

[0030] As shown in FIGS. 4 and 5, each of the plurality of claw portions 70 linearly moves forward and backward along the radial direction of the central axis AX1 between the open position P1 and the gripping position P2. The plurality of claw portions 70 move forward and backward in conjunction with the rotation of the sun gear 30 (drive shaft 20), the internal gear 40, and the planetary gear 50. For example, when the drive shaft 20 rotates clockwise in the figure from the state shown in FIG. 4, the sun gear 30 and the internal gear 40 rotate clockwise. Due to this rotation, the plurality of planetary gears 50 revolve clockwise around the sun gear 30 and rotate counterclockwise around the axis of the predetermined axis AX2. By this operation, the base portion 61 of the arm portion 60 moves circumferentially clockwise around the sun gear 30, and the arm portion 60 swings counterclockwise around the axis of the predetermined axis AX2. Due to the circumferential movement and the swinging of the arm portion 60, each of the plurality of claw portions 70 linearly advances from the open position P1 to the gripping position P2. When the claw portion 70 advances to the gripping position P2, the object W is gripped.

[0031] Also, for example, when the drive shaft 20 rotates counterclockwise in the figure from the state shown in FIG. 5, the sun gear 30 and the internal gear 40 rotate counterclockwise, and the plurality of planetary gears 50 revolve counterclockwise around the sun gear 30 and rotate clockwise about the axis of the predetermined axis AX2. By this operation, the base 61 of the arm portion 60 moves circumferentially counterclockwise around the sun gear 30, and the arm portion 60 swings clockwise about the axis of the predetermined axis AX2. Due to the circumferential movement and the swinging of the arm portion 60, each of the plurality of claw portions 70 retreats linearly from the gripping position P2 to the release position P1. When the claw portion 70 retreats to the release position P1, the gripping of the object W is released. Also, as shown in FIG. 5, since the cross section of the claw portion 70 is circular, the claw portion 70 abuts on the object W at a point on the outer periphery of the claw portion 70 (or a line parallel to the central axis AX1 including this point). In the present embodiment, the claw portion 70 abuts on the object W at a point along the radial direction of the central axis AX1. For example, when gripping objects W having different outer diameters, the claw portion 70 itself rotates about an axis AX4 parallel to the central axis AX1, and the claw portion 70 abuts on the object W at different positions on the outer periphery. In this case, since the cross section of the claw portion 70 is circular, even if the outer diameter of the object W is different, the claw portion 70 can be made to abut on the object W at a point on the outer periphery thereof. That is, even when the outer diameters of the objects W to be gripped are different, the three claw portions 70 can surely grip the object W at three points.

[0032] Next, the operating principle and specific example of the chuck device 100 according to the present embodiment will be described. FIG. 6 is a diagram showing the relationship between the sun gear 30, the internal gear 40, and the planetary gear 50. FIG. 7 is a diagram showing the relationship between the sun gear 30, the planetary gear 50, the arm portion 60, and the claw portion 70. FIG. 8 is a table showing the modes of the sun gear 30, the internal gear 40, and the planetary gear 50. As described above, in order to linearly move the claw portion 70 in the radial direction with respect to the central axis AX1, for example, the following conditions need to be satisfied.

[0033] As shown in FIG. 7, assuming that the distance between the central axis AX1 and the predetermined axis AX2 is a, and the distance between the predetermined axis AX2 and the claw portion 70 (the length of the arm portion 60) is b, then a = b. Also, when the diameter of the sun gear 30 is Ds and the diameter of the planetary gear 50 is Dp, the gear ratio between the sun gear 30 and the planetary gear 50 is set to Ds:Dp = 2:1. Also, as shown in FIG. 6, when the rotation angle of the sun gear 30 is θs and the revolution angle of the planetary gear 50 is θ1, the speed ratio between the sun gear 30 and the planetary gear 50 is set to θs:θ1 = 2:1.

