TWI698313B - Electric gripping device - Google Patents

Abstract

An electric holding device is provided with a body provided with a shaft hole which accommodates a feed screw and a feed nut and extends in the axial direction of the output shaft of a motor. The fuselage has an end surface including an installation surface in a direction orthogonal to the axial direction of the fuselage. The two end faces of the fuselage in the short-side direction each include a first surface and a second surface. The first surface defines the maximum size of the fuselage in the short-side direction. The second surface is located closer to the shaft hole than the first surface. The position of the center axis. The electric grip device further includes an operating member that rotates integrally with the feed screw and protrudes radially from the outer circumferential surface of the feed screw. In at least one of the two end surfaces of the fuselage in the short-side direction, a part of the operating member is arranged in a state exposed from the second surface to the outside of the fuselage and not protruding in the short-side direction from the first surface.

Description

Electric holding device

The invention relates to an electric holding device.

The electric gripping device grips the workpiece by moving a hand member to the closed position by using the rotational driving force of the motor, and releases the grip of the workpiece by moving the hand member to the open position. For example, the electric clamp disclosed in Japanese Patent Laid-Open No. 2009-125851 includes: a motor; a feed screw part that transmits the rotational driving force from the motor to the feed nut; and a clamp part that is connected to the feed nut by a link mechanism The nut can hold the workpiece. In addition, the electric clamp of the publication includes a self-locking mechanism, and when the work piece is gripped by the clamp section, the self-locking mechanism prevents the feed nut from retreating due to the reaction force received from the work piece by the clamp section. For example, when the motor is in an emergency stop or when the energization is cut off, the self-locking mechanism prevents the feed nut from retreating, and the work piece can be held by the clamp.

In addition, the electric clamp of the above-mentioned publication includes an operating portion that can manually release the state of the workpiece being held by the self-locking mechanism. The operation part is provided on one end surface of the drive shaft of the motor in the axial direction, and is exposed to the outside of the housing from the upper surface or the side surface of the housing. In addition, by operating the operating part with a tool to rotate the drive shaft, the lock of the self-locking mechanism is released

In the electric clamp of the above-mentioned publication, in order to operate the operation part, it is necessary to turn the tool above or on the side of the housing exposed by the operation part. Therefore, it is necessary to ensure a space for arranging tools above or on the side of the frame, which limits the installation place of the electric jig, which is used to operate the operating part.

The object of the present invention is to provide an electric grip device that can be directly operated by hand without restrictions on the installation place.

An electric gripping device for solving the above-mentioned problems is provided with: a motor having an output shaft; a feed screw that rotates integrally with the output shaft; and a feed nut that is screwed to the feed screw, by the The rotational movement of the output shaft moves in the axial direction of the output shaft; a grip part, which is connected to the feed nut, opens and closes in conjunction with the feed nut, and holds the workpiece in the closed position; and the body, which A shaft hole is provided that accommodates the feed screw and the feed nut and extends in the axial direction of the output shaft. The direction in which the central axis of the shaft hole extends is the axial direction of the fuselage. The fuselage has an end surface including an installation surface in a direction orthogonal to the axial direction of the fuselage. The electric gripping device is configured to be installed at the installation site with the installation surface in contact with the installation site. When the plane of the fuselage is viewed from the axial direction, the direction orthogonal to the axial direction and the short-side direction is the long-side direction of the fuselage. Each of the two end surfaces of the fuselage in the short-side direction includes a first surface and a second surface, the first surface defines the maximum size of the fuselage in the short-side direction, and the second surface is located more than The position of the first surface close to the central axis. The electric gripping device further includes an operating member that rotates integrally with the feed screw and protrudes radially from the outer circumferential surface of the feed screw. In at least one of the two end surfaces of the fuselage in the short-side direction, a part of the operating member is exposed from the second surface to the outside of the fuselage and is not larger than the first surface. It is arranged in a state protruding toward the short side direction.

