WO2002058897A1 - Holder and chuck device - Google Patents

Holder and chuck device Download PDF

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Publication number
WO2002058897A1
WO2002058897A1 PCT/JP2002/000526 JP0200526W WO02058897A1 WO 2002058897 A1 WO2002058897 A1 WO 2002058897A1 JP 0200526 W JP0200526 W JP 0200526W WO 02058897 A1 WO02058897 A1 WO 02058897A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
guide
gripper
axial direction
driving
Prior art date
Application number
PCT/JP2002/000526
Other languages
French (fr)
Japanese (ja)
Inventor
Yutaka Tajima
Original Assignee
Izumi Corporation
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Izumi Corporation filed Critical Izumi Corporation
Publication of WO2002058897A1 publication Critical patent/WO2002058897A1/en

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Classifications

    • 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
    • B23B31/20—Longitudinally-split sleeves, e.g. collet chucks
    • B23B31/201—Characterized by features relating primarily to remote control of the gripping means
    • B23B31/202—Details of the jaws
    • 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
    • B23B31/20—Longitudinally-split sleeves, e.g. collet chucks
    • B23B31/201—Characterized by features relating primarily to remote control of the gripping means
    • B23B31/204—Characterized by features relating primarily to remote control of the gripping means using fluid-pressure means to actuate the gripping 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B2231/00—Details of chucks, toolholder shanks or tool shanks
    • B23B2231/20—Collet chucks
    • B23B2231/2086—Collets in which the jaws are formed as separate elements, i.e. not joined together