[0034] Also, as shown in FIG. 8, the diameter Ds of the sun gear 30 is 69 mm, the diameter Dp of the planetary gear 50 is 34.5 mm, and the diameter Di of the internal gear 40 is 138 mm. Also, when the internal gear 40 is fixed (when the planetary gear 50 is of the planetary type), the speed ratio i1 (= 1 + Di / Ds) of the planetary gear 50 is 3, the rotation angle θs of the sun gear 30 is 90°, the revolution angle θ1(1) (= θs / i1 ) of the planetary gear 50 is 30°, and the rotation angle θ2(1) (= θs*Di / Dp / i1 ) of the planetary gear 50 is 120°. Also, the diameter Dsr of the transmission gear 21 is 30 mm, the diameter Dir of the internal gear 40 is 120 mm, and the speed ratio ir (= Dir / Dsr) is 4.

[0035] Also, when the sun gear 30 is fixed (when the planetary gear 50 is of the solar type), the speed ratio i2 (= 1 + Ds / Di) of the planetary gear 50 is 1.5, the rotation angle θi (= θs / ir) of the internal gear 40 is 22.5°, the revolution angle θ1(2) (= θi / i2) of the planetary gear 50 is 15°, and the rotation angle θ2(2) (= θi*Ds / Dp / i2) of the planetary gear 50 is 30°. Also, when the sun gear 30 and the internal gear 40 are rotatable, the revolution angle θ1 (= θ1(1) + θ1(2)) of the planetary gear 50 is 45°, the rotation angle θ2 (= θ2(1) - θ2(2)) of the planetary gear 50 is 90°, the angle θ3 (= θ2 - θ1) between the line segment connecting the claw portion 70 and the central axis AX1 and the arm portion 60 is 45°, the revolution speed ratio I1 (= θs / θ1) of the planetary gear 50 is 2, the rotation speed ratio I2 (= θs / θ2) of the planetary gear 50 is 1, and the speed ratio I3 (= θs / θ3) of θ3 is 2.

[0036] Also, the distance a (= (Ds + Dp) / 2) between the central axis AX1 and the predetermined axis AX2 is 51.75 mm, the length b (= a * sinθ1 / sinθ3) of the arm portion 60 is 51.75 mm, the length L (= a * cosθ1 + b * cosθ3) of the line segment connecting the claw portion 70 and the central axis AX1 is 73.18555 mm, the maximum stroke Lmax (= a * cos0 + b * cos0) of the line segment length L is 103.5 mm, and the minimum value Lmin of the line segment length L (= SQRT(a 2 -b 2 ) or SQRT(b 2 -a 2 )) is 0 mm, the diameter d of the claw portion 70 is 13 mm, the maximum gripping diameter Dmax (= Lmax * 2 - d) by the claw portion 70 is 194 mm, the minimum gripping diameter Dmin (= Lmin * 2 - d) by the claw portion 70 is -13 mm, and the maximum rotation angle θsmax (= I1 * 90) of the sun gear 30 is 180°.

[0037] By setting the conditions as in the table of FIG. 8 and the above content, the claw portion 70 can be linearly moved in the radial direction with respect to the central axis AX1. Note that the table of FIG. 8 and the above content are examples, and part or all of the above-described content may be changed. Also, when the claw portion 70 is moved linearly in and out away from the central axis AX1, or when the claw portion 70 is moved in and out curvilinearly, the above conditions are different, and the conditions are set so that the claw portion 70 moves in and out along a desired locus.

[0038] Thus, according to the chuck device 100 according to the first embodiment, due to the circular movement of the base portion 61 of the arm portion 60 caused by the revolution of the planetary gear 50 and the swinging of the arm portion 60 caused by the rotation of the planetary gear 50, the claw portion 70 is moved forward and backward with respect to the central axis AX1. Therefore, it is possible to suppress the variation in the position of the claw portion 70 in the circumferential direction around the axis of the central axis AX1 while ensuring a large movement stroke of the claw portion 70. As a result, when the object W is gripped by the claw portion 70, it is possible to suppress the application of a rotational force to the object W and prevent the object W from being displaced and gripped.

[0039] [Second Embodiment] FIG. 9 is a perspective view showing an example of the chuck device 200 according to the second embodiment. FIG. 10 is a cross-sectional view showing an example of the chuck device 200 according to the second embodiment. FIG. 11 is a view showing a form in which rotation is transmitted from the drive shaft 25 to the inner gear 47 on the back side via the idle gears 85 and 86. FIG. 12 is a perspective view showing the arrangement of the sun gear 35, the inner gear 45, and the planetary gear 55.