An electric gripping device for solving the above-mentioned problems is provided with: a motor having an output shaft; a feed screw that rotates integrally with the output shaft; and a feed nut that is screwed to the feed screw, by the The rotation of the output shaft moves in the axial direction of the output shaft; a grip part, which is connected to the feed nut, opens and closes in conjunction with the feed nut, and holds the workpiece in the closed position; and the body, which A shaft hole is provided that accommodates the feed screw and the feed nut and extends in the axial direction of the output shaft. The direction in which the central axis of the shaft hole extends is the axial direction of the fuselage. The fuselage has an end surface including an installation surface in a direction orthogonal to the axial direction of the fuselage. The electric gripping device is configured to be installed at the installation site with the installation surface in contact with the installation site. When the plane of the fuselage is viewed from the axial direction, one direction orthogonal to the axial direction is the short-side direction of the fuselage, and the direction orthogonal to the axial direction and the short-side direction Is the longitudinal direction of the fuselage. Each of the two end faces of the fuselage in the short-side direction includes a first surface that defines the maximum size of the fuselage in the short-side direction. The motor has a first side surface in the short-side direction of the body, and the first side surface is located closer to the central axis than the first surface. The electric grip device further includes an operating member that rotates integrally with the output shaft of the motor and protrudes radially from the outer circumferential surface of the output shaft. A part of the operation member is arranged in a state where it is exposed to the outside of the motor from at least one of the two first side surfaces of the motor and does not protrude in the short-side direction from the first surface.

According to the present invention, it can be directly operated by hand without limitation of the installation location.

Hereinafter, an embodiment in which the electric gripping device is embodied will be described in accordance with FIGS. 1 to 7.

As shown in FIG. 1 or FIG. 2, the electric gripping device 10 includes: a body 11 having a substantially rectangular block shape; a gripping portion 21 arranged on one end side in the axial direction of the body 11; and a motor 31 arranged on The other end side of the body 11 in the axial direction is a drive source for opening and closing the grip 21. In addition, the electric gripping device 10 includes a driving mechanism 41 built in the body 11 and driven by the motor 31 to drive the gripping portion 21, and an operating member 51 for manually operating the electric gripping device 10.

The body 11 includes a four-corner hole-shaped shaft hole 12 penetrating the body 11. The direction in which the central axis L of the shaft hole 12 extends is the axial direction Z of the body 11. When the body 11 is viewed in plan from the axial direction Z, one direction orthogonal to the axial direction Z is the short-side direction X, and the direction orthogonal to the axial direction Z and the short-side direction X is the long-side direction Y.

The body 11 includes a first end surface 11 a and a second end surface 11 b. The first end surface 11 a is one end surface (lower end surface) in the axial direction Z, and the second end surface 11 b is the other end surface (upper end surface) in the axial direction Z. The first plate 15 is fixed to the first end surface 11a, and the second plate 17 is fixed to the second end surface 11b. The first plate 15 and the second plate 17 can also be regarded as a part of the body 11.

The body 11 has a front and a back, and the front and back are two end faces in the short-side direction X. These front and back surfaces respectively include a flat first surface 13. In each of the front and back surfaces, the first surface 13 is provided on both sides in the longitudinal direction Y. The first surface 13 extends over the entire axial direction Z of the body 11. In addition, the body 11 has flat surfaces 19 at both ends in the longitudinal direction Y. These first surface 13 and flat surface 19 respectively become installation surfaces that come into contact with other equipment or equipment when the electric gripping device 10 is installed in other equipment or equipment.

The body 11 is provided with a plurality of mounting holes 13 a. The mounting holes 13 a penetrate the body 11 in the short-side direction X and are opened on the first surface 13. By screwing the screw inserted in the mounting hole 13a with other equipment and equipment, the electric gripping device 10 is fixed to other equipment and equipment with the first surface 13 as the installation surface. In addition, the body 11 is provided with a screw hole 19 a, and the screw hole 19 a is recessed in the flat surface 19. By screwing screws that have penetrated through other machines and equipment into the threaded holes 19a, the electric gripping device 10 is fixed to other machines and equipment with the flat surface 19 as the installation surface.