Definitions

  • the present invention relates to a gripper and a chuck device, and more particularly, to a structure of a chuck device suitable as a gripping mechanism for gripping a gripping target such as a tool or a work in a machine tool or the like.
  • a chuck device suitable as a gripping mechanism for gripping a gripping target such as a tool or a work in a machine tool or the like.
  • a plurality of slits are formed around an axis in a portion near a tip of a metal cylindrical body, and a tapered (conical) is formed on the outer periphery of the tip with respect to the axial direction.
  • a collect chuck device provided with a drive cylinder having a drive-side inclined surface.
  • the drive cylinder is further covered by a cylindrical outer cylinder, and a chuck nut (guide member) screwed to the outer cylinder comes into contact with the tip of the collet shaft for positioning. I have.
  • the driving-side inclined surface moves the driven-side inclined surface radially inward, and the portion of the collet shaft near the tip end is moved. Since it is radiused inward in the radial direction, a gripping tool or the like is designed to be gripped by a gripping surface provided on the inner peripheral surface at the distal end of the collect shaft.
  • the above-mentioned collect shaft is configured so that a workpiece or a tool or the like is gripped on a grip surface, which is an inner peripheral surface thereof, by bending a portion close to the distal end in a radial direction.
  • a grip surface which is an inner peripheral surface thereof.
  • the work is performed to grasp the workpiece or tool in a slightly inclined state, it is difficult to increase the gripping accuracy of the workpiece or tool or the like on the object to be gripped.
  • the position of the work or the tool is shifted.
  • the present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a gripper and a chuck structure that can be compactly configured. Another object of the present invention is to provide a gripper and a chuck device capable of gripping the gripping object with high accuracy. It is still another object of the present invention to provide a gripping tool that can easily cope with a gripping object having various shapes and a chuck having the gripping tool.
  • a gripper of the present invention includes a driven-side inclined surface inclined with respect to the axial direction for receiving a driving force by slidingly contacting a driving-side inclined surface inclined with respect to the axial direction.
  • a base formed in a circular shape (for example, a cylindrical shape, a rectangular tube shape, an annular shape, and the like), and a plurality of elastically deformable deformable portions that branch from the base around the axis and extend in the radial direction, respectively,
  • a plurality of gripping drive units each formed at the tip of the deformed portion and provided with the driven-side inclined surface are provided.
  • a deformable portion extending in the radial direction is provided between the base portion and the gripping drive portion, and the deformable portion undergoes a directional deformation by receiving a driving force on the driven-side inclined surface of the gripper drive portion. Since the elastic deformation is facilitated by the length of the deformed portion extending in the radial direction, A force that enables a sufficient amount of elastic deformation of the deformed portion to be obtained without securing a sufficient length in the direction, and a compact chuck device.
  • the radial direction in which the deformed portion extends may be either radially inward (axial side) or radially outward (outer peripheral side).
  • the gripping drive unit may directly grip the gripping target, or may be configured so that gripping claws for gripping the gripping target are attached.
  • the deforming portion has a curved portion between the base and the grip driving portion. According to this means, since the range of the deformation direction can be expanded by having the curved portion, it is possible to more easily move the gripping drive unit in the radial direction.
  • the curved portion may be provided in the middle of the deformed portion, or may be provided at an end on the base side or the end on the grip drive portion side of the deformed portion. Further, the curved portion may be curved forward or backward in the axial direction.
  • the deformed portion is provided with a narrow portion having a reduced width as viewed around the axis. By providing the narrow portion, the deformed portion is further deformed.
  • the number of the deforming portions and the number of the gripping drive portions are an odd multiple of 3, it is possible to reduce the bias of the gripping force around the axis and to evenly grip the gripping target.
  • all the gripping drive units are formed to have rotationally symmetric shapes around the axis, and in this case, the gripping force of one gripping drive unit is determined by that of a specific one gripping drive unit.
  • the gripping force does not cause the misalignment of the gripping object in opposition to the gripping force alone. Therefore, it is possible to reduce the variation of the gripping force around the axis and to reduce the deviation (center deviation) of the gripping position of the gripping target.
  • a guided surface parallel to the moving direction specifically, a guided surface parallel to the radial direction is formed on the gripping drive unit. Since the guided surface parallel to the radial direction is formed in the gripping drive unit, the gripped drive unit can be accurately moved in the radial direction by guiding the guided surface by a predetermined guide surface.
  • the deformed portion Is formed so as to extend in the radial direction or bend in the radial direction, so that the guided surface parallel to the radial direction and the guide surface for guiding this are always pressed by the elastic force of the deformed portion. Since it is possible to set the gripping drive unit to the held state, the gripping drive unit can be guided with high precision by the guide surface.
  • the grip drive unit is provided with fixing means for fixing the grip claws.
  • the gripping claw is fixed to the gripping drive unit, and the gripping target is gripped by the gripping claw. It is possible to easily cope with a gripping target having a shape.
  • the fixing means is configured so that a gripping claw can be detachably attached from the front of the gripping drive unit.
  • a chuck device is a chuck device attached to a main shaft of a machine tool for gripping an object to be gripped, the gripper according to any of the above, and the driven side of the gripper.
  • a driving body that includes the drive-side inclined surface that is in sliding contact with the inclined surface, moves in the axial direction with respect to the gripper, and drives the gripping drive unit, a positioning unit that positions the base of the gripper, A guide portion for guiding the gripping drive portion in the radial direction.
  • the driving body is provided with a cylinder, and a drive-side inclined surface in an action portion configured to be slidable in an axial direction by a fluid pressure in the cylinder and extending forward in the axial direction from inside the cylinder. It is preferable to have a piston.
  • the guide portion is provided on a guide screw member configured to be screwed to a screw member fixed relative to the positioning portion, and the guide member and the guide member are fixed to each other.
  • the guide screwing member is provided with a plurality of screwing portions having different diameters in the axial direction, and the screwed portion and the guide screwing portion are screwed together at the plurality of screwing portions. Is preferred. According to this, it is possible to position the guide screw member with high precision by screwing the guide screw member to the screwed member at a plurality of screw portions having different diameters. Proposal for department Internal accuracy can be improved.
  • the guide portion is provided on a guide screw member configured to be screwed to a screw member fixed relatively to the positioning portion, and the guide member and the screw member are connected to each other.
  • a stress applying means for applying an axial pressing stress or a tensile stress between the screwed member and the guide screw member in a state where the screwing member is screwed. According to this means, the displacement of the guide screw member caused by the axial play in the screwed portion between the member to be screwed and the guide screw member can be reduced by the stress applying means in the pressing direction or the tensile direction. Can be substantially eliminated.
  • the stress applying means is means for applying the pressing stress or the tensile stress between the member to be screwed and the guide screwing member by applying a fluid pressure.
  • FIG. 1 is a schematic longitudinal ft view showing an embodiment of a chuck device according to the present invention.
  • FIG. 2 is a front view of a gripper included in the embodiment.
  • FIG. 3 is a perspective view of the gripping tool.
  • FIG. 4 is an enlarged sectional view of the vicinity of a gripper of the chuck device.
  • FIG. 5 is a cross-sectional view showing a deformation of the gripper included in the embodiment.
  • FIG. 6 is a sectional view showing another modified example of the gripper included in the embodiment.
  • FIG. 7 is a cross-sectional view of a gripper included in the embodiment.
  • FIG. 1 is a schematic longitudinal sectional view of the chuck device of the present embodiment
  • FIG. 2 is a front view of the gripper
  • FIG. 3 is a perspective view of the gripper
  • FIG. 4 is an enlarged cross-sectional view of a grip portion of the chuck device.
  • the chuck device 100 includes a base 101 mounted on a machine tool or the like, and a cylinder (covered) fixed in a state fitted into a center hole provided in the base 101.
  • a piston fitted slidably in the axial direction between the cylindrical member 102 and the cylindrical central guide portion 102a of the cylinder 102 and the cylindrical peripheral wall portion 102b.
  • the gripper 105 positioned by fitting the annular base portion 105a to 104 and the gripper claw attached to the gripper driving portion 105c of the gripper 105 06 and the outer surface of the peripheral wall portion 102b of the cylinder 102, and abuts the guided surface 1053 of the gripping drive portion 105 (see FIG. 3).
  • Guide member having a guide surface 1 0 7 b that has a (chuck nut) 1 0 7.
  • the fluid paths 1021 and 1022 are for sending a fluid such as air between the cylinder 102 and the piston 103 to move the piston 103 back and forth in the axial direction.
  • the fluid path 102 3 allows the fluid such as air to blow out from the tip of the central guide portion 102 a through the positioning member 104, and the gap between the gripping drive portions 105 and the gripping claws 10 ′ This is for preventing dust such as chips from clogging the gap between the six.
  • the fluid path 102 4 is connected to the peripheral wall portion 102 b through a fluid path 102 provided in the peripheral wall portion 102 b of the cylinder 102 and the guide member 100 screwed thereto.
  • This is a means (stress applying means) for supplying a fluid such as air between the guide member 7 and the guide member 107 by the supply pressure so as to push the guide member 107 forward in the axial direction (rightward in the figure).
  • a first male screw portion 1026 having a smaller diameter is provided at the front in the axial direction and a second male screw portion 1027 having a larger diameter is provided at the rear in the axial direction.
  • a first male screw portion 1026 having a smaller diameter is provided at the front in the axial direction
  • a second male screw portion 1027 having a larger diameter is provided at the rear in the axial direction.
  • the piston 103 is provided with a conical driving-side inclined surface 103a at the front end in the axial direction.
  • the driving-side inclined surface 103a is a driven-side inclined surface 1052 of a gripper 105 described later (see FIG. 3). Is in sliding contact with
  • the positioning member 104 fits into the stop (annular rib) 104a for determining the axial forward limit of the sliding range of the piston 103 and the base 105a of the gripper 105.
  • a mating portion (groove) 104b is provided.
  • the base portion 105a of the gripper 105 is fitted and positioned in the fitting portion 104b, and here, as shown in FIG. 4, the fixing pin 108 is inserted to move the gripper 105 around the axis. To prevent rotation.
  • the gripper 105 has a base portion 105a and a plurality of deformed portions that are branched from the base portion 105a and extend in the radial direction (in the illustrated example, radially inward), and are arranged around the axis. 105b, and a plurality of gripping drive units 105c connected to the axial front end of the deformation unit 105b. As shown in FIG. 4, a bent portion 1051 that is bent from the radial direction to the axial direction is provided at the radially inner end of the deformed portion 105b.
  • the grip drive 105c is connected to the curved portion 1051. As shown in FIG. 4, the grip drive section 105c has a driven-side inclined surface 1052 that slides on the drive-side inclined surface 103a of the piston 103, and a guided surface 1053 that is parallel to the radial direction. And a screw hole 1054 for attaching the gripping claw 106 are formed.
  • the gripper jaw 106 is passed through a port or the like and screwed into the screw hole 105 of the gripper drive unit 105c to be attached and fixed to the gripper drive unit 105c. It has become.
  • the gripper 106 has a cylindrical gripping surface 106a for gripping a gripping target such as a tool or a workpiece.
  • the guide member 107 is screwed to a first female screw part 1071 and a second male screw part 1027 that are screwed to a first male screw part 1026 provided in the cylinder 102.
  • Second female thread 1 0 7 2 A guide portion 107b having a guide surface 1073 formed in parallel with the radial direction in contact with the guided surface 1053 formed on the gripping screw portion 105c of the gripper 105. Is formed.
  • FIG. 2 is a front view of the gripping tool 105 as viewed from the front in the axial direction
  • FIG. 3 is a perspective view of the gripping tool 105.
  • the gripper 105 has nine deformed portions 1 equally divided around the axis.
  • a grip drive unit 105c is provided. This is intended to reduce the dispersion of the gripping force around the axis with respect to the gripping target and to prevent the gripping target from being misaligned by eliminating the gripping drive unit that faces the gripping target.
  • the gripping force F1 of one gripping drive unit 105c1 is opposite to the gripping force of two gripping drive units 105c2 and 105c3.
  • F2 and F3 are balanced, and the gripping force F2 of one gripping drive 105c2 of the two gripping drivers 105c2 and 105c3 facing each other is the first one gripper.
  • the driving force 105c1 and another gripping driving portion 105c4 adjacent to the driving force are balanced with the gripping force F1, F4 of the user, so that the gripping force balance is around the axis in all the gripping driving portions.
  • the uniformity of the gripping force around the axis can be improved as a whole, and the misalignment of the gripping object can be prevented.
  • the number of deforming parts and gripping drive parts may be set to an odd multiple of three.
  • the deformed portion 105b of the gripper 105 has a narrow portion formed by partially widening the slit between the deformed portions 105b. Width
  • the piston 103 slides back and forth in the axial direction with respect to the cylinder 102 by the pressure of a fluid such as air supplied from 102 1 and 1022.
  • a fluid such as air supplied from 102 1 and 1022.
  • the driving-side inclined surface 103a pushes the driven-side inclined surface 1052 of the gripping drive 105c, whereby the gripping drive 105c has a diameter. Move in the direction.
  • the gripper driving portion 105c The guided surface 1053 is always pressed against the guide surface 1073 of the guide member 107, whereby the gripping drive portion 105c is guided with high accuracy in the radial direction.
  • the grip driving unit 105c moves radially inward in this way, the gripping claws 106 also move radially inward, and can grip the gripping object 110.
  • the deforming portion 105b since the deforming portion 105b is extended in the radial direction, the length in the axial direction can be reduced while securing the amount of elastic deformation of the gripping drive portion 105c. In other words, even if they have the same length in the axial direction, the radial operation stroke of the gripping drive unit 105c and the gripping claws 106 can be made larger than in the conventional structure.
  • the curved portion 1051 is formed in the deformed portion 105, the degree of freedom of deformation of the deformed portion 105b is increased, whereby the gripping drive portion 105c is moved radially along the guide surface 1073. It can be moved with high accuracy depending on the direction. Therefore, the gripping target 110 can be gripped more reliably and with a wider gripping area, so that gripping displacement of the gripping target 110 during high-speed rotation or the like can be prevented.
  • a stress (tensile stress) is applied to the peripheral wall portion 102b of the cylinder 102 and the guide member 107 in a direction in which the peripheral wall portion 102b and the guide member 107 are separated from each other by a fluid pressure of air or the like supplied through the fluid path 1025.
  • the guide member 107 screwed to the peripheral wall portion 102b is always pressed forward in the axial direction, so that play that may occur at the screwed portion can be eliminated.
  • the guide member 107 since the guide member 107 always receives the elastic force forward in the axial direction from the gripping drive 105c of the gripper 105, even if the stress is small, the elastic force is exerted in the same direction. Because the effect is not hindered.
  • FIG. 5 shows one cross section of a generally cylindrical gripper as a whole.
  • This gripper 205 can be used for a chuck device including the same biston 103, positioning member 104 and guide member 107 as in the above embodiment.
  • the gripper 205 includes an annular base 205 a that is positioned by fitting to the positioning member 104, and a plurality of deformed portions 200 that branch from the base 205 a and extend radially inward. 5b, and a plurality of gripping drive units 205c connected to the plurality of deformation units 205b, respectively.
  • the deformed portion 205 b is provided with a curved portion 2051 whose extension direction is curved from the radial inside to the axial front.
  • the gripping drive portion 205c has a driven-side inclined surface 2052 that slides on the drive-side inclined surface of the piston 103, and a guided surface guided by the guide surface of the guide member 107. 2 0 5 3 are provided.
  • This gripper 205 does not have a screw hole 1054 which is a fixing means provided in the gripper driving portion 105c of the gripper 105 of the above embodiment, and instead, The gripping drive unit 205c is provided with a cylindrical gripping surface 205 for directly gripping a gripping target.
  • the gripping drive unit of the gripper may be configured such that the gripping nail is attached and the gripping nail is indirectly gripped by the gripping nail as in the above embodiment.
  • the gripping target may be directly gripped by the gripping drive unit 205c.
  • the gripper 304 is provided with an annular base 300 a that is fitted and positioned on the positioning member 304, and a plurality of deformable portions 3 that branch from the base 300 a and extend radially outward. 0 5 b and a plurality of gripping drive units 3 0 5 c connected to the plurality of deformation units 3 0 5 b, respectively.
  • the deformed portion 305b is provided with a curved portion 3051, whose extension direction is curved from the radial direction to the axial direction.
  • a piston 350 having a drive-side inclined surface formed on the outer peripheral surface side is provided. Further, a driven-side inclined surface 3502 that is in sliding contact with the drive-side inclined surface of the piston 303 is formed in the gripping drive portion 305c. Further, a guide member 307 having a shape protruding outward from the axis side is provided, and the grip drive portion 305c extends in a radial direction guided by the guide surface of the guide member 307. Guided surfaces 30053 are also formed.
  • This gripper 2005 constitutes a so-called lining type chuck device which grips the gripping object by pushing and expanding it from the radially inner side to the radially outer side, and is directed radially outward. It has a grip surface 3 0 5 5. Therefore, the object to be gripped may be one having a tubular portion that can be gripped by the lining method, or one having a hole. As described above, in the present invention, the deformed portions 105b and 205b may be formed so as to extend inward in the radial direction, as in the case of the grippers 105 and 205. It may be configured such that the deformed portion 305 b extends outward in the radial direction as shown in FIG.
  • the grip driving units 105 c and 205 c may be configured so as to exert a gripping force inward in the radial direction as in the case of the gripping tools 105 and 205.
  • the gripping drive unit 305c may be configured to exert a gripping force radially outward.
  • the gripper and the chuck device of the present invention are not limited to the illustrated examples described above, and it is needless to say that various changes can be made without departing from the gist of the present invention.
  • the drive member for driving the gripping drive unit such as the above-mentioned biston, is not limited to the cylinder-viston structure operated by the fluid pressure as described above.
  • Various types can be used, such as those operated by a drive mechanism that mechanically converts the operation into the axial direction.
  • Industrial applications As described above, according to the present invention, it is possible to obtain a sufficient amount of elastic deformation of the deformed portion without securing a sufficient length in the axial direction. Can be.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Gripping On Spindles (AREA)