[0040] As shown in FIGS. 9 and 10, the chuck device 200 according to the second embodiment includes a case 15, a drive shaft 25, a sun gear 35, an inner gear 45, a planetary gear 55, an arm portion 65, and a claw portion 75. In the chuck device 200 according to the present embodiment, each of the plurality of planetary gears 55 is arranged so as to mesh with both the sun gear 35 and the inner gear 45. Note that the arm portion 65 including the base portion 66 and the claw portion 75 are the same as the arm portion 60 and the claw portion 70 of the first embodiment described above, and thus the description thereof is omitted.

[0041] The drive shaft 25 is disposed in a state of penetrating the case 15 and is connected to a drive unit (not shown). As the drive unit, for example, a servo motor or the like is used. The drive shaft 25 is relatively rotatable with respect to the case 15 by a bearing 12 provided between the drive shaft 25 and the case 15. The drive shaft 25 rotates about the axis of the central axis AX5 by a drive unit (not shown). A transmission gear 26 is attached to the drive shaft 25. Note that the transmission gear 26 may be referred to as a rear-side or back-side sun gear.

[0042] The sun gear 35 is provided at an end of the drive shaft 25. The sun gear 35 rotates integrally with the drive shaft 25 about the axis of the central axis AX5 as the drive shaft 25 rotates about the axis of the central axis AX5. The sun gear 35 has a plurality of teeth formed on its outer periphery. As the drive shaft 25 rotates, the sun gear 35 and the above-described transmission gear 26 rotate integrally and with the same amount of rotation.

[0043] The internal gear 45 rotates about the axis of the central axis AX5 via the idle gears 85 and 86 described later due to the rotation of the drive shaft 25 (rotation of the transmission gear 26). The internal gear 45 is rotatably supported by the case 15 via the bearing 11 and rotates relative to the case 15. The internal gear 45 is connected to the rear internal gear 47 via the connecting member 46. That is, the internal gear 45 and the rear internal gear 47 rotate integrally. The rotation of the drive shaft 25 is transmitted to the rear internal gear 47 via the idle gears 81 and 82, and the internal gear 45 rotates together with the rear internal gear 47. The internal gear 45 rotates in the same direction as the sun gear 35 at a predetermined ratio and with a smaller rotation amount than the sun gear 35 for one rotation of the sun gear 35.

[0044] FIG. 11 is a diagram showing a form in which rotation is transmitted from the drive shaft 25 to the rear internal gear 47 via the two idle gears 85 and 86. As described above, when the drive shaft 25 rotates, the transmission gear 26 rotates about the axis of the central axis AX5 integrally with the drive shaft 25. As shown in FIG. 11, the idle gears 85 and 86 are arranged between the transmission gear 26 and the rear internal gear 47 and transmit the rotation of the transmission gear 26 to the rear internal gear 47. The transmission gear 26 meshes with the idle gear 85. The idle gear 85 meshes with the idle gear 86. The idle gear 86 meshes with the rear internal gear 47.

[0045] The idle gear 85 is rotatably supported by the shaft portion 18 provided on the case 15. The idle gear 85 rotates about the axis of the idle shaft AX7 by the shaft portion 18. Similarly, the idle gear 86 is rotatably supported by the shaft portion 19 provided on the case 15. The idle gear 86 rotates about the axis of the idle shaft AX7 by the shaft portion 19. The idle gears 85 and 86 are provided with the shaft portions 18 and 19 on the case 15, do not revolve about the axis of the central axis AX5, and their positions are fixed.

[0046] As shown in FIG. 11, when the drive shaft 25 rotates about the central axis AX5, the idle gears 85 and 86 rotate, and due to the rotation of these idle gears 85 and 86, the rear internal gear 47 rotates about the axis of the central axis AX5. As a result, the internal gear 45 rotates together with the rear internal gear 47. The rotation direction of the internal gear 45 (rear internal gear 47) is the same as the rotation direction of the sun gear 35. By using the two idle gears 85 and 86, the internal gear 45 and the sun gear 35 can be rotated in the same direction. Also, in the present embodiment, each time the sun gear 35 makes one full rotation, the internal gear 45 makes 1 / 4 of a rotation. The rotation amount of the internal gear 45 relative to the rotation amount of the sun gear 35 is set by the number of teeth of the idle gears 85 and 86. That is, in the present embodiment, the number of teeth of the transmission gear 26, the rear internal gear 47, and the idle gears 85 and 86 are set so that the internal gear 45 makes 1 / 4 of a rotation each time the sun gear 35 (transmission gear 26) makes one full rotation.

