CN1296183C - 具有位置检测功能的夹头 - Google Patents
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Abstract
一种具有位置检测功能的夹头，在壳体(2)内，包括：把握持工件用的多个开合自如爪构件(3、3)、有进行直线往复运动的驱动杆(9)的驱动部(4)、把上述驱动杆(9)的直线往复运动变换成爪构件(3、3)的开合动作的变换机构(7)、由与驱动杆(9)同步位移的标尺(33)和读取该标尺(33)上的刻度的读取器(34)来构成的能够在整个行程内检测上述爪构件(3、3)的动作位置的位置检测部(5)、以及给上述标尺(33)的直线往复移动导向的直线导向机构(6)。
Description
技术领域
本发明涉及把工件握持在开合自如的多个爪构件之间并搬送到目的场所的夹头，更详细地说，涉及具有能够检测爪构件的动作位置的位置检测功能的夹头。
背景技术
作为驱动源内装利用空气压力的气缸或利用电磁力的直线电动机等，通过这些气缸或直线电动机的作用使多个爪构件开合而握持工件的夹头，历来是公知的。
在这种夹头中，有为了检测爪构件的开合位置而附设利用磁性的位置检测装置者。此一位置检测装置由安装在上述气缸或直线电动机的驱动杆上的或者安装在爪构件上的永久磁铁和安装在壳体一侧的磁性传感器来构成，通过用此一磁性传感器来检测永久磁铁，来检测爪构件的开合位置。
可是，上述现有技术的位置检测装置，因为是检测安装在驱动杆或爪构件上的永久磁铁的方式，故只能检测爪构件的开合行程末端处的位置，也就是爪构件握持工件的位置或者松开的位置，无法在整个行程内检测爪构件的动作位置。
发明内容
本发明的主要技术课题在于，提供一种具有能够在整个行程内检测爪构件的动作位置的位置检测功能的夹头。
本发明的另一个技术课题在于，提供一种把开合爪构件用的驱动部和检测爪构件的动作位置用的位置检测部与其他机构一起高效率地装入壳体内以便不会大型化的，结构设计合理的夹头。
本发明的再一个技术课题在于，在上述夹头中，把上述驱动部和位置检测部有机地结合起来装入壳体内，借此防止爪构件的开合动作变得不圆滑，而得到稳定的开合动作。
为了解决上述课题，本发明提供一种具有位置检测功能的夹头，其特征在于包括：开合自如地设在壳体中的多个爪构件；在上述壳体的轴向基端部一侧的部分上、位于该壳体的左右某一半部侧地设置的驱动部；借助于设置在与上述壳体的基端部一侧的上述驱动部左右相邻的位置上、与上述驱动部的驱动杆同步位移的标尺、和读取刻在该标尺上的刻度的读取器在整个行程内检测上述爪构件的动作位置的位置检测部；配置在上述驱动部与位置检测部之间、并引导上述标尺的直线往复移动的直线导向机构；以及设在上述爪构件与驱动部之间、并把上述驱动杆的直线往复运动变换成爪构件的开合动作的变换机构。上述变换机构包括通过摆动使爪构件开合的两个杠杆、和把这些杠杆连接到上述驱动杆用的中继板，在该中继板上设置位于夹头中心上的中继轴，在该中继轴上由公共的支轴转动自如地轴支承着上述各杠杆的基端部，此外，在上述中继板上，上述驱动杆和支撑上述标尺的标尺支撑构件经由该中继板一起位移地连接于夹着上述中继轴彼此不同的位置上。
具有上述构成的夹头，爪构件借助于驱动部的驱动杆的移动来开合，握持或释放工件。此时，与上述驱动杆同步移动的标尺上的刻度被读取器连续地读取，借此在整个开合行程内检测爪构件的动作位置。
这里，因为上述驱动部和位置检测部以及直线导向机构高效率地装入壳体的左右相邻的位置中，以便收容在壳体的宽度内也就是爪构件的设置范围内，故夹头不会由于新附加上述位置检测部或直线导向机构等而大型化。而且，通过把直线导向机构设在驱动部与位置检测部之间，不仅可以使标尺以与驱动杆同步的状态稳定地位移，而且可以使该驱动杆的运动经由变换机构可靠地传递到爪构件，而使该爪构件稳定地开合。
根据本发明的另一个具体的实施例，上述直线导向机构由导轨和沿着该导轨滑动自如的滑块来构成，导轨与上述驱动杆平行地固定于驱动部的外壁上，滑块安装在标尺一侧。
在把上述驱动杆连接于中继板的场合，为了防止卡涩，最好是通过隔着套环浮动式地连接，在它们之间保持倾斜方向的稍许自由度。
根据本发明的一个实施例，上述驱动部包括借助于电磁力动作的直线电动机，构成为靠此一直线电动机使上述驱动杆前进后退。
上述直线电动机包括由磁性体构成的圆筒形磁性框，收容在该磁性框内的非磁性体制的线圈架，绕在此一线圈架上的多个磁性线圈，沿轴线方向滑动自如地***上述线圈架内并连接到上述驱动杆的活塞集合体，此一活塞集合体通过把制成圆环形的多个永久磁铁相互间夹着轭铁安装在上述驱动杆的外周来形成。