Abstract

A holder (105), comprising a deformed part (105b) radially extending from a base part (105a) and having a holdingly driving part (105c) provided at the tip thereof and a curved part (1051), wherein, when a piston (103) is moved in axial direction, the deformed part (105b) is deformed elastically, and the holdingly driving part (105c) is moved radially along the guide surface of a guide member (107), whereby, since the deformed part is so formed as to be radially extended curvedly from the base part, the holder can be formed compact, an elastically deformed amount of the deformed part can be assured sufficiently, and the deformation accuracy of the deformed part can also be increased.

Description

明細書  Specification
把持具及びチャック装置 技術分野 Gripping tool and chuck device
本発明は把持具及びチヤック装置に係り、特に、工作機械等において工具や ワーク等の把持対象を把持するための把持機構として好適なチャック装置の 構造に関する。 背景技術 一般に、 工作機械においては、 ワーク （工作物） や工具を機械に取り付け固定するため に種々のチャック装置が用いられている。 これらのチャック装置においては、例えば、金 属製の円筒体の先端寄り部分において軸線周りに複数のスリット （摺り割り部）を形成し 、先端部外周に軸線方向に対して傾斜したテーパ状（円錐面状） の従動側傾斜面を形成し てなるコレット軸 （把持具） と、 このコレット軸の外側に揷嵌され、上記従動面に摺接し 軸線方向に対して傾斜したテーパ状（円錐面状）の駆動側傾斜面を有する駆動筒材とが設 けられたコレツトチャック装置が知られている。 このコレツトチャック装置においては、 上記駆動筒材をさらに円筒状の外筒が覆い、この外筒に螺合するチャックナット （案内部 材） がコレツト軸の先端に当接し位置決めするようになっている。  The present invention relates to a gripper and a chuck device, and more particularly, to a structure of a chuck device suitable as a gripping mechanism for gripping a gripping target such as a tool or a work in a machine tool or the like. BACKGROUND ART In general, various chuck devices are used in a machine tool to attach and fix a work (workpiece) or a tool to the machine. In these chuck devices, for example, a plurality of slits (slits) are formed around an axis in a portion near a tip of a metal cylindrical body, and a tapered (conical) is formed on the outer periphery of the tip with respect to the axial direction. A collet shaft (gripping tool) formed on the driven side inclined surface (conical surface) having a tapered shape (conical surface shape) which is fitted to the outside of the collet shaft, slidably contacts the driven surface, and is inclined with respect to the axial direction. 2. Description of the Related Art There is known a collect chuck device provided with a drive cylinder having a drive-side inclined surface. In this collet chuck device, the drive cylinder is further covered by a cylindrical outer cylinder, and a chuck nut (guide member) screwed to the outer cylinder comes into contact with the tip of the collet shaft for positioning. I have.
上記のコレツトチャック装置では、駆動简材をコレツト軸に対して軸線方向に移動させ ると、その駆動側傾斜面が従動側倾斜面を径方向内側に移動させ、 コレツト軸の先端寄り 部分が径方向内側に橈むので、コレツト軸の先端内周面に設けられた把持面によってヮー クゃ工具等を把持するようになっている。  In the above-mentioned collet chuck device, when the driving member is moved in the axial direction with respect to the collet shaft, the driving-side inclined surface moves the driven-side inclined surface radially inward, and the portion of the collet shaft near the tip end is moved. Since it is radiused inward in the radial direction, a gripping tool or the like is designed to be gripped by a gripping surface provided on the inner peripheral surface at the distal end of the collect shaft.
しかしながら、上記のコレツト軸においては、先端寄り部分が径方向に柔軟に橈むよう にするために、或いは、把持面の軸線方向の傾斜を低減するために、軸線方向の寸法を長 く形成する必要があるので、コンパクトに構成することが困難であるという問題点がある また、上記のコレツト軸は、先端寄り部分が径方向に撓むことによってその内周面であ る把持面でワークや工具等を把持するように構成されているので、把持面が軸線方向に見 て僅かではあるが傾斜した状態でワークや工具等を掴むように動作することとなるから、 ワークや工具等の把持対象物に対する把持精度を高めることが困難であって、また、把持 面と把持対象物との間の把持状態によってはワークや工具の位置ずれが発生しゃすレ、と いう問題点がある。 However, in the above-mentioned collect shaft, it is necessary to make the axial dimension longer in order to make the portion near the tip flex radially in the radial direction or to reduce the inclination of the gripping surface in the axial direction. There is a problem that it is difficult to make it compact Further, the above-mentioned collect shaft is configured so that a workpiece or a tool or the like is gripped on a grip surface, which is an inner peripheral surface thereof, by bending a portion close to the distal end in a radial direction. Although the work is performed to grasp the workpiece or tool in a slightly inclined state, it is difficult to increase the gripping accuracy of the workpiece or tool or the like on the object to be gripped. There is a problem that, depending on the gripping state between the gripping target and the workpiece, the position of the work or the tool is shifted.
さらに、従来のコレットチャックでは、 ワークや工具の形状が変わると、 これに合わせ てコレツト軸全体を交換する必要があるので、上記のようにスリットを備えた高価なコレ ット軸を多種用意しなければならず、 部品コストが増大するという問題点がある。  Furthermore, with the conventional collet chuck, if the shape of the workpiece or tool changes, the entire collet shaft needs to be replaced accordingly.Therefore, a variety of expensive collet shafts with slits are prepared as described above. And the cost of parts increases.
そこで本発明は上記問題点を解決するものであり、その課題は、 コンパクトに構成する ことの可能な把持具及びチヤック構造を提供することにある。また、上記把持対象物を高 精度に把持することができる把持具及びチャック装置を提供することにある。 さらに、種 々の形状を有する把持対象物に対して容易に対応できる把持具及ぴこれを備えたチヤッ ク装歡を提供することにある。  Therefore, the present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a gripper and a chuck structure that can be compactly configured. Another object of the present invention is to provide a gripper and a chuck device capable of gripping the gripping object with high accuracy. It is still another object of the present invention to provide a gripping tool that can easily cope with a gripping object having various shapes and a chuck having the gripping tool.
発明の開示 '' DISCLOSURE OF THE INVENTION ''
上記課題を解決するために本発明の把持具は、軸線方向に対して傾斜した駆動側傾斜面 と摺接して駆動力を受けるための前記軸線方向に対して傾斜した従動側傾斜面を備えた 把持具において、周回状 （例えば円筒状、 角筒状、 環状など） に形成された基部と、該基 部から軸線周りに分岐してそれぞれ径方向に伸びる弾性変形可能な複数の変形部と、該変 形部の先にそれぞれ形成され前記従動側傾斜面を備えた複数の把持駆動部とが設けられ ていることを特徴とする。  In order to solve the above problems, a gripper of the present invention includes a driven-side inclined surface inclined with respect to the axial direction for receiving a driving force by slidingly contacting a driving-side inclined surface inclined with respect to the axial direction. In the gripper, a base formed in a circular shape (for example, a cylindrical shape, a rectangular tube shape, an annular shape, and the like), and a plurality of elastically deformable deformable portions that branch from the base around the axis and extend in the radial direction, respectively, A plurality of gripping drive units each formed at the tip of the deformed portion and provided with the driven-side inclined surface are provided.
この発明によれば、基部と把持駆動部との間に径方向に伸びる変形部が設けられ、把持 駆動部の従動側傾斜面にて駆動力を受けることにより変形部が弹性変形するように構成 されているので、変形部の径方向に伸びる長さによって弾性変形が容易になるため、軸線 方向の長さを充分に確保しなくても充分な変形部の弾性変形量を得ることが可能になる 力 、チャック装置をコンパクトに構成することができる。 ここで、変形部の伸びる径方 向は、 径方向内側 （軸線側） と、 径方向外側 （外周側） のいずれでもよい。 また、把持駆 動部は、把持対象を直接把持するものであってもよく、或いは、把持対象を把持する把持 爪が取り付けられるように構成されたものであってもよい。 According to the present invention, a deformable portion extending in the radial direction is provided between the base portion and the gripping drive portion, and the deformable portion undergoes a directional deformation by receiving a driving force on the driven-side inclined surface of the gripper drive portion. Since the elastic deformation is facilitated by the length of the deformed portion extending in the radial direction, A force that enables a sufficient amount of elastic deformation of the deformed portion to be obtained without securing a sufficient length in the direction, and a compact chuck device. Here, the radial direction in which the deformed portion extends may be either radially inward (axial side) or radially outward (outer peripheral side). Further, the gripping drive unit may directly grip the gripping target, or may be configured so that gripping claws for gripping the gripping target are attached.