[0047] FIG. 12 is a perspective view showing the arrangement of the sun gear 35, the internal gear 45, and the planetary gears 55. As shown in FIG. 12, a plurality of planetary gears 55 are arranged around the axis of the central axis AX5. Each of the plurality of planetary gears 55 is arranged so as to mesh with the sun gear 35 and the internal gear 45. Each of the planetary gears 55 rotates about its own axis around the axis of the predetermined axis AX6 while revolving around the sun gear 35 around the axis of the central axis AX5 due to the rotation of the sun gear 35 and the internal gear 45. Each of the plurality of planetary gears 55 has a shaft portion 56 (see FIG. 10) for forming the predetermined axis AX6. The shaft portion 56 is fixed to the shaft bearing 57. The shaft bearing 57 is provided on the drive shaft 25 via a bearing 16 (see FIG. 10). The shaft bearing 57 is rotatable about the axis of the central axis AX5 with respect to the drive shaft 25 by the bearing 16.

[0048] The planetary gear 55 can revolve around the sun gear 35 about the axis of the central axis AX5 because the shaft bearing 57 can rotate about the axis of the central axis AX5. Further, the plurality of planetary gears 55 are arranged at equal intervals about the axis of the central axis AX5. For this reason, the claw portions 75 can be arranged at equal intervals in the direction about the axis of the central axis AX5. Also, as described above, the rotation amounts of the sun gear 35 and the internal gear 45 can be adjusted by the number of teeth of the transmission gear 26, the inner internal gear 47, and the idle gears 85 and 86, and as a result, the rotation and revolution of the planetary gear 55 can be easily set.

[0049] As shown in FIG. 12, when the sun gear 35 and the internal gear 45 rotate, due to the difference in the rotation amounts of the two, each of the plurality of planetary gears 55 rotates about a predetermined axis AX6 while revolving around the sun gear 35 about the axis of the central axis AX5. In this case, the plurality of planetary gears 55 rotate in a direction opposite to the rotation directions of the sun gear 35 and the internal gear 45. Also, the plurality of planetary gears 55 revolve in the same direction as the rotation directions of the sun gear 35 and the internal gear 45 . When the planetary gear 55 revolves, the base portion 66 of the arm portion 65 moves in a circular motion about the axis of the central axis AX5. Further, when the planetary gear 55 rotates, the arm portion 65 oscillates about a predetermined axis AX6. Due to the circular motion of this base portion 66 and the oscillation of the arm portion 65, the claw portion 75 can be advanced and retracted with respect to the central axis AX5.

[0050] The operation of the chuck device 200 is the same as that of the chuck device 100 of the first embodiment described above. Each of the plurality of claw portions 75 moves linearly back and forth along the radial direction of the central axis AX5 between the open position (refer to the open position P1 in FIG. 4) and the gripping position for gripping the object W (refer to the gripping position P2 in FIG. 5) by rotating the sun gear 35 (drive shaft 25). In FIG. 9, for example, when the drive shaft 25 rotates clockwise in the figure, the sun gear 35 and the internal gear 45 rotate clockwise.