根据本发明的另一个实施例，上述驱动部包括借助于流体压力动作的流体压力缸机构，构成为靠此一流体压力缸机构使前述驱动杆前进后退。
附图说明
图1是表示根据本发明的夹头的第1实施例的纵剖视主视图。
图2是图1的夹头的横剖视俯视图。
图3是图1的夹头的局部侧剖视图。
图4是表示根据本发明的夹头的第2实施例的纵剖视主视图。
具体实施方式
下面，参照附图详细说明本发明的具有位置检测功能的夹头的最佳实施例。
图1～图3示出本发明的第1实施例。此一第1实施例的夹头1A把利用电磁力的直线电动机用作开合爪构件3、3用的驱动源。更详细地说，此一夹头1A包括：作为整体制成方柱形的壳体2，开合自如地设在该壳体2的轴向前端部的握持工件用的爪构件3、3，设在该壳体2的轴向基端部一侧的左右某一半部，有沿该壳体2的轴线方向进行直线往复运动的驱动杆9的驱动部4，设在与该驱动部4左右相邻的位置上的，能够在整个行程内检测上述爪构件3、3的动作位置的位置检测部5，配置在上述驱动部4与位置检测部5之间的直线导向机构6，以及设在上述爪构件3、3与驱动部4之间并把驱动杆9的直线往复运动变换成爪构件3、3的开合动作的变换机构7。
上述壳体2由制成矩形板状的第1构件2a和安装在此一第1构件2a上的纵长方柱形的第2构件2b来构成，在上述第1构件2a上沿与壳体2的轴线垂直的方向开合自如地支撑着两个爪构件3、3，在第2构件2b上并排设置着上述驱动部4和位置检测部5以及直线导向机构6。
上述驱动部4包括由壳体2的一部分形成的筒部10，在此一筒部10内收容着直线电动机8。此一直线电动机8由用磁性体构成的圆筒形磁性框12，收容在该磁性框12内的非磁性体制的线圈架13，绕在此一线圈架13上的多个磁性线圈14，沿轴线方向滑动自如地***上述线圈架13内的活塞集合体15来组成。而且此一活塞集合体15通过把多个圆环形的永久磁铁15a夹着轭铁15b安装在滑动自如地贯通上述筒部10的中心部的上述驱动杆9的外周来形成。这些永久磁铁15a在轴线方向的两面上充磁N极和S极，以使它们的极***互相反的状态配置着。换句话说，邻接的磁铁15a、15a的N极彼此和S极彼此相向地配置，用压板15c固定在上述驱动杆9上的规定的位置上。
图中16是安装在上述筒部10的一端的活塞盖，17是安装在其外侧的盖子，驱动杆9的端部借助于上述活塞盖16滑动自如地支承着。
因而，在上述驱动部4中，如果经由引线14a给磁性线圈14通入正向或反向的直流电流，则活塞集合体15根据该电流的方向来前进或后退，驱动杆9也前后运动。
上述驱动杆9的前端连接于成为上述变换机构7的一部分的俯视大体上L字形的中继板20，在此一中继板20上连接着作为变换机构7的主要构件的两个杠杆21、21。这些杠杆21、21左右对称地配置在壳体2的第1构件2a与第2构件2b之间的空间部内，各杠杆21的中间部分靠轴22转动自如地轴支承在壳体2上。此外，上述各杠杆21的基端部靠公共的支轴23转动自如地轴支承在从上述中继板20位于夹头的中心地伸出的中继轴20a上，各杠杆21、21的前端部配合在上述第2构件2b的孔24内并分别连接着两个爪构件3、3。
上述爪构件3、3由上表面中央部有凹部26的第1部分3a和从该第1部分3a成T字形或L字形突出的第2部分3b来构成，从图3可以看出，上述第1部分3a滑动自如地配合在第2构件2b的前表面上形成的导向槽27内，借此沿着该导向槽27直线地开合自如地支承着。而且相互对着的上述第1部分3a的外侧面与导向槽27的内侧面上形成的滑动槽的内部，夹着制成球形或滚柱形的多个滚动件28，爪构件3、3的开合靠此一滚动件28而圆滑地进行。借此，上述导向槽27与爪构件3、3的第1部分3a构成给两个爪构件3、3的开合直线地导向的直线导向机构。
此外，上述中继板20在与上述中继轴20a不同的位置上靠螺栓30连接于上述驱动杆9，通过此一驱动杆9的伸缩一起前进或后退。而且，上述杠杆21、21通过此一中继板20的前进后退以轴22为中心而摆动，一对爪构件3、3开合并在它们之间握持或者释放工件。实际上利用设在爪构件3、3上的安装孔3c安装适合于工件的附具，由此一附具来握持工件。
再者，在把上述驱动杆9连接于中继板20的场合，为了不发生倾斜引起的卡涩，最好是在它们之间隔着套环31浮动式地进行连接，借此来保持倾斜方向的稍许自由度。