本発明において、前記変形部は、前記基部から前記把持駆動部までの間に湾曲部位を有 することが好ましい。 この手段によれば、湾曲部位を有することによって変形方向の範囲 を広げることができるので、把持駆動部を径方向により容易に移動させることが可能にな る。 ここで、湾曲部位は変形部の途中に設けられていてもよく、或いは、変形都の基部側 の端部若しくは把持駆動部側の端部に設けられていてもよい。 また、湾曲部位は、軸線方 向前方、 軸線方向後方のいずれに向けて湾曲していても構わない。  In the present invention, it is preferable that the deforming portion has a curved portion between the base and the grip driving portion. According to this means, since the range of the deformation direction can be expanded by having the curved portion, it is possible to more easily move the gripping drive unit in the radial direction. Here, the curved portion may be provided in the middle of the deformed portion, or may be provided at an end on the base side or the end on the grip drive portion side of the deformed portion. Further, the curved portion may be curved forward or backward in the axial direction.
本発明において、前記変形部には、前記軸線周りに見た幅が縮小された狭幅部分が設け られていることが好ましい。狭幅部を設けることによってさらに変形部が変形しゃすくな る。  In the present invention, it is preferable that the deformed portion is provided with a narrow portion having a reduced width as viewed around the axis. By providing the narrow portion, the deformed portion is further deformed.
本発明において、前記変形部及び前記把持駆動部の個数が 3の奇数倍個であることによ り、把持力の軸線周りの偏りを低減し、把持対象を均等に把持することが可能になる。特 に、全ての把持駆動部が軸線周りに相互に回転対称な形状に形成されていることが望まし く、この場合には一つの把持駆動部の把持力が特定の一つの把持駆動部の把持力のみと対 抗して、把持对象の芯ズレを招くというようなことがなくなり、一つの把持駆動部が把持 対象に及ぼす把持力は常に反対側の 2つの把持駆動部の把持力と対抗するので、把持力の 軸線周りのばらつきを低減できるとともに把持対象の把持位置のズレ（芯ズレ）を低減で 含る。  In the present invention, since the number of the deforming portions and the number of the gripping drive portions are an odd multiple of 3, it is possible to reduce the bias of the gripping force around the axis and to evenly grip the gripping target. . In particular, it is desirable that all the gripping drive units are formed to have rotationally symmetric shapes around the axis, and in this case, the gripping force of one gripping drive unit is determined by that of a specific one gripping drive unit. The gripping force does not cause the misalignment of the gripping object in opposition to the gripping force alone. Therefore, it is possible to reduce the variation of the gripping force around the axis and to reduce the deviation (center deviation) of the gripping position of the gripping target.
本発明において、前記把持駆動部には、 その移動方向に平行な被案内面、具体的には径 方向に平行な被案内面、が形成されていることが好ましい。把持駆動部に径方向に平行な 被案内面が形成されていることにより、被案内面を所定の案内面で案内することによって 把持駆動部を径方向に正確に移動させることが可能になる。特に、本発明では上記変形部 が半径方向に伸びるように、或いは、半径方向に湾曲するように形成されているので、径 方向に平行な被案内面とこれを案内する案内面とが変形部の弾性力によって常に押し付 けられた状態に設定することが可能となるため、把持駆動部を案内面により高精度に案内 することが可能になる。 In the present invention, it is preferable that a guided surface parallel to the moving direction, specifically, a guided surface parallel to the radial direction is formed on the gripping drive unit. Since the guided surface parallel to the radial direction is formed in the gripping drive unit, the gripped drive unit can be accurately moved in the radial direction by guiding the guided surface by a predetermined guide surface. In particular, in the present invention, the deformed portion Is formed so as to extend in the radial direction or bend in the radial direction, so that the guided surface parallel to the radial direction and the guide surface for guiding this are always pressed by the elastic force of the deformed portion. Since it is possible to set the gripping drive unit to the held state, the gripping drive unit can be guided with high precision by the guide surface.
本発明において、前記把持駆動部には、把持爪を固定するための固定手段が設けられて いることが好まし Vヽ。把持駆動部に把持爪を固定して、 この把持爪によつて把持対象を把 持するように構成することによって、把持対象の形状が変わっても把持爪のみを交換すれ ばよいので、種々の形状を備えた把持対象に容易に対応することができる。 ここで、前記 固定手段は、把持爪を把持駆動部の前方から着脱可能に取り付けられるように構成されて いることが望ましい。  In the present invention, it is preferable that the grip drive unit is provided with fixing means for fixing the grip claws. The gripping claw is fixed to the gripping drive unit, and the gripping target is gripped by the gripping claw. It is possible to easily cope with a gripping target having a shape. Here, it is preferable that the fixing means is configured so that a gripping claw can be detachably attached from the front of the gripping drive unit.
次に、 本発明のチャック装置は、 工作機械の主軸に取り付けられ、 被把持体 を把持するためのチヤック装置であって、上記のいずれかに記載の把持具と、 該把持具の前記従動側傾斜面と摺接する前記駆動側傾斜面を備え、前記把持具 に対して軸線方向に移動して前記把持駆動部を駆動する駆動体と、前記把持具 の前記基部を位置決めする位置決め部と、前記把持駆動部を径方向に案内する 案内部とを有することを特徴とする。  Next, a chuck device according to the present invention is a chuck device attached to a main shaft of a machine tool for gripping an object to be gripped, the gripper according to any of the above, and the driven side of the gripper. A driving body that includes the drive-side inclined surface that is in sliding contact with the inclined surface, moves in the axial direction with respect to the gripper, and drives the gripping drive unit, a positioning unit that positions the base of the gripper, A guide portion for guiding the gripping drive portion in the radial direction.
本発明において、 前記駆動体が、 シリンダと、 該シリンダ内の流体圧によつ て軸線方向に摺動可能に構成され前記シリンダ内から軸線方向前方へ伸びる 作用部に前記駆動側傾斜面を備えたピストンとを有することが好ましい。 本発明において、前記案内部は、前記位置決め部に対して相対的に固定され た被螺合部材に螺合するように構成された案内螺合部材に設けられ、前記被螺 合部材及ぴ前記案内螺合部材には、軸線方向に相互に異なる径を有する複数の 螺合部位が設けられ、前記被螺合部と前記案内螺合部とが複数の前記螺合部位 にて共に螺合していることが好ましい。 これによれば、異なる径を有する複数 の螺合部位にて案内螺合部材を被螺合部材に螺合させることによって案内螺 合部材を高精度に位置決めすることが可能になるので、把持駆動部に対する案 内精度を高めることができる。 In the present invention, the driving body is provided with a cylinder, and a drive-side inclined surface in an action portion configured to be slidable in an axial direction by a fluid pressure in the cylinder and extending forward in the axial direction from inside the cylinder. It is preferable to have a piston. In the present invention, the guide portion is provided on a guide screw member configured to be screwed to a screw member fixed relative to the positioning portion, and the guide member and the guide member are fixed to each other. The guide screwing member is provided with a plurality of screwing portions having different diameters in the axial direction, and the screwed portion and the guide screwing portion are screwed together at the plurality of screwing portions. Is preferred. According to this, it is possible to position the guide screw member with high precision by screwing the guide screw member to the screwed member at a plurality of screw portions having different diameters. Proposal for department Internal accuracy can be improved.
本発明において、前記案内部は、前記位置決め部に対して相対的に固定され た被螺合部材に螺合するように構成された案内螺合部材に設けられ、前記被螺 合部材と前記案內螺合部材とが螺合した状態で、前記被螺合部材と前記案内螺 合部材との間に軸線方向の押付応力若しくは引張応力を付与する応力付与手 段を有することが好ましい。 この手段によれば、被螺合部材と案内螺合部材と の間の螺合部分における軸線方向の遊びに起因する案内螺合部材の位置ズレ を、応力付与手段により押付方向若しくは引張方向に応力を加えることによつ て実質的になくすことができる。 すなわち、把持駆動部の被案内面と案内螺合 部材の案内面との間の圧力が変動しても上記遊びに起因する案内螺合部材の 位置ズレを防止できる。 特に、案内螺合部材に対する上記応力の印加方向が把 持駆動部の被案内面が案内螺合部材の案内面を押す方向と一致していること が望ましい。 このようにすれば、把持駆動部の被案内面と案内螺合部材の案内 面との間の押圧力の大小や有無如何に拘わらず、常に案内螺合部材が一定方向 に押圧されていることとなるので、上記螺合部分の遊ぴを確実に解消できる。 本発明において、前記応力付与手段は、流体圧を印加することによって前記被螺合部材 と前記案内螺合部材との間に前記押付応力若しくは前記引張応力を付与する手段である ことが望ましい。 図面の簡単な説明 .  In the present invention, the guide portion is provided on a guide screw member configured to be screwed to a screw member fixed relatively to the positioning portion, and the guide member and the screw member are connected to each other.內 It is preferable to have a stress applying means for applying an axial pressing stress or a tensile stress between the screwed member and the guide screw member in a state where the screwing member is screwed. According to this means, the displacement of the guide screw member caused by the axial play in the screwed portion between the member to be screwed and the guide screw member can be reduced by the stress applying means in the pressing direction or the tensile direction. Can be substantially eliminated. That is, even if the pressure between the guided surface of the gripping drive unit and the guide surface of the guide screw member fluctuates, it is possible to prevent the position of the guide screw member from being shifted due to the play. In particular, it is desirable that the direction in which the stress is applied to the guide screwing member coincides with the direction in which the guided surface of the gripping drive unit presses the guide surface of the guide screwing member. With this configuration, the guide screwing member is always pressed in a fixed direction regardless of the magnitude of the pressing force between the guided surface of the gripping drive unit and the guide surface of the guide screwing member. Therefore, the play of the screwed portion can be reliably eliminated. In the present invention, it is desirable that the stress applying means is means for applying the pressing stress or the tensile stress between the member to be screwed and the guide screwing member by applying a fluid pressure. Brief description of the drawings.