[0051] Due to this rotation, the plurality of planetary gears 55 revolve counterclockwise around the sun gear 35 and rotate clockwise around the axis of the predetermined axis AX6. By this operation, the base 66 of the arm portion 65 moves circumferentially clockwise around the sun gear 35, and the arm portion 65 swings counterclockwise around the axis of the predetermined axis AX6. Due to the circumferential movement and swinging of the arm portion 65, each of the plurality of claw portions 75 advances linearly from the open position to the gripping position. When the claw portion 75 advances to the gripping position, the object W is gripped. Also, in the chuck device 200, since the cross section of the claw portion 75 is circular, the claw portion 75 abuts against the object W at a point on the outer periphery of the claw portion 75 (or a line parallel to the central axis AX5 including this point). For example, when gripping objects W with different outer diameters, the claw portion 75 itself rotates around an axis AX8 (see FIGS. 9 and 10) parallel to the central axis AX5, and abuts against the object W at different positions on the outer periphery of the claw portion 75. In this case, since the cross section of the claw portion 75 is circular, even if the outer diameter of the object W is different, the claw portion 75 can be made to abut against the object W at a point on the outer periphery of the claw portion 75. That is, even when the outer diameter of the object W to be gripped is different, the object W can be surely gripped at three points by the three claw portions 75.

[0052] Also, in FIG. 9, for example, when the drive shaft 25 rotates counterclockwise in the figure, the sun gear 35 and the internal gear 45 rotate counterclockwise, and the plurality of planetary gears 55 revolve counterclockwise around the sun gear 35 and rotate clockwise around the axis of the predetermined axis AX6. By this operation, the base 66 of the arm portion 65 moves circumferentially counterclockwise around the sun gear 35, and the arm portion 65 swings clockwise around the axis of the predetermined axis AX6. Due to the circumferential movement and swinging of the arm portion 65, each of the plurality of claw portions 75 retracts linearly from the gripping position to the gripping position. When the claw portion 75 retracts to the open position, the gripping of the object W is released.

[0053] The operating principle of the chuck device 200 is the same as that shown in FIGS. 6 to 8 described above. The difference from the chuck device 100 of the first embodiment is that the internal gear 40 of the chuck device 100 rotates 1 / 2 turn with one rotation of the sun gear 30, while the internal gear 45 of the chuck device 200 rotates 1 / 4 turn with one rotation of the sun gear 35. Therefore, the transmission gear 26, the idle gears 85 and 86, and the rear internal gear 47 are set such that when the transmission gear 26 (sun gear 35) rotates one turn, the rear internal gear 47 rotates 1 / 4 turn in the same direction. Note that the planetary gears 50 of the chuck device 100 and the planetary gear 55 of the chuck device 200 revolve 1 / 2 turn around the sun gears 30 and 35, respectively, with one rotation of the sun gears 30 and 35.

[0054] Thus, according to the chuck device 200 according to the second embodiment, similar to the first embodiment, due to the orbital movement of the base 66 of the arm portion 65 caused by the revolution of the planetary gear 55 and the swinging of the arm portion 65 caused by the rotation of the planetary gear 55, the claw portion 75 is advanced and retracted with respect to the central axis AX5. Therefore, it is possible to suppress the variation in the position of the claw portion 75 in the circumferential direction around the axis of the central axis AX5 while ensuring a large movement stroke of the claw portion 75. As a result, when the object W is gripped by the claw portion 75, it is possible to suppress the application of a rotational force to the object W and prevent the object W from being displaced and gripped. Further, in the chuck device 200, the claw portion 75 is not limited to starting linearly along the radial direction of the central axis AX5. For example, the claw portion 75 may be linearly advanced and retracted away from the central axis AX5, or the claw portion 70 may be curvedly advanced and retracted.

[0055] [Loader device] FIG. 13 is a front view showing an example of the loader device 240 according to the embodiment. The loader device 240 shown in FIG. 13 is used for transporting an object (workpiece) W in the machine tool system 300. The machine tool system 300 includes a loading unit 210, a machine tool 220, an unloading unit 230, a loader device 240, and a control unit 250. The loading unit 210 places the object W to be processed by the machine tool 220. The loading unit 210 has a mounting table 211 that holds the object W. The unprocessed object W is held on the mounting table 211. The loading unit 210 is provided so as to be able to transfer the unprocessed object W to the loader device 240.

[0056] The machine tool 220 processes the object W with the tool T. The machine tool 220 has spindles 213, 214, turrets 215, 216, and a reversing device 219. The spindles 213, 214 are arranged side by side in the X direction and are rotatably supported about an axis parallel to the Z direction by bearings and the like (not shown). Chucks 213a, 214a are provided at the -Z side ends of the spindles 213, 214, respectively. The chucks 213a, 214a hold or release the object W by opening and closing with a drive unit (not shown). The loader device 240 transfers the object W to each of these chucks 213a, 214a.