上述位置检测部5包括在表面上以一定间距刻划了多个线状刻度的平板形的玻璃制标尺33、和读取该标尺33上的刻度的数目并输出读取信号的编码器读取器34。上述标尺33安装在标尺支撑构件38上，此一标尺支撑构件38靠螺栓39在实际上与上述驱动杆9隔着中继轴20a对峙侧的不同位置上固定于中继板20上，一方的读取器34固定于壳体2上的规定位置。
此外，在上述位置检测部5上，对上述从读取器34输出的信号波形进行整形并数字信号化，向未画出的控制器输出的波形整形器35借助于固定在驱动部4的外壁上的安装构件36从壳体2伸出地安装在邻接上述读取器34的位置上。
而且，靠上述读取器34来读取与驱动杆9同步地直线往复移动的上述标尺33上的刻度的数目，靠波形整形器35对其信号波形进行整形并送入控制器，在此一控制器中进行运算处理，借此来检测上述驱动杆9的动作位置，也就是爪构件3、3的动作位置。
再者，因为这种编码器式检测装置的检测原理本身是公知的，所以省略关于它的更多的详细说明。
设在上述位置检测部5与驱动部4之间的直线导向机构6由导轨6a和沿着该导轨6a滑动自如的滑块6b来构成。而且，上述导轨6a与驱动杆9平行地安装在驱动部4的外壁上，滑块6b安装在标尺支撑构件38上。通过像这样在位置检测部5与驱动部4之间设置直线导向机构6，即使驱动杆9在与中继轴20a轴心不同的位置上连接于中继板20，也可以借助于此一驱动杆9经由中继板29使标尺33和一对杠杆21、21不发生卡涩地圆滑而可靠地动作。
这样一来，上述驱动部4和位置检测部5以及直线导向机构6装入壳体2内的相互邻接的位置，以便收容于上述爪构件3、3的设置范围内而不从它向侧方突出。
具有上述构成的夹头，爪构件3、3通过驱动部4的驱动杆9的移动而开合，靠这些爪构件3、3来握持或释放工件。此时，靠读取器34来读取与上述驱动杆9同步地移动的标尺33上的刻度的数目，靠波形整形器35对从该读取器34输出的信号波形进行整形并数字信号化，送到控制器进行运算处理，借此在整个开合行程内检测爪构件3、3的动作位置。
此外，因为上述驱动部4和位置检测部5以及直线导向机构6高效率地装入壳体2的相邻的位置中，以便收容在该壳体2的宽度内也就是爪构件3、3的设置范围内，故即使新附加上述位置检测部5和直线导向机构6等，夹头也不会因此而大型化。而且，通过把上述直线导向机构6设在驱动部4与位置检测部5之间，可以使标尺33以与驱动杆9同步的状态稳定地位移，特别是即使驱动杆9与中继轴20a不在同一轴线上也可以借助于该驱动杆9经由中继板20使上述标尺33和杠杆21、21可靠而稳定地动作。
图4示出本发明的第2实施例，此一第2实施例的夹头1B使用利用空气压力的气缸机构50作为开合爪构件3、3用的驱动源这一点与上述第1实施例不同。此一气缸机构50由在侧面上有两个气口52a、52b的圆筒形的缸构件51、滑动自如地收容在该缸构件51内的活塞53、整体地连接于此一活塞53的驱动杆9、堵住缸构件51的敞开端的缸头盖54来构成，此一气缸机构50收容在驱动部4的筒部10内。
此一第2实施例通过从两个气口52a、52b对活塞53两侧的第1压力室55a和第2压力室55b轮流供给排出压缩空气，使上述活塞53滑动，从而使上述驱动杆9直线地往复动作。
通过像此一第2实施例这样用气缸机构50作为开合爪构件3、3用的驱动源，可以得到比像第1实施例那样使用直线电动机8的场合更大的握持力。
再者，因为关于第2实施例的上述以外的构成和作用实际上与第1实施例相同，所以主要的同一构成部分注有与第1实施例相同的标号而省略其说明。
如果像这样采用本发明，则能够在整个行程内检测爪构件的动作位置，并且把驱动部和位置检测部以及直线导向机构高效率地装入壳体内而不使夹头大型化，可以得到结构设计合理的夹头。
Claims (6)
1.一种具有位置检测功能的夹头，其特征在于，包括：
沿与壳体的轴线交叉的方向开合自如地设在壳体的轴向前端部上、握持工件用的多个爪构件；
有沿与上述壳体的轴线平行的方向进行直线往复运动的驱动杆、在该壳体的轴向基端部一侧的部分上位于该壳体的左右某一半部侧地设置的驱动部；
设置在与上述壳体的基端部一侧的上述驱动部左右相邻的位置上、能够在整个行程内检测上述爪构件的动作位置的位置检测部，该位置检测部包括与上述驱动杆同步地沿与壳体的轴线平行的方向直线地往复移动的标尺、和固定于壳体上的一定位置并读取刻在该标尺上的刻度的读取器；
配置在上述驱动部与位置检测部之间并引导上述标尺的直线往复移动的直线导向机构；以及
设在上述爪构件与驱动部之间并把上述驱动杆的直线往复运动变换成爪构件的开合动作的变换机构；