第 1図は、 本発明に係るチヤック装置の実施形態を示す概略縦 ft面図である。  FIG. 1 is a schematic longitudinal ft view showing an embodiment of a chuck device according to the present invention.
第 2図は、 上記実施形態に含まれる把持具の正面図である。  FIG. 2 is a front view of a gripper included in the embodiment.
第 3図は、 上記把持具の斜視図である。  FIG. 3 is a perspective view of the gripping tool.
第 4図は、 チヤック装置の把持具近傍の拡大断面図である。  FIG. 4 is an enlarged sectional view of the vicinity of a gripper of the chuck device.
第 5図は、 上記実施形態に含まれる把持具の変形 ^を示す断面図である。  FIG. 5 is a cross-sectional view showing a deformation of the gripper included in the embodiment.
第 6図は、 上記実施形態に含まれる把持具の別の変形例を示す断面図である。 第 7図は、 上記実施形態に含まれる把持具の断面図である。 発明を実施するための好ましい形態 FIG. 6 is a sectional view showing another modified example of the gripper included in the embodiment. FIG. 7 is a cross-sectional view of a gripper included in the embodiment. BEST MODE FOR CARRYING OUT THE INVENTION
次に、添付図面を参照して本発明に係る把持具及びチヤック装置の実施形態について詳 細に説明する。図 1は本実施形態のチヤック装置の概略縦断面図、図 2は把持具の正面図 、 図 3は把持具の斜視図、 図 4はチヤック装置の把持部分の拡大断面図である。  Next, with reference to the accompanying drawings, embodiments of a gripper and a chuck device according to the present invention will be described in detail. FIG. 1 is a schematic longitudinal sectional view of the chuck device of the present embodiment, FIG. 2 is a front view of the gripper, FIG. 3 is a perspective view of the gripper, and FIG. 4 is an enlarged cross-sectional view of a grip portion of the chuck device.
図 1に示すように、 このチャック装置 1 0 0は、工作機械等に取り付けられるベース 1 0 1と、 このベース 1 0 1に設けられた中央孔に嵌合した状態で固定されるシリンダ（被 螺合部材） 1 0 2と、シリンダ 1 0 2における円筒状の中央案内部 1 0 2 aと筒状の周壁 部 1 0 2 bとの間において軸線方向に摺動可能に嵌合されたピストン 1 0 3と、シリンダ 1 0 2の中央案内部 1 0 2 aの軸線方向先端に固定され、ピストン 1 0 3の摺動範囲を規 制する位置決め部材（ストッパ） 1 0 4と、 当該位置決め部材 1 0 4にその環状の基部 1 0 5 aが嵌合することによつて位置決めされた把持具 1 0 5と、把持具 1 0 5の把持駆動 部 1 0 5 cに取付けられた把持爪 1 0 6と、上記シリンダ 1 0 2の周壁部 1 0 2 bの外面 に螺合するとともに、把持駆動部 1 0 5の被案内面 1 0 5 3 (図 3参照） に当接する案内 面 1 0 7 bを有する案内部材 （チャックナツト） 1 0 7とを備えている。  As shown in FIG. 1, the chuck device 100 includes a base 101 mounted on a machine tool or the like, and a cylinder (covered) fixed in a state fitted into a center hole provided in the base 101. A piston fitted slidably in the axial direction between the cylindrical member 102 and the cylindrical central guide portion 102a of the cylinder 102 and the cylindrical peripheral wall portion 102b. 103, a positioning member (stopper) 104 fixed to the axial end of the central guide portion 102a of the cylinder 102 and restricting the sliding range of the piston 103, and the positioning member The gripper 105 positioned by fitting the annular base portion 105a to 104 and the gripper claw attached to the gripper driving portion 105c of the gripper 105 06 and the outer surface of the peripheral wall portion 102b of the cylinder 102, and abuts the guided surface 1053 of the gripping drive portion 105 (see FIG. 3). Guide member having a guide surface 1 0 7 b that has a (chuck nut) 1 0 7.
シリンダ 1 0 2の中央案内部 1 0 2 aの内部には、 4系統の流体経路 1 0 2 1， 1 0 2 2， 1 0 2 3 , 1 0 2 4が設けられている。流体経路 1 0 2 1及び 1 0 2 2は、空気等の 流体をシリンダ 1 0 2とピストン 1 0 3との間に送り、ピストン 1 0 3を軸線方向前後に 移動させるためのものである。 また、流体経路 1 0 2 3は、空気等の流体を中央案内部 1 0 2 aの先端から位置決め部材 1 0 4を通して吹き出させ、把持駆動部 1 0 5間の間隙及 び把持爪 1 0 '6間の間隙に切粉等の塵埃が詰まることを防止するためのものである。さら に、流体経路 1 0 2 4は、シリンダ 1 0 2の周壁部 1 0 2 b内に設けられた流体経路 1 0 2 5を通して周壁部 1 0 2 bとこれに螺合した案内部材 1 0 7との間に空気等の流体を 供給し、 その供給圧力によって案内部材 1 0 7を軸線方向前方（図示右方向）へ押し出す ように応力を付与するためのもの （応力付与手段） である。 シリンダ 1 02の周壁部 1 02 bには、軸線方向前方に設けられ、より小径の第 1雄ネ ジ部 1 02 6と、軸線方向後方に設けられ、より大径の第 2雄ネジ部 1027とが形成さ れている。 Inside the central guide portion 102 a of the cylinder 102, four fluid paths 102 1, 102 2, 102 3, and 104 are provided. The fluid paths 1021 and 1022 are for sending a fluid such as air between the cylinder 102 and the piston 103 to move the piston 103 back and forth in the axial direction. In addition, the fluid path 102 3 allows the fluid such as air to blow out from the tip of the central guide portion 102 a through the positioning member 104, and the gap between the gripping drive portions 105 and the gripping claws 10 ′ This is for preventing dust such as chips from clogging the gap between the six. Furthermore, the fluid path 102 4 is connected to the peripheral wall portion 102 b through a fluid path 102 provided in the peripheral wall portion 102 b of the cylinder 102 and the guide member 100 screwed thereto. This is a means (stress applying means) for supplying a fluid such as air between the guide member 7 and the guide member 107 by the supply pressure so as to push the guide member 107 forward in the axial direction (rightward in the figure). On the peripheral wall portion 102b of the cylinder 102, a first male screw portion 1026 having a smaller diameter is provided at the front in the axial direction and a second male screw portion 1027 having a larger diameter is provided at the rear in the axial direction. Are formed.
ピストン 1 0 3には、軸線方向前端に円錐面状の駆動側傾斜面 103 aが設けられ、 こ の駆動側傾斜面 103 aは後述する把持具 105の従動側傾斜面 1052 (図 3参照） に 摺接している。  The piston 103 is provided with a conical driving-side inclined surface 103a at the front end in the axial direction. The driving-side inclined surface 103a is a driven-side inclined surface 1052 of a gripper 105 described later (see FIG. 3). Is in sliding contact with
位置決め部材 1 04には、ピストン 1 0 3の摺動範囲の軸線方向前方の限界位置を定め るための停止部 （環状リブ） 1 04 aと、把持具 1 0 5の基部 1 05 aに嵌合する嵌合部 (溝） 1 04 bとが設けられている。把持具 1 05の基部 1 05 aはこの嵌合部 1 04 b に嵌合して位置決めされ、 ここで、図 4に示すように固定ピン 1 08が揷入されて把持具 1 05が軸線周りに回転しないようにしている。  The positioning member 104 fits into the stop (annular rib) 104a for determining the axial forward limit of the sliding range of the piston 103 and the base 105a of the gripper 105. A mating portion (groove) 104b is provided. The base portion 105a of the gripper 105 is fitted and positioned in the fitting portion 104b, and here, as shown in FIG. 4, the fixing pin 108 is inserted to move the gripper 105 around the axis. To prevent rotation.
把持具 1 0 5には、基部 1 05 aと、 この基部 1 0 5 aから複数に分岐して径方向 （図 示例では径方向内側）へ伸ぴ、軸線周りに配列された複数の変形部 1 05 bと、 この変形 部 1 0 5 bの軸線方向前端に接続された複数の把持駆動部 1 05 cとを有する。図 4に示 すように、変形部 1 05 bの径方向内端には径方向から軸線方向に向けて湾曲した湾曲部 位 1 05 1が設けられている。  The gripper 105 has a base portion 105a and a plurality of deformed portions that are branched from the base portion 105a and extend in the radial direction (in the illustrated example, radially inward), and are arranged around the axis. 105b, and a plurality of gripping drive units 105c connected to the axial front end of the deformation unit 105b. As shown in FIG. 4, a bent portion 1051 that is bent from the radial direction to the axial direction is provided at the radially inner end of the deformed portion 105b.
把持駆動部 1 05 cは湾曲部位 1 05 1に接続されている。 把持駆動部 1 05 cには、 図 4に示すように、ピストン 1 03の駆動側傾斜面 1 03 aに摺接する従動側傾斜面 1 0 52と、径方向に平行な被案内面 1 05 3と、把持爪 1 06を取り付けるためのネジ穴 1 054とが形成されている。  The grip drive 105c is connected to the curved portion 1051. As shown in FIG. 4, the grip drive section 105c has a driven-side inclined surface 1052 that slides on the drive-side inclined surface 103a of the piston 103, and a guided surface 1053 that is parallel to the radial direction. And a screw hole 1054 for attaching the gripping claw 106 are formed.
