JP6628076B2 - チャック装置 - Google Patents
チャック装置 Download PDFInfo
- Publication number
- JP6628076B2 JP6628076B2 JP2015130902A JP2015130902A JP6628076B2 JP 6628076 B2 JP6628076 B2 JP 6628076B2 JP 2015130902 A JP2015130902 A JP 2015130902A JP 2015130902 A JP2015130902 A JP 2015130902A JP 6628076 B2 JP6628076 B2 JP 6628076B2
- Authority
- JP
- Japan
- Prior art keywords
- chuck
- pressing
- finger
- seal portion
- chuck device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003780 insertion Methods 0.000 claims description 14
- 230000037431 insertion Effects 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 description 15
- 239000012530 fluid Substances 0.000 description 8
- 238000007789 sealing Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 4
- 238000012856 packing Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 229920001971 elastomer Polymers 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
- B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
- B23B31/16195—Jaws movement actuated by levers moved by a coaxial control rod
- B23B31/16216—Jaws movement actuated by levers moved by a coaxial control rod using fluid-pressure means to actuate the gripping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/001—Protection against entering of chips or dust
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
- B25J15/0273—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links comprising linear guide means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/08—Protective coverings for parts of machine tools; Splash guards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/08—Work-clamping means other than mechanically-actuated
- B23Q3/082—Work-clamping means other than mechanically-actuated hydraulically actuated
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T279/00—Chucks or sockets
- Y10T279/12—Chucks or sockets with fluid-pressure actuator
- Y10T279/1274—Radially reciprocating jaws
- Y10T279/1291—Fluid pressure moves jaws via mechanical connection
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T279/00—Chucks or sockets
- Y10T279/19—Radially reciprocating jaws
- Y10T279/1961—Lever actuated
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T279/00—Chucks or sockets
- Y10T279/34—Accessory or component
- Y10T279/3493—Protection means; e.g., cover, seal, overstress prevention, air blast
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
- Clamps And Clips (AREA)
Description
14…ピストン 18…把持部
20…チャック部材 22…カバー部材
24、24a…押え部材 68…フィンガ部
80…挿通孔 90、90a…シール部
94…押圧部
Claims (5)
- ボディと、前記ボディに支持された一対のチャック部材を有する開閉可能な把持部とを備え、少なくとも一方の前記チャック部材が前記ボディに対して可動であり、前記把持部によりワークを把持するチャック装置であって、
前記チャック部材のフィンガ部が挿通された挿通孔と、前記挿通孔を囲み前記フィンガ部に当接するシール部とを有し、前記チャック部材の基部を覆うように前記ボディに取り付けられ、前記チャック部材の変位に追従するように弾性変形可能なカバー部材と、
前記シール部を前記フィンガ部に押し付ける押え部材と、をさらに備え、
前記押え部材は、周方向に並べられた複数の押圧部を有し、
前記複数の押圧部と前記フィンガ部との間に前記シール部が嵌合している、
ことを特徴とするチャック装置。 - ボディと、前記ボディに支持された一対のチャック部材を有する開閉可能な把持部とを備え、少なくとも一方の前記チャック部材が前記ボディに対して可動であり、前記把持部によりワークを把持するチャック装置であって、
前記チャック部材のフィンガ部が挿通された挿通孔と、前記挿通孔を囲み前記フィンガ部に当接するシール部とを有し、前記チャック部材の基部を覆うように前記ボディに取り付けられ、前記チャック部材の変位に追従するように弾性変形可能なカバー部材と、
前記シール部を前記フィンガ部に押し付ける押え部材と、をさらに備え、
前記押え部材は、前記カバー部材の内側に配置されていることを特徴とするチャック装置。 - 請求項1又は2記載のチャック装置において、
前記押え部材は、前記フィンガ部を囲む環状に形成されており、
前記押え部材と前記フィンガ部との間に前記シール部が弾性圧縮状態で挟まれていることを特徴とするチャック装置。 - 請求項1記載のチャック装置において、
前記押え部材は、前記カバー部材の外側に配置されていることを特徴とするチャック装置。 - 請求項1〜4のいずれか1項に記載のチャック装置において、
前記一対のチャック部材のうち他方のチャック部材も前記ボディに対して可動であり、
前記カバー部材には、前記他方のチャック部材に対応する挿通孔及びシール部がさらに形成されており、
前記他方のチャック部材に対応する押え部材をさらに備えることを特徴とするチャック装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015130902A JP6628076B2 (ja) | 2015-06-30 | 2015-06-30 | チャック装置 |
US15/173,872 US10183335B2 (en) | 2015-06-30 | 2016-06-06 | Chuck apparatus |
TW105117953A TWI687278B (zh) | 2015-06-30 | 2016-06-07 | 夾鉗裝置 |
DE102016111324.7A DE102016111324A1 (de) | 2015-06-30 | 2016-06-21 | Spannvorrichtung |
CN201610494594.5A CN106312669B (zh) | 2015-06-30 | 2016-06-29 | 夹盘设备 |
KR1020160082616A KR102395638B1 (ko) | 2015-06-30 | 2016-06-30 | 척 장치 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015130902A JP6628076B2 (ja) | 2015-06-30 | 2015-06-30 | チャック装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017013161A JP2017013161A (ja) | 2017-01-19 |