[0057] The turret 215 is arranged on the -X side of the spindle 213. The turret 216 is arranged on the +X side of the spindle 214. Each of the turrets 215, 216 is rotatable about an axis parallel to the Z direction by a drive device (not shown). Also, the turrets 215, 216 are movable in the X direction and the Z direction by a drive device (not shown). A plurality of holding portions for holding the tool T are provided on the circumferential surfaces of the turrets 215, 216. The tool T is held in all or part of these holding portions. Therefore, when the turrets 215, 216 rotate, a desired tool T is selected. The tool T is replaceable for each holding portion. The tool T may be a cutting tool such as a tool bit for performing cutting on the object W, or a rotary tool such as a drill or an end mill.

[0058] The reversing device 219 includes chucks 217 and 218 capable of holding the object W. The loader device 240 delivers the object W to each of the chucks 217 and 218. The chucks 217 and 218 are arranged side by side in the X direction on the +Y side (upper side) of the main shafts 213 and 214. The chucks 217 and 218 hold or release the object W by opening and closing with a drive unit (not shown). The reversing device 219 reverses the object W by passing the object W held by the chuck 217 to the chuck 218. The unloading unit 230 places the object W processed by the machine tool 220. The unloading unit 230 has a mounting table 231 for holding the processed object W. The processed object W is held on the mounting table 231. The mounting table 231 is provided so as to be able to receive the object W from the loader device 240.

[0059] The loader device 240 conveys the object W among the loading unit 210, the machine tool 220, and the unloading unit 230. The loader device 240 includes a loader head 241 and a loader drive unit 242. The loader head 241 has the chuck device 100 described above. The loader drive unit 242 includes an X drive unit 244 and Z a drive unit 245, and Y a drive unit 246. The X drive unit 244 has an X slider 244a and a guide rail 244b. The X slider 244a moves in the X direction along the guide rail 244b by a drive unit (not shown). Z The drive unit 245 has a slider 245a that moves Z in a direction along a guide (not shown) provided on the X slider 244a by a drive unit (not shown). Z The drive unit 246 has a lifting rod 246a that moves up and down by a drive unit (not shown) along a lifting guide provided on the slider 245a. The loader head 241 is provided at the lower end of the lifting rod 246a. Z along a guide provided on the X slider 244a by a drive unit (not shown). Y The drive unit 246 has Z a lifting rod 246a that moves up and down by a drive unit (not shown) along a lifting guide provided on the slider 245a. The loader head 241 is provided at the lower end of the lifting rod 246a.

[0060] FIG. 14 is an enlarged view of the loader head 241 of the loader device 240. The loader head 241 holds two chuck devices 100 via a swivel joint 241a. The swivel joint 241a can be changed, for example, to a posture in which the object W gripped by the chuck device 100 is directed in the -Z direction (for example, a posture in which the object W is directed toward the main shafts 213 and 214), and a posture in which it is directed in the -Y direction (a downward posture). Note that the form in which the loader head 241 has the swivel joint 241a is an example, and a form without the swivel joint 241a may also be used. Further, the loader head 241 may be configured to include the above-described chuck device 200 instead of the chuck device 100.

[0061] The loader device 240 conveys the object W by the chuck device 100 of the loader head 241 Grip , an X drive unit 244, Z a drive unit 245, and Y a drive unit 246 to be driven, respectively, in the X direction, Y direction, Z direction, or a direction obtained by combining these. The loader device 240 conveys the object W between the loading unit 210, the main shafts 213 and 214, the reversing device 219, and the unloading unit 230. The operation of the loader device 240 is controlled by the control unit 250. Further, the control unit 250 controls the opening and closing operation of the chuck device 100.

[0062] The control unit 250 comprehensively controls the operations of the machine tool 220 and the loader device 240 based on a predetermined machining program. The predetermined machining program may be stored in a storage unit provided in the control unit 250, or may be sent from a higher-level device via communication means. Note that instead of controlling the machine tool 220 and the loader device 240 by one control unit 250, a form in which the machine tool 220 and the loader device 240 are controlled by individual control units may also be used.