図 4に示すように、把持爪 1 06はポルト等を揷通し、上記把持駆動部 1 05 cのネジ 穴 1 0 54に螺合させることによって把持駆動部 1 0 5 cに対して取り付け固定される ようになつている。把持爪 1 06〖こは、工具やワーク等の把持対象を把持するための円筒 面状の把持面 1 06 aが形成されている。  As shown in FIG. 4, the gripper jaw 106 is passed through a port or the like and screwed into the screw hole 105 of the gripper drive unit 105c to be attached and fixed to the gripper drive unit 105c. It has become. The gripper 106 has a cylindrical gripping surface 106a for gripping a gripping target such as a tool or a workpiece.
上記案内部材 107には、シリンダ 1 02に設けられた第 1雄ネジ部 10 2 6に螺合す る第 1雌ネジ部 1 0 7 1及ぴ第 2雄ネジ部 1 02 7に螺合する第 2雌ネジ部 1 0 7 2と を有する螺合部 107 aと、把持具 105の把持螺合部 105 cに形成された被案内面 1 053に当接し、径方向に平行に形成された案内面 1073を有する案内部 107 bとが 形成されている。 The guide member 107 is screwed to a first female screw part 1071 and a second male screw part 1027 that are screwed to a first male screw part 1026 provided in the cylinder 102. Second female thread 1 0 7 2 A guide portion 107b having a guide surface 1073 formed in parallel with the radial direction in contact with the guided surface 1053 formed on the gripping screw portion 105c of the gripper 105. Is formed.
図 2は、上記把持具 105を軸線方向前方から見た正面図、図 3は、把持具 105の斜 視図である。把持具 105は、図示例では軸線周りに等分割された形状の 9個の変形部 1 2 is a front view of the gripping tool 105 as viewed from the front in the axial direction, and FIG. 3 is a perspective view of the gripping tool 105. In the illustrated example, the gripper 105 has nine deformed portions 1 equally divided around the axis.
05 b及ぴ把持駆動部 105 cを備えている。 これは、正対する把持駆動部が存在しない ようにして、把持対象に対する軸線周りの把持力のばらつきを低減するとともに把持対象 の芯ズレを防止するためである。 05b and a grip drive unit 105c are provided. This is intended to reduce the dispersion of the gripping force around the axis with respect to the gripping target and to prevent the gripping target from being misaligned by eliminating the gripping drive unit that faces the gripping target.
例えば、把持駆動部が偶数個 （例えば 3の偶数倍個）設けられている場合には必ず正対 する把持驟動部が存在するので、相互に対向する把持駆動部の把持力が把持対象を介して 釣り合うため、他の把持駆動部とは無関係にこれらの対向する一対の把持駆動部の把持力 が把持対象に印加される。  For example, when an even number (for example, an even multiple of 3) of gripping drive units is provided, there is always a facing gripper drive unit, and the gripping force of the gripping drive units facing each other determines the gripping target. Therefore, the gripping force of the pair of gripping drive units facing each other is applied to the gripping target regardless of the other gripping drive units.
これに対して、本実施形態では、図 7に示すように、或る一つの把持駆動部 105 c 1 の把持力 F 1が対向する 2つの把持駆動部 105 c 2， 105 c 3の把持力 F 2， F 3と パランスし、これら対向する 2つの把持駆動部 105 c 2, 105 c 3のうちの一つの把 持駆動部 105 c 2の把持力 F 2は、最初の或る一つの把持駆動部 105 c 1及びこれに 隣接する別の把持駆動部 105 c 4の两者の把持力 F 1， F 4とパランスする、 というよ うに、把持力のパランスが全ての把持駆動部において軸線周りに有機的に関連をもってい る。 したがって、全体として把持力の軸線周りの均一性を高めることができ、 さらに把持 対象の芯ズレも防止できる。 このようにするには、変形部及ぴ把持駆動部の数を 3の奇数 倍とすればよい。  On the other hand, in the present embodiment, as shown in FIG. 7, the gripping force F1 of one gripping drive unit 105c1 is opposite to the gripping force of two gripping drive units 105c2 and 105c3. F2 and F3 are balanced, and the gripping force F2 of one gripping drive 105c2 of the two gripping drivers 105c2 and 105c3 facing each other is the first one gripper. The driving force 105c1 and another gripping driving portion 105c4 adjacent to the driving force are balanced with the gripping force F1, F4 of the user, so that the gripping force balance is around the axis in all the gripping driving portions. Are organically related to Therefore, the uniformity of the gripping force around the axis can be improved as a whole, and the misalignment of the gripping object can be prevented. In order to do this, the number of deforming parts and gripping drive parts may be set to an odd multiple of three.
また、把持具 105の変形部 105 bには、図 2に点線で示し、図 3にその一部を示す ように、変形部 105 bの間のスリットを部分的に広げることによって形成された狭幅部 Also, as shown in FIG. 2 by a dotted line and partly in FIG. 3, the deformed portion 105b of the gripper 105 has a narrow portion formed by partially widening the slit between the deformed portions 105b. Width
1056が形成されている。 この狭幅部 1056によって、変形部 105bの弹性変形を より容易に生じさせることができ、 しかも、 弾性変形量を拡大することができる。 1056 has been formed. Due to the narrow portion 1056, the elastic deformation of the deformable portion 105b can be more easily generated, and the amount of elastic deformation can be increased.
上記のように構成されたチャック装置 100においては、図 4に示すように、流体経路 102 1 , 1 022から供給される空気等の流体の圧力によって、 ピストン 1 0 3がシリ ンダ 1 0 2に対して軸線方向前後に摺動するようになっている。ピストン 1 03が軸線方 向前方へ移動すると、その駆動側傾斜面 1 03 aが把持駆動部 1 05 cの従動側傾斜面 1 052を押圧し、 これによつて把持駆動部 1 05 cは径方向内側に移動する。 このとき、 把持具 1 0 5は圧縮された状態で変形部 1 0 5 bがやや変形して位置決め部材 1 04と 案內部材 1 07とに挟持されているので、把持駆動部 1 05 cの被案内面 1 05 3は案内 部材 1 0 7の案内面 1 07 3に常に押し付けられた状態となっており、これによつて把持 駆動部 1 05 cは径方向に精度良く案内される。このように把持駆動部 105 cが径方向 内側へ移動すると、把持爪 1 06もまた径方向内側へ移動し、把持对象 1 1 0を把持する ことができる。 In the chuck device 100 configured as described above, as shown in FIG. The piston 103 slides back and forth in the axial direction with respect to the cylinder 102 by the pressure of a fluid such as air supplied from 102 1 and 1022. When the piston 103 moves forward in the axial direction, the driving-side inclined surface 103a pushes the driven-side inclined surface 1052 of the gripping drive 105c, whereby the gripping drive 105c has a diameter. Move in the direction. At this time, since the deformed portion 105b is slightly deformed in the compressed state of the gripper 105 and is sandwiched between the positioning member 104 and the projecting member 107, the gripper driving portion 105c The guided surface 1053 is always pressed against the guide surface 1073 of the guide member 107, whereby the gripping drive portion 105c is guided with high accuracy in the radial direction. When the grip driving unit 105c moves radially inward in this way, the gripping claws 106 also move radially inward, and can grip the gripping object 110.
本実施形態では、変形部 1 05 bを径方向に伸ばしているので、把持駆動部 1 05 cの 弾性変形量を確保しつつ、軸線方向の長さを低減することができる。換言すれば、同様の 軸線方向の長さを有していても、従来構造よりも把持駆動部 1 05 cや把持爪 1 06の径 方向の動作ストロークを大きくすることができる。  In the present embodiment, since the deforming portion 105b is extended in the radial direction, the length in the axial direction can be reduced while securing the amount of elastic deformation of the gripping drive portion 105c. In other words, even if they have the same length in the axial direction, the radial operation stroke of the gripping drive unit 105c and the gripping claws 106 can be made larger than in the conventional structure.
特に、変形部 1 0 5 に湾曲部位 1051が形成されていることにより、変形部 105 bの変形自由度が増大し、これによつて把持駆動部 1 0 5 cを案内面 1073に沿って径 方向により高精度に移動させることが可能になる。 したがって、把持対象 1 1 0をより確 実にかつ広い把持面積で把持することができるから、高速回転時等における把持対象 1 1 0の把持ズレを防止できる。  In particular, since the curved portion 1051 is formed in the deformed portion 105, the degree of freedom of deformation of the deformed portion 105b is increased, whereby the gripping drive portion 105c is moved radially along the guide surface 1073. It can be moved with high accuracy depending on the direction. Therefore, the gripping target 110 can be gripped more reliably and with a wider gripping area, so that gripping displacement of the gripping target 110 during high-speed rotation or the like can be prevented.