上述变换机构包括通过摆动使爪构件开合的两个杠杆、和把这些杠杆连接到上述驱动杆用的中继板，在该中继板上设置位于夹头中心上的中继轴，在该中继轴上由公共的支轴转动自如地轴支承着上述各杠杆的基端部，此外，在上述中继板上，上述驱动杆和支撑上述标尺的标尺支撑构件经由该中继板一起位移地连接于夹着上述中继轴彼此不同的位置上。
2.如权利要求1中所述的夹头，其特征在于，上述直线导向机构由导轨和沿着该导轨滑动自如的滑块来构成，导轨与上述驱动杆平行地固定于驱动部的外壁上，滑块安装在标尺一侧。
3.如权利要求1中所述的夹头，其特征在于，通过在上述驱动杆与中继板之间夹置着套环浮动式地进行连接，在它们之间保持倾斜方向的稍许自由度。
4.如权利要求1中所述的夹头，其特征在于，上述驱动部包括借助于电磁力动作的直线电动机，构成为靠此一直线电动机使上述驱动杆前进后退。
5.如权利要求4中所述的夹头，其特征在于，上述直线电动机包括由磁性体构成的圆筒形磁性框、收容在该磁性框内的非磁性体制的线圈架、绕在此一线圈架上的多个磁性线圈、沿轴线方向滑动自如地***上述线圈架内并连接到上述驱动杆的活塞集合体，此一活塞集合体通过把制成圆环形的多个永久磁铁相互间夹着轭铁安装在上述驱动杆的外周上来形成。
6.如权利要求1中所述的夹头，其特征在于，上述驱动部包括借助于流体压力动作的流体压力缸机构，构成为靠此一流体压力缸机构使前述驱动杆前进后退。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19326099A JP3293802B2 (ja) | 1999-07-07 | 1999-07-07 | 位置検出機能付きチャック |
| TW089119861A TW464591B (en) | 1999-07-07 | 2000-09-26 | Chuck with position detecting function |
| GB0024803A GB2367803B (en) | 1999-07-07 | 2000-10-10 | Chuck with position detecting means |
| US09/684,672 US6428070B1 (en) | 1999-07-07 | 2000-10-11 | Chuck with position detecting function |
| CNB001319574A CN1296183C (zh) | 1999-07-07 | 2000-10-25 | 具有位置检测功能的夹头 |
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| Application Number | Priority Date | Filing Date | Title |
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| JP19326099A JP3293802B2 (ja) | 1999-07-07 | 1999-07-07 | 位置検出機能付きチャック |
| GB0024803A GB2367803B (en) | 1999-07-07 | 2000-10-10 | Chuck with position detecting means |
| US09/684,672 US6428070B1 (en) | 1999-07-07 | 2000-10-11 | Chuck with position detecting function |
| CNB001319574A CN1296183C (zh) | 1999-07-07 | 2000-10-25 | 具有位置检测功能的夹头 |
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| CN1296183C true CN1296183C (zh) | 2007-01-24 |
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| US (1) | US6428070B1 (zh) |
| JP (1) | JP3293802B2 (zh) |
| CN (1) | CN1296183C (zh) |
| GB (1) | GB2367803B (zh) |