[0063] Thus, according to the loader device 240 according to the present embodiment, since the chuck device 100 described above is provided, the movement stroke of the claw portion 70 can be increased, and the object W can be surely gripped even if the change in the outer diameter of the object W is large. In addition, when the object W is gripped by the claw portion 70, the application of a rotational force to the object W is suppressed, and the object W is prevented from being displaced and gripped. Therefore, when the object W is transferred from the loading portion 210 to the spindles 213 and 214, the object W can be accurately transferred to the spindles 213 and 214. In the above-described embodiment, the form in which the loader device 240 includes the chuck device 100 is described as an example, but the present invention is not limited to this form. For example, in the machine tool 220, at least one of the chucks 213a and 214a of the spindles 213 and 214 and the chucks 217 and 218 of the reversing device 219 may be the above-described chuck device 100 or chuck device 200.

[0064] As described above, the embodiments of the present invention have been described. However, the technical scope of the present invention is not limited to the above-described embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above-described embodiments. Further, forms in which such changes or improvements are made are also included in the technical scope of the present invention. One or more of the requirements described in the above-described embodiments may be omitted. Further, the requirements described in the above-described embodiments can be appropriately combined.

[0065] In the above-described embodiment, the configuration in which the chuck devices 100 and 200 have three claw portions 70 and 75 is described as an example, but the present invention is not limited to this configuration. For example, the chuck devices 100 and 200 may have four or more claw portions 70 and 75. In this case, the planetary gears 50 and 55 may be arranged such that the four or more claw portions 70 and 75 are arranged at equal intervals in the circumferential direction around the central axes AX1 and AX5.

Description of Reference Numerals

[0066] P1 ··· Open position P2 ··· Gripping position W ··· Object AX1, AX5 ··· Central axis Axis such as AX2 and AX6 Cases such as 10 and 15 Drive shafts such as 20 and 25 Gears for transmission such as 21 and 26 Sun gears such as 30 and 35 Internal gears such as 40 and 45 Connecting member 46 Inner gear 47 at the rear side Planetary gears such as 50 and 55 Shaft parts such as 51 and 56 Shaft support 57 Arm parts such as 60 and 65 Base parts such as 61 and 66 Tip 62 Claw parts such as 70 and 75 Idler gears such as 81, 82, 85 and 86 Chuck devices such as 100 and 200 Machine tool 220 Loader device 240 Loader head 241 Machine tool system 300

Claims

1. A sun gear provided on a drive shaft and rotating about the central axis; An internal gear rotating about the central axis by the rotation of the sun gear; A plurality of planetary gears meshing with the sun gear and revolving around the sun gear while rotating about a predetermined axis by the rotation of the sun gear and the internal gear; An arm portion provided on each of the plurality of planetary gears and extending in a direction orthogonal to the predetermined axis from a base portion located on the predetermined axis; A claw portion extending in a direction parallel to the central axis from the tip of the arm portion, and comprising: The claw portion is advanced and retracted with respect to the central axis by the circumferential movement of the base portion of the arm portion due to the revolution of the planetary gear and the swinging of the arm portion due to the rotation of the planetary gear. A chuck device, wherein the lengths of the sun gear, the planetary gears, the internal gear, and the arm portion are respectively set so that the claw portion advances and retracts along the radial direction from the central axis.

2. The chuck device according to claim 1, wherein each of the plurality of planetary gears has a shaft portion for forming the predetermined axis fixed to the internal gear and revolves around the sun gear by the rotation of the internal gear.

3. The chuck device according to claim 1, wherein each of the plurality of planetary gears is arranged to mesh with both the sun gear and the internal gear.

4. The chuck device according to any one of claims 1 to 3, wherein the rotation of the drive shaft is transmitted to the internal gear via an idler gear, and the internal gear rotates in the same direction at a predetermined ratio with respect to one rotation of the sun gear and at a rotation amount less than that of the sun gear.

5. The chuck device according to any one of claims 1 to 4, wherein the plurality of planetary gears are arranged at equal intervals around the central axis.

6. The chuck device according to any one of claims 1 to 5, wherein the claw portion is provided in a columnar shape extending in a direction parallel to the central axis.

7. A loader device comprising the chuck device according to any one of claims 1 to 6.

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