また、シリンダ 1 02の周壁部 102 bと案内部材 1 07とは、流体経路 1025を介 して供給される空気等の流体圧によって相互に引き離される方向に応力（引張応力） を付 与されるようになっているので、周壁部 1 02 bに螺合した案内部材 1 07は常に軸線方 向前方へ押圧されていることとなり、 螺合部分にて生じ得る遊ぴをなくすことができる。 特に、案内部材 1 07は常に把持具 1 05の把持駆動部 1 05 cから軸線方向前方への弾 性力を受けているので、上記応力が小さくても、弾性力が同方向に及ぼされているために 、 その効果が妨げられることはない。 また、 このような応力付与手段を設けていることによって、周壁部 1 0 2 bに対する案 内部材 1 0 7の螺合状態を遊びの大きいものとしても支障がなく、その結果、螺合させる ためにねじ込んだり、外したりする場合の回転抵抗を小さくすることができるので、例え ば案内部材 1 0 7の外周面にローレツトゃ工具を係合させるための凹凸、角形状等を形成 する必要がなくなり、当該外周面を滑らかな円筒面状に形成できるから、工作機械の主軸 等に取り付けた場合の回転時の乱気流の発生を抑制できる。 Further, a stress (tensile stress) is applied to the peripheral wall portion 102b of the cylinder 102 and the guide member 107 in a direction in which the peripheral wall portion 102b and the guide member 107 are separated from each other by a fluid pressure of air or the like supplied through the fluid path 1025. As a result, the guide member 107 screwed to the peripheral wall portion 102b is always pressed forward in the axial direction, so that play that may occur at the screwed portion can be eliminated. In particular, since the guide member 107 always receives the elastic force forward in the axial direction from the gripping drive 105c of the gripper 105, even if the stress is small, the elastic force is exerted in the same direction. Because the effect is not hindered. In addition, by providing such a stress applying means, there is no problem even if the screw state of the projection member 107 with the peripheral wall portion 102 b has a large play, and as a result, the screw member can be screwed together. Rotational resistance when screwing or unscrewing into the guide member can be reduced, so that, for example, there is no need to form irregularities, square shapes, etc. for engaging the knurling tool on the outer peripheral surface of the guide member 107. Since the outer peripheral surface can be formed into a smooth cylindrical surface, it is possible to suppress the generation of turbulence during rotation when the outer peripheral surface is mounted on a main shaft of a machine tool or the like.
次に、 図 5を参照して、 本発明に係る把持具の別の構成例について説明する。 図 5は、 全体として略筒状の把持具の片断面を示すものである。 この把持具 2 0 5は、上記実施形 態と同様のビストン 1 0 3、位置決め部材 1 0 4及び案内部材 1 0 7を備えたチャック装 置に対して用いることができるようになつている。把持具 2 0 5は、位置決め部材 1 0 4 に嵌合して位置決めされた環状の基部 2 0 5 aと、この基部 2 0 5 aから分岐して径方向 内側に伸びる複数の変形部 2 0 5 bと、複数の変形部 2 0 5 bにそれぞれ接続された複数 の把持駆動部 2 0 5 cとを備えている。変形部 2 0 5 bに,は、径方向内側から軸線方向前 方へとその延長方向が湾曲した湾曲部位 2 0 5 1が設けられている。また、把持駆動部 2 0 5 cには、 ピストン 1 0 3の駆動側傾斜面に摺接する従動側傾斜面 2 0 5 2と、案内部 材 1 0 7の案内面に案内される被案内面 2 0 5 3とを備えている。  Next, another configuration example of the gripper according to the present invention will be described with reference to FIG. FIG. 5 shows one cross section of a generally cylindrical gripper as a whole. This gripper 205 can be used for a chuck device including the same biston 103, positioning member 104 and guide member 107 as in the above embodiment. The gripper 205 includes an annular base 205 a that is positioned by fitting to the positioning member 104, and a plurality of deformed portions 200 that branch from the base 205 a and extend radially inward. 5b, and a plurality of gripping drive units 205c connected to the plurality of deformation units 205b, respectively. The deformed portion 205 b is provided with a curved portion 2051 whose extension direction is curved from the radial inside to the axial front. In addition, the gripping drive portion 205c has a driven-side inclined surface 2052 that slides on the drive-side inclined surface of the piston 103, and a guided surface guided by the guide surface of the guide member 107. 2 0 5 3 are provided.
この把持具 2 0 5には上記実施形態の把持具 1 0 5の把持駆動部 1 0 5 cに設けられ ていた固定手段であるネジ穴 1 0 5 4が形成されておらず、その代わりに、把持駆動部 2 0 5 cに直接把持対象を把持するための円筒状の把持面 2 0 5 5が設けられている。この ように、把持具の把持駆動部は、上記実施形態のように把持爪を取り付けて把持爪によつ て間接的に把持対象を把持するように構成されていてもよく、この構成例のように、把持 駆動部 2 0 5 cによって直接把持対象を把持するように構成されていてもよい。  This gripper 205 does not have a screw hole 1054 which is a fixing means provided in the gripper driving portion 105c of the gripper 105 of the above embodiment, and instead, The gripping drive unit 205c is provided with a cylindrical gripping surface 205 for directly gripping a gripping target. As described above, the gripping drive unit of the gripper may be configured such that the gripping nail is attached and the gripping nail is indirectly gripped by the gripping nail as in the above embodiment. As described above, the gripping target may be directly gripped by the gripping drive unit 205c.
次に、図 6を参照して上記把持具 1 0 5， 2 0 5とは更に異なる把持具 3 0 5の構成例 について説明する。 この把持具 3 0 5は、位置決め部材 3 0 4に嵌合して位置決めされる 環状の基部 3 0 5 aと、この基部 3 0 5 aから分岐して径方向外側へ伸びる複数の変形部 3 0 5 bと、複数の変形部 3 0 5 bにそれぞれ接続された複数の把持駆動部 3 0 5 cとを 有する。 ここで、変形部 3 0 5 bには、径方向から軸線方向へとその延長方向が湾曲した 湾曲部位 3 0 5 1が設けられている。 Next, with reference to FIG. 6, an example of the configuration of the gripper 300 that is further different from the grippers 105 and 205 will be described. The gripper 304 is provided with an annular base 300 a that is fitted and positioned on the positioning member 304, and a plurality of deformable portions 3 that branch from the base 300 a and extend radially outward. 0 5 b and a plurality of gripping drive units 3 0 5 c connected to the plurality of deformation units 3 0 5 b, respectively. Have. Here, the deformed portion 305b is provided with a curved portion 3051, whose extension direction is curved from the radial direction to the axial direction.
また、 この構成例においては、上記ピストン 1 0 3とは異なり、駆動側傾斜面が外周面 側に形成されてなるビストン 3 0 3が設けられている。そして、把持駆動部 3 0 5 cには 、上記ピストン 3 0 3の駆動側傾斜面に対して摺接する従動側傾斜面 3 0 5 2が形成され ている。 さらに、 軸線側から外側へ張り出した形状を有する案内部材 3 0 7が設けられ、 把持駆動部 3 0 5 cには、この案内部材 3 0 7の案内面によって案内される径方向に伸ぴ る被案内面 3 0 5 3も形成されている。  Further, in this configuration example, unlike the piston 103, a piston 350 having a drive-side inclined surface formed on the outer peripheral surface side is provided. Further, a driven-side inclined surface 3502 that is in sliding contact with the drive-side inclined surface of the piston 303 is formed in the gripping drive portion 305c. Further, a guide member 307 having a shape protruding outward from the axis side is provided, and the grip drive portion 305c extends in a radial direction guided by the guide surface of the guide member 307. Guided surfaces 30053 are also formed.
この把持具 3 0 5は、把持対象を径方向内側から径方向外側に向けて押し広げるように して把持する、いわゆる内張り方式のチャック装置を構成するものであって、径方向外側 に向いた把持面 3 0 5 5を備えている。 したがって、把持対象としては、内張り方式で把 持可能な筒状に構成された部分を備えたもの、 或いは、 穴部を備えたものが挙げられる。 このように、本発明においては、把持具 1 0 5 , 2 0 5のように変形部 1 0 5 b、 2 0 5 bが径方向内側に伸びるように形成されていてもよく、把持具 3 0 5のように変形部 3 0 5 bが径方向外側に伸びるように構成されていてもよい。 また、把持具 1 0 5 , 2 0 5の ように把持駆動部 1 0 5 c， 2 0 5 cが径方向内側に把持力を及ぼすように構成されてい てもよく、把持具 3 0 5のように把持駆動部 3 0 5 cが径方向外側に把持力を及ぼすよう に構成されていても構わない。  This gripper 2005 constitutes a so-called lining type chuck device which grips the gripping object by pushing and expanding it from the radially inner side to the radially outer side, and is directed radially outward. It has a grip surface 3 0 5 5. Therefore, the object to be gripped may be one having a tubular portion that can be gripped by the lining method, or one having a hole. As described above, in the present invention, the deformed portions 105b and 205b may be formed so as to extend inward in the radial direction, as in the case of the grippers 105 and 205. It may be configured such that the deformed portion 305 b extends outward in the radial direction as shown in FIG. Further, the grip driving units 105 c and 205 c may be configured so as to exert a gripping force inward in the radial direction as in the case of the gripping tools 105 and 205. As described above, the gripping drive unit 305c may be configured to exert a gripping force radially outward.
尚、本発明の把持具及ぴチャック装置は、上述の図示例にのみ限定されるものではなく 、本発明の要旨を逸脱しない範囲内において種々変更を加え得ることは勿論である。例え ば、上記ビストンのように把持駆動部を駆動するための駆動部材としては、上記のように 流体圧によって動作するシリンダ 'ビストン構造に限られず、電動機等の動力源から出力 される回転運動を機械的に軸線方向の動作に変換する駆動機構によつて動作するものな ど、 種々のものを用いることができる。 産業上の利用分野 以上、説明したように本発明によれば、軸線方向の長さを充分に確保しなくても充分な 変形部の弾性変形量を得ることが可能になるから、チヤック装置をコンパクトに構成する ことができる。 It should be noted that the gripper and the chuck device of the present invention are not limited to the illustrated examples described above, and it is needless to say that various changes can be made without departing from the gist of the present invention. For example, the drive member for driving the gripping drive unit, such as the above-mentioned biston, is not limited to the cylinder-viston structure operated by the fluid pressure as described above. Various types can be used, such as those operated by a drive mechanism that mechanically converts the operation into the axial direction. Industrial applications As described above, according to the present invention, it is possible to obtain a sufficient amount of elastic deformation of the deformed portion without securing a sufficient length in the axial direction. Can be.