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| US11980363B2 (en) | 2021-10-18 | 2024-05-14 | Cilag Gmbh International | Row-to-row staple array variations |
| US11877745B2 (en) | 2021-10-18 | 2024-01-23 | Cilag Gmbh International | Surgical stapling assembly having longitudinally-repeating staple leg clusters |
| US11937816B2 (en) | 2021-10-28 | 2024-03-26 | Cilag Gmbh International | Electrical lead arrangements for surgical instruments |
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| US4667998A (en) * | 1986-06-06 | 1987-05-26 | Robohand, Inc | Electromagnetic gripper assembly |
| AT391459B (de) * | 1989-04-04 | 1990-10-10 | Sticht Fertigungstech Stiwa | Einrichtung zum handhaben von bauteilen mit einer greifvorrichtung |
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- 1999-07-07 JP JP19326099A patent/JP3293802B2/ja not_active Expired - Fee Related
-
2000
- 2000-09-26 TW TW089119861A patent/TW464591B/zh not_active IP Right Cessation
- 2000-10-10 GB GB0024803A patent/GB2367803B/en not_active Expired - Fee Related
- 2000-10-11 US US09/684,672 patent/US6428070B1/en not_active Expired - Lifetime
- 2000-10-25 CN CNB001319574A patent/CN1296183C/zh not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5895202A (ja) * | 1981-12-01 | 1983-06-06 | Sony Magnescale Inc | ピストン位置検出装置 |
| EP0293153A1 (en) * | 1987-05-25 | 1988-11-30 | Smc Corporation | Parallel gripper |
| US5201838A (en) * | 1989-09-05 | 1993-04-13 | Philippe Roudaut | Position indicator for a piston controlled robot part |
| GB2322116A (en) * | 1997-02-12 | 1998-08-19 | Smc Corp | A linear guide gripper assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2367803B (en) | 2003-01-15 |
| US6428070B1 (en) | 2002-08-06 |
| GB0024803D0 (en) | 2000-11-22 |
| TW464591B (en) | 2001-11-21 |
| CN1349878A (zh) | 2002-05-22 |
| JP3293802B2 (ja) | 2002-06-17 |
| GB2367803A (en) | 2002-04-17 |
| JP2001018185A (ja) | 2001-01-23 |
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