Each of the two end surfaces of the body 11 in the short-side direction X includes a second surface 14 at a position sandwiched between two first surfaces 13 arranged in the long-side direction Y. The second surface 14 has a gently curved shape. The second surface 14 is located back to a position closer to the center axis L of the body 11 than the first surface 13, and does not protrude outward than the first surface 13 in the short-side direction X of the body 11. The second surface 14 extends over the entire axial direction Z of the body 11.

The body 11 includes a recess 11f recessed from the second end surface 11b. The recess 11f is formed by recessing the periphery of the shaft hole 12 in the second end surface 11b. In FIG. 3, a circle passing through the second surface 14 having an arc-shaped cross section is referred to as a virtual circle C. The concave portion 11f is formed along a circle having a center point that coincides with the center axis L of the shaft hole 12 and is a circle larger than the virtual circle C by recessing the second end surface 11b. The diameter N of the virtual circle C is shorter than the straight line M connecting the first surfaces 13 at both ends of the body 11 in the short-side direction X. The length of the straight line M is equal to the maximum size of the body 11 in the short-side direction X. Therefore, the first surfaces 13 on both sides of the fuselage 11 in the short-side direction X are surfaces that define the maximum size of the fuselage 11 in the short-side direction X.

As shown in FIG. 1 or FIG. 2, the electric gripping device 10 includes an operation window 16 in a gap defined by a part of the recess 11 f recessed in the second end surface 11 b and the second plate 17. In other words, the body 11 is each provided with an operation window 16 on both end surfaces (in detail, the second surface 14) in the short-side direction X. The operation window 16 communicates with the shaft hole 12 via the recess 11f.

The motor 31 includes first side surfaces 32 a on both end sides in the short-side direction X of the main body 11 and second side surfaces 32 b on both end sides in the longitudinal direction Y of the main body 11. The first side surface 32a is located back to a position closer to the central axis L than the first surface 13 of the main body 11 in the short-side direction X of the main body 11, and does not protrude outward than the first surface 13 in the short-side direction X. The motor 31 is, for example, a stepping motor or a servo motor. The motor 31 is installed upright on the second plate 17 with the output shaft 33 inserted into the body 11. The output shaft 33 of the motor 31 penetrates the second plate 17 and is inserted into the shaft hole 12 of the body 11.

A cover 32c is protrudingly provided on one second side surface 32b of the motor 31, and the wiring 36 connected to the motor 31 is drawn to the outside through the cover 32c. The wiring 36 is connected to a driving source and the like not shown.

As shown in FIG. 1, the drive mechanism 41 built in the body 11 of the electric gripping device 10 includes a feed screw 42, and the feed screw 42 is connected to the output shaft 33 of the motor 31. The feed screw 42 is inserted into the shaft hole 12. The feed screw 42 has a hollow cylindrical shape. The outer diameter of the feed screw 42 is smaller than the inner diameter of the shaft hole 12. One end of the feed screw 42 in the axial direction is externally fitted to the output shaft 33 and is fixed to the output shaft 33 by a fastening screw 46. The feed screw 42 is coaxial with the output shaft 33 and rotates integrally with the output shaft 33. A male screw 42a is formed on the outer peripheral surface on the other end side in the axial direction of the feed screw (see FIG. 4).

As shown in FIG. 4, the feed screw 42 is equipped with the positioning convex part 44 on the end surface of the one end side in the axial direction. The positioning convex portion 44 includes a pair of straight portions 44a that extend linearly in the radial direction of the feed screw 42 and are parallel to each other, and an arc portion 44b that connects the ends of the pair of straight portions 44a to each other. The feed screw 42 includes a contact surface 45 on the radially outer side of each straight portion 44 a of the positioning convex portion 44. The contact surface 45 is a flat surface located at a position lower than the positioning convex portion 44. The feed screw 42 has a small screw hole 45 a opened in each contact surface 45. An operating member 51 is fixed to one end of the feed screw 42 in the axial direction.