JP6628076B2 true JP6628076B2 (ja) | 2020-01-08 |
Family
ID=57582591
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015130902A Active JP6628076B2 (ja) | 2015-06-30 | 2015-06-30 | チャック装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10183335B2 (ja) |
JP (1) | JP6628076B2 (ja) |
KR (1) | KR102395638B1 (ja) |
CN (1) | CN106312669B (ja) |
DE (1) | DE102016111324A1 (ja) |
TW (1) | TWI687278B (ja) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20180082160A (ko) * | 2017-01-10 | 2018-07-18 | (주)주강로보테크 | 그립핑 장치 |
JP6852888B2 (ja) * | 2017-04-05 | 2021-03-31 | 株式会社アイエイアイ | グリッパ |
DE112018002553T5 (de) * | 2017-05-17 | 2020-01-30 | Smc Corporation | Druckluftfutter mit Verriegelungsmechanismus |
TWI640402B (zh) * | 2017-10-26 | 2018-11-11 | 中日流體傳動股份有限公司 | Composite clamp fixture module |
JP6867340B2 (ja) * | 2018-08-08 | 2021-04-28 | Ckd株式会社 | 把持装置 |
JP7021062B2 (ja) * | 2018-12-07 | 2022-02-16 | Ckd株式会社 | 把持装置 |
JP7380984B2 (ja) * | 2020-03-09 | 2023-11-15 | Smc株式会社 | エアチャック |
CN111891469A (zh) * | 2020-07-24 | 2020-11-06 | 中邮科技有限责任公司 | 一种邮袋抓取机构 |
CN112318546A (zh) * | 2020-10-22 | 2021-02-05 | 陈习 | 一种机器人的钳臂固定机构 |
JP2022118858A (ja) | 2021-02-03 | 2022-08-16 | Smc株式会社 | チャック装置 |
JP2022162616A (ja) * | 2021-04-13 | 2022-10-25 | Smc株式会社 | エアチャック |
CN113696211B (zh) * | 2021-09-13 | 2023-12-01 | 北京理工大学 | 一种空间机械臂软抓手 |
KR102529512B1 (ko) * | 2023-02-24 | 2023-05-09 | 주식회사 테솔로 | 로봇암의 그리퍼 |
Family Cites Families (20)
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US2538521A (en) * | 1949-02-10 | 1951-01-16 | E Horton & Son Company | Chuck and dust excluding jacket therefor |
US2905477A (en) * | 1956-11-13 | 1959-09-22 | Buck Tool Co | Chuck |
US3251606A (en) * | 1964-01-20 | 1966-05-17 | Garrison Machine Works Inc | Chuck |
DE2003621A1 (de) * | 1970-01-28 | 1971-08-05 | Gerhard Steinhoff | Drehfutter fuer Drehmaschinen |
US3963249A (en) * | 1975-05-21 | 1976-06-15 | Anton Fink | Chuck seal |
JP2551945Y2 (ja) * | 1991-12-25 | 1997-10-27 | エスエムシー株式会社 | ダストカバー付きワーク把持用チャック |
KR0183709B1 (ko) * | 1995-05-04 | 1999-05-01 | 김광호 | 로보트 핸드 장치 |
US6073940A (en) * | 1998-02-11 | 2000-06-13 | The Goss & Deleeuw Machine Company | Sealed chuck assembly |
JP3846226B2 (ja) * | 2001-05-25 | 2006-11-15 | 株式会社デンソー | チャック装置 |
US6588191B2 (en) * | 2001-07-25 | 2003-07-08 | The Toro Company | Method for providing grooved roller with variable shoulders |
SI1595641T1 (sl) * | 2004-04-22 | 2008-08-31 | Erowa Ag | Vpenjalna naprava z vpenjalno glavo in paleto, ki jo je mogoče nanjo ločljivo pritrditi |
JP2006218580A (ja) * | 2005-02-10 | 2006-08-24 | Smc Corp | ワーク把持用チャック及びその制御方法 |
US20080018060A1 (en) * | 2006-07-20 | 2008-01-24 | Masato Ishii | Chuck |
JP4304631B2 (ja) * | 2006-07-31 | 2009-07-29 | Smc株式会社 | チャック装置 |
JP4320472B2 (ja) | 2007-01-16 | 2009-08-26 | Smc株式会社 | チャック装置 |
ITBS20070046U1 (it) | 2007-11-15 | 2009-05-16 | Gimatic Spa | Pinza pneumatica lineare |
JP2011045978A (ja) * | 2009-08-28 | 2011-03-10 | Seiko Epson Corp | ロボットの防塵構造およびそれを備えたロボット |
TWI577508B (zh) * | 2012-08-07 | 2017-04-11 | Smc股份有限公司 | 夾鉗裝置 |
CO6570190A1 (es) * | 2012-11-02 | 2012-11-30 | Salazar Victor Martin Bayona | Dispositivo para cubrir la broca y mallaril, su proceso de ensamble y elaboración |
CH708745A1 (de) * | 2013-10-25 | 2015-04-30 | Erowa Ag | Spanneinrichtung. |
-
2015
- 2015-06-30 JP JP2015130902A patent/JP6628076B2/ja active Active
-
2016
- 2016-06-06 US US15/173,872 patent/US10183335B2/en active Active
- 2016-06-07 TW TW105117953A patent/TWI687278B/zh active
- 2016-06-21 DE DE102016111324.7A patent/DE102016111324A1/de active Pending
- 2016-06-29 CN CN201610494594.5A patent/CN106312669B/zh active Active
- 2016-06-30 KR KR1020160082616A patent/KR102395638B1/ko active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
US20170001245A1 (en) | 2017-01-05 |
TW201703920A (zh) | 2017-02-01 |
DE102016111324A1 (de) | 2017-01-05 |
US10183335B2 (en) | 2019-01-22 |
CN106312669B (zh) | 2020-02-14 |
CN106312669A (zh) | 2017-01-11 |
JP2017013161A (ja) | 2017-01-19 |
TWI687278B (zh) | 2020-03-11 |
KR20170003477A (ko) | 2017-01-09 |
KR102395638B1 (ko) | 2022-05-09 |
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