Claims

請求の範囲 The scope of the claims
1 . 軸線方向に対して傾斜した駆動側傾斜面と摺接して駆動力を受けるための前記軸線 方向に対して傾斜した従動側傾斜面を備えた把持具において、 1. A gripper having a driven-side inclined surface inclined with respect to the axial direction for receiving a driving force by slidingly contacting a driving-side inclined surface inclined with respect to the axial direction,
周回状に形成された基部と、該基部から軸線周りに分岐してそれぞれ径方向に伸びる弾 性変形可能な複数の変形部と、該変形部の先にそれぞれ形成され前記従動側傾斜面を備え た複数の把持駆動部とが設けられていることを特徴とする把持具。  A base portion formed in a circular shape, a plurality of elastically deformable deformable portions branching around the axis from the base portion and extending in the radial direction, and the driven-side inclined surface formed at the tip of the deformable portion. And a plurality of gripping drive units.
2 . 前記変形部は、前記基部から前記把持駆動部までの間に湾曲部位を有することを特 徴とする請求項 1に記載の把持具。  2. The gripping tool according to claim 1, wherein the deforming section has a curved portion between the base and the gripping drive section.
3 . 前記変形部及ぴ前記把持駆動部の個数が 3の奇数倍個であることを特徴とする請求 項 1又は請求項 2のいずれか 1項に記載の把持具。 3. The gripping tool according to claim 1, wherein the number of the deformable portion and the number of the gripping driving portions is an odd multiple of three.
4 . 前記把持駆動部には、径方向に平行な被案内面が形成されていることを特徴とする 請求項 1又は請求項 2に記載の把持具。  4. The gripping tool according to claim 1 or 2, wherein a guided surface parallel to a radial direction is formed in the gripping drive unit.
5 . 前記把持駆動部には、把持爪を固定可能するための固定手段が設けられていること を特徴とする請求項 1又は請求項 2に記載の把持具。  5. The gripping tool according to claim 1 or 2, wherein the gripping drive unit is provided with fixing means for fixing a gripping claw.
6 . 工作機械の主軸に取り付けられ、被把持体を把持するためのチヤック装 置であって、  6. A chuck device that is attached to the main shaft of the machine tool and holds the object to be gripped.
請求項 1又は請求項 2に記載の把持具と、該把持具の前記従動側傾斜面と摺 接する前記駆動側傾斜面を備え、前記把持具に対して軸線方向に移動して前記 把持駆動部を駆動する駆動体と、前記把持具の前記基部を位置決めする位置決 め部と、前記把持駆動部を径方向に案内する案内部とを有することを特徴とす るチヤック装置。  3.A gripping device according to claim 1, comprising: the gripping device according to claim 1; and the driving-side inclined surface slidably in contact with the driven-side inclined surface of the gripping device. A chuck for driving the gripper, a positioning part for positioning the base of the gripper, and a guide part for guiding the gripper in the radial direction.
7 . 前記駆動体が、 シリンダと、 該シリンダ内の流体圧によって軸線方向に 摺動可能に構成され前記シリンダ内から軸線方向前方へ伸びる作用部に前記 駆動側傾斜面を備えたビス トンとを有することを特徴とする請求項 6に記載 のチャック装置。 7. The driving body includes: a cylinder; and a biston having an operating portion configured to be slidable in the axial direction by the fluid pressure in the cylinder and extending forward from the cylinder in the axial direction and having the driving-side inclined surface. 7. The chuck device according to claim 6, comprising:
8 . 前記案内部は、前記位置決め部に対して相対的に固定された被螺合部材 に螺合するように構成された案内螺合部材に設けられ、前記被螺合部材及ぴ前 記案内螺合部材には、軸線方向に相互に異なる径を有する複数の螺合部位が設 けられ、前記被螺合部と前記案内螺合部とが複数の前記螺合部位にて共に螺合 していることを特徴とする請求項 6に記載のチヤック装置。 8. The guide portion is provided on a guide screw member configured to screw into a screw member relatively fixed to the positioning portion, and the guide member and the guide are provided. The screwing member is provided with a plurality of screwing portions having mutually different diameters in the axial direction, and the screwed portion and the guide screwing portion are screwed together at the plurality of screwing portions. 7. The chuck device according to claim 6, wherein:
9 . 前記案内部は、前記位置決め部に対して相対的に固定された被螺合部材 に螺合するように構成された案内螺合部材に設けられ、前記被螺合部材と前記 案内螺合部材とが螺合した状態で、前記被螺合部材と前記案内螺合部材との間 に軸線方向の押付応力若しくは引張応力を付与する応力付与手段を有するこ とを特徴とする請求項 6に記載のチヤック装置。  9. The guide portion is provided on a guide screw member configured to screw into a screw member relatively fixed to the positioning portion, and the guide member and the guide screw member are connected to each other. 7. The apparatus according to claim 6, further comprising: stress applying means for applying a pressing force or a tensile stress in an axial direction between the member to be screwed and the guide screwing member in a state where the member is screwed. The described chuck device.
1 0 . 前記応力付与手段は、流体圧を印加することによって前記被螺合部材 と前記案内螺合部材との間に前記押付応力若しくは前記引張応力を付与する 手段であることを特徴とする請求項 9に記載のチヤック装置。  10. The stress applying means is means for applying the pressing stress or the tensile stress between the screwed member and the guide screwing member by applying a fluid pressure. Item 10. A chuck device according to Item 9.
PCT/JP2002/000526 2001-01-24 2002-01-24 Holder and chuck device WO2002058897A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001016164A JP2002219682A (en) 2001-01-24 2001-01-24 Grasping tool, and chuck device
JP2001-16164 2001-01-24

Publications (1)

Publication Number Publication Date
WO2002058897A1 true WO2002058897A1 (en) 2002-08-01

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CN112236275A (en) * 2018-06-18 2021-01-15 株式会社大雅精机制作所 Operating unit and operating device

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CN103302674B (en) * 2013-07-05 2015-11-25 台州联帮机器人科技有限公司 A kind of Workpiece clamping head of manipulator
JP7263198B2 (en) * 2019-09-30 2023-04-24 アイシン高丘株式会社 Blast processing equipment

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JPS6225184U (en) * 1985-07-31 1987-02-16
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JPH05503666A (en) * 1990-01-26 1993-06-17 クローンセーダー　ヘルマン Grasping bell for bottles or similar

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JPH05503666A (en) * 1990-01-26 1993-06-17 クローンセーダー　ヘルマン Grasping bell for bottles or similar
JPH03227827A (en) * 1990-01-30 1991-10-08 Komatsu Ltd Cutting and palletizing device for microjoint work

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Publication number Priority date Publication date Assignee Title
CN112236275A (en) * 2018-06-18 2021-01-15 株式会社大雅精机制作所 Operating unit and operating device
EP3778154A4 (en) * 2018-06-18 2022-01-05 DAIYA SEIKI Co., Ltd. Handling unit and handling device
US11440204B2 (en) 2018-06-18 2022-09-13 Daiya Seiki Co., Ltd. Handling unit and handling device

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