The operating member 51 has a disc shape. The operating member 51 is provided with knurling 51a on the entire outer periphery. The operating member 51 is provided with a circular insertion hole 52 in the center portion thereof, and the output shaft 33 of the motor 31 is inserted through the insertion hole 52. The operating member 51 is coaxial with the shaft hole 12 and the output shaft 33. The operation member 51 includes an oblong positioning recess 53 on one surface in the thickness direction. The insertion hole 52 is located at the center of the positioning recess 53 in the longitudinal direction. The positioning concave portion 53 includes a pair of linear portions 53a parallel to each other and an arc portion 53b that connects the pair of linear portions 53a to each other. The operation member 51 includes a through hole 54 at a position sandwiching both linear portions 53a of the positioning recess 53 in the radial direction.

As shown in FIG. 5, the positioning convex portion 44 of the feed screw 42 is inserted into the positioning concave portion 53 of the operating member 51. The linear portion 53 a of the positioning concave portion 53 and the linear portion 44 a of the positioning convex portion 44 are in contact. In addition, the small screw 55 inserted in the through hole 54 of the operating member 51 is screwed into the small screw hole 45 a of the feed screw 42. By screwing the small screw 55 to the small screw hole 45a, the movement of the operating member 51 in the radial and axial directions of the feed screw 42 can be restricted, and the operating member 51 is fixed to the feed screw 42 so as to rotate integrally with it. Give the screw 42. The operating member 51 protrudes radially outward from the outer peripheral surface of the feed screw 42. Therefore, the diameter of the operating member 51 is larger than the diameter of the feed screw 42.

As shown in FIG. 3, the operating member 51 is housed in the recess 11 f of the body 11. The outer diameter of the operating member 51 is slightly longer than the diameter N of the virtual circle C and shorter than the straight line M connecting the first surfaces 13 of the body 11 to each other. A part of the operating member 51 in the circumferential direction is exposed from the operating window 16 to the outside of the body 11 and slightly protrudes from the second surface 14. In addition, by operating a part of the operating member 51 exposed from the operating window 16 to rotate the operating member 51, the feed screw 42 integrated with the operating member 51 can be rotated.

As shown in FIG. 2, the electric gripping device 10 includes a protection member 18 that covers the operation member 51 exposed from the operation window 16 from the outside of the body 11 to protect the operation member 51. The protective member 18 is made of rubber or resin with a transparent color. The protective member 18 protects the operating member 51 from exposing the operating member 51 to the outside of the body 11 when the operating member 51 is not in use. The protective member 18 includes hook portions 18a on both ends in the longitudinal direction. On the other hand, the body 11 includes a groove 11g, and the groove 11g is partitioned by a first surface 13 and a second surface 14 adjacent to each other in the longitudinal direction Y. The protection member 18 is assembled to the body 11 by hooking the hook portion 18a to the groove 11g.

The protection member 18 includes a recess 18 b, and the recess 18 b extends in the longitudinal direction of the protection member 18. In the state in which the protection member 18 is assembled to the body 11, the operation member 51 is housed in the recess 18 b and is in a state not in contact with the protection member 18. Therefore, even if the operating member 51 is rotated by the driving of the motor 31, the operating member 51 does not come into contact with the protective member 18.

As shown in FIG. 1, the drive mechanism 41 includes a feed nut 43, and the feed nut 43 is screwed to the male thread 42 a of the feed screw 42. The feed nut 43 is inserted into the shaft hole 12. As shown in FIG. 3, the feed nut 43 has a substantially rectangular cylindrical shape. The feed nut 43 has a female thread 43a on the inner peripheral surface. The female thread 43 a of the feed nut 43 is screwed to the male thread 42 a of the feed screw 42.

The four outer side surfaces of the feed nut 43 are in surface contact with the four inner side surfaces of the body 11 dividing the shaft hole 12, respectively. By the surface contact of the feed nut 43 and the body 11 at four locations, the rotation of the feed nut 43 relative to the body 11 can be restricted.

The feed nut 43 can only move (slide) in the axial direction Z of the main body 11 by being restricted from rotating relative to the main body 11. The feed nut 43 moves in the axial direction of the output shaft 33 by the rotational movement of the output shaft 33. In addition, a groove extending in the axial direction Z of the fuselage 11 is provided on the inner surface of the body 11 that divides the shaft hole 12, and a guide portion that is engaged with the groove is provided on the feed nut 43, thereby It is also possible to restrict the rotation of the feed nut 43 and allow the feed nut 43 to move only in the axial direction Z of the body 11.

As shown in FIG. 1, the feed nut 43 is integrally provided with an engagement pin 47 on the side where the first plate 15 is located. The engaging pin 47 extends in the short-side direction X of the body 11. The electric grip device 10 includes a rod accommodating portion 11c that penetrates the body 11 in the longitudinal direction Y, and the driving mechanism 41 includes a pair of rods 61, which are partially accommodated in the rod accommodating portion 11c. Each rod 61 is substantially L-shaped. In addition, the drive mechanism 41 includes two support shafts 62, and the two support shafts 62 are supported on the inner surface of the body 11 that divides the rod storage portion 11c. Each rod 61 is rotatably supported by a support shaft 62 at its bent portion. In addition, each rod 61 has a U-shaped engagement groove 61a at its base end. The engaging groove 61 a of each rod 61 engages with an engaging pin 47 provided in the feed nut 43. In addition, each rod 61 rotates around the support shaft 62 in conjunction with the movement of the feed nut 43.

The first plate 15 fixed to the first end surface 11 a of the body 11 includes a guide recess 15 a, and the guide recess 15 a extends over the entire longitudinal direction of the first plate 15. The first plate 15 includes guide grooves 15b on two inner surfaces of the guide recess 15a that face each other in the short-side direction. The guide groove 15b extends over the entire longitudinal direction of the first plate 15.

The grip 21 included in the electric grip device 10 includes a counterpart member 25, and the counterpart member 25 is partially housed in the guide recess 15 a of the first plate 15. Each hand member 25 is substantially T-shaped, and includes a rectangular parallelepiped main body portion 25a extending in the longitudinal direction of the first plate 15 and a mounting portion 25b protruding from the main body portion 25a. Fingers (not shown) are attached to the hand member 25.

The main body portion 25a of each hand member 25 is provided with two storage grooves 25c, and the two storage grooves 25c respectively face the two guide grooves 15b of the guide recess 15a. Rolling elements (not shown) such as balls and rollers are accommodated between the accommodation groove 25c of each hand member 25 and the guide groove 15b of the first plate 15. Each hand member 25 can linearly move along the guide recess 15a by the rolling of a rolling element.

The first plate 15 has a through hole 15 d at a position corresponding to the tip side of each rod 61, and the tip side of the rod 61 penetrates each through hole 15 d and protrudes from the first plate 15. Each rod 61 is provided with an engaging member 64 at its tip. The engaging tool 64 of each lever 61 is inserted into the storage recessed portion 25e recessed in the main body portion 25a of the corresponding hand member 25. The hand member 25 is connected to the tip portion of the rod 61 by the hooking of the engaging member 64 and the storage recess 25e.

In the electric gripping device 10 having the above-mentioned structure, when the output shaft 33 is rotated by the drive of the motor 31 and the feed screw 42 is rotated, the feed nut 43 moves in the axial direction. Then, the rod 61 rotates in conjunction with the movement of the feed nut 43, and the engaging member 64 of each rod 61 moves along the longitudinal direction Y of the body 11. Then, the force from the rod 61 that rotates with the movement of the feed nut 43 is transmitted from the engagement piece 64 to the hand member 25. Each hand member 25 moves linearly along the guide groove 15b to open and close one hand member 25.

As shown in FIG. 6, when the feed nut 43 moves toward the second plate 17 and a hand member 25 is placed in a closed position close to each other, the work W is held by the fingers. On the other hand, as shown in FIG. 1, when the feed nut 43 moves toward the first plate 15 and a hand member 25 is placed in an open position separated from each other, the gripping state of the workpiece W by the fingers is released.

As shown in FIG. 2, the electric gripping device 10 of the above-mentioned structure is such that one of the two end surfaces (rear) of the body 11 in the short-side direction X is opposed to the installation location T, and the first end located on the one end One surface 13 is fixed to the installation site T in a state where the surface 13 is in surface contact with the installation site T. The electric gripping device 10 is installed at the installation location T with the other end surface of the body 11 facing the front. Therefore, the operating member 51 of the electric grip device 10 is exposed to the outside of the main body 11 from the operation window 16 provided on the front of the main body 11.

The electric gripping device 10 has a structure that can maintain the gripping state of the workpiece W even when the power to the motor 31 is cut off while the workpiece W is being gripped, or when the motor 31 is urgently stopped. The so-called self-locking mechanism. In the present embodiment, the self-locking mechanism defines the male thread 42a of the feed screw 42 and the female thread 42a of the feed nut 43 so as to be able to suppress the movement (descent) of the feed nut 43 in the state where the workpiece W is gripped by the grip 21 The relationship of the thread 43a. Since the self-locking mechanism is a well-known technology, detailed description is omitted. However, the relationship between the male thread 42a and the female thread 43a is specified so that the tangent force and friction force of the engagement portion of the male thread 42a and the female thread 43a satisfy the desired relationship.

Therefore, in the electric gripping device 10, by providing a self-locking mechanism, even when the power to the motor 31 is cut off in the state where the workpiece W is gripped by the gripping portion 21, the motor 31 is urgently stopped, etc. The grasping state of the workpiece W can also be maintained. That is, due to the self-locking function, it is possible to prevent the hand member 25 from being displaced to the open position accompanying the movement of the feed nut 43 and the movement of the feed nut 43.

On the other hand, when the energization of the motor 31 is cut off or when the motor 31 is stopped in an emergency, by manually operating the operating member 51, the gripping state of the workpiece W by the gripping portion 21 can be released.

The method of releasing the grasped state of the workpiece W will be described below.

As shown in FIG. 6, a self-locking mechanism can maintain a closed state of the hand member 25. When the held state of the workpiece W is released, the operating member exposed on the front of the electric holding device 10 is manually touched 51 is directly operated to rotate the operating member 51 in a direction opposite to the direction in which the output shaft 33 rotates when the workpiece W is gripped. Then, the feed screw 42 rotates, the feed nut 43 descends, and the pair of rods 61 rotate to move from the counterpart member 25 in the opening direction. As a result, the holding of the workpiece W by the holding portion 21 is released.

On the other hand, as shown in FIG. 1, when the energization of the motor 31 is cut off while the workpiece W is not being gripped, or when the motor 31 is urgently stopped, the self-locking mechanism can maintain the open state of the grip 21 .

When the open state of the grip 21 is released, the operating member 51 exposed on the front of the electric grip device 10 is directly operated by hand, and the operating member 51 is rotated in the direction in which the output shaft 33 rotates when the workpiece W is gripped. Then, the feed screw 42 rotates, the feed nut 43 rises, and the pair of rods 61 rotate, so that a hand member 25 moves in the closing direction.

According to the above-mentioned embodiment, the following effects can be obtained.

(1) The electric gripping device 10 includes an operating member 51, and the operating member 51 can directly operate the feed screw 42 and the feed nut 43 by hand. The operating member 51 is partially exposed outside the body 11 from the end surface (in more detail, the second surface 14) in the short side direction X in the body 11 of the electric grip device 10. When the electric grip device 10 is installed by bringing the first surface 13 of one end surface in the short-side direction X into contact with the installation site T, the other end surface in the short-side direction X becomes the front surface of the electric grip device 10. In addition, a part of the operating member 51 is exposed on the front, so that the operating member 51 can be directly operated by hand from the front of the electric grip device 10. Therefore, it is not necessary to rotate the tool above or on the side of the electric grip device 10 in order to operate the operating member 51. Therefore, it is not necessary to ensure a space for arranging tools above and on the side of the electric gripping device 10, and there is no restriction on the installation place of the electric gripping device 10, where the tool is used to operate the operating part.

(2) The outer diameter of the operating member 51 is set to be shorter than the straight line M. The straight line M connects the first surface 13 of the maximum dimension of the body 11 in the short-side direction X to each other, so that the operating member 51 moves from the second surface 14 It partially protrudes, and does not protrude beyond the first surface 13 of the body 11. Therefore, even if a part of the operating member 51 protrudes from the second surface 14, it does not hinder the installation of the electric gripping device 10 in a state where the first surface 13 is brought into contact with the equipment.

(3) The main body 11 is provided with the second surface 14 which is located back to a position closer to the central axis L of the main body 11 than a part of the operation member 51 exposed from the operation window 16. Therefore, the operating member 51 protrudes beyond the second surface 14, and the operating member 51 can be easily operated by hand without the second surface 14 becoming an obstacle.

(4) In order to rotate the feed screw 42, the operating member 51 is fixed to the feed screw 42 and is integrated with the feed screw 42. The diameter of the operating member 51 is larger than the diameter of the feed screw 42, and the diameter of the operating member 51 is further larger to the extent that it is exposed from the end surface of the body 11 in the short-side direction X. Therefore, compared with the case where the feed screw 42 is directly operated and rotated by hand, it is easier to rotate the feed screw 42 and the operating member 51 can be directly operated by hand even without using a tool.

(5) A part of the operating member 51 is exposed from both ends in the short-side direction X of the body 11. Therefore, even if one end surface in the short-side direction X is brought into contact with the device and the electric gripping device 10 is installed, the operating member 51 can be exposed from the other end surface in the short-side direction X to the outside of the body 11. For example, in the case where the operating member 51 is exposed only from one end surface in the short-side direction X of the body 11, it is necessary to make one of the two end surfaces in the short-side direction X where the operating member 51 is not exposed is in contact with the device, but In the structure of the present embodiment, the electric grip device 10 can be installed without being restricted by such installation.

(6) By directly operating the operating member 51 by hand, the feed nut 43 can be moved. By directly operating the operating member 51 by hand, the force applied to the operating member 51 can be directly controlled, and the application of excessive operating force to the feed screw 42 can be suppressed.

(7) The operating member 51 and the feed screw 42 are integrally formed. For example, it is not necessary to set the motor 31 to a special specification as in the case where the operation shaft for manually rotating the feed screw 42 is provided on the side of the motor 31 opposite to the side where the output shaft 33 protrudes. That is, even if the electric gripping device 10 is a mass-produced motor 31 of a non-special specification, it is possible to manually operate the operating member 51.

(8) The electric gripping device 10 includes a protection member 18 that covers a part of the operation member 51 from the outside of the body 11. Except when the operation member 51 needs to be operated by hand, the protection member 18 can avoid unintended contact with the operation member 51. Therefore, it is possible to prevent the operation member 51 from rotating due to unintended contact.

(9) The protective member 18 is attached to the body 11 by hooking the hook portion 18a to the groove 11g of the body 11. Therefore, it is possible to prevent the protection member 18 from being easily detached from the body 11, and it is possible to maintain the state where the protection member 18 protects a part of the operation member 51.

In addition, this embodiment may be modified as follows.

○ As shown in FIG. 7, the operating member 51 is fixed to the output shaft 33 of the motor 31 so that the operating member 51 can rotate integrally with the output shaft 33. In addition, the operating member 51 may be partially exposed from the two first side surfaces 32a and the two second side surfaces 32b.

In addition, a part of the operating member 51 exposed from the first side surface 32a protrudes from the first side surface 32a in the short-side direction X of the body 11, and on the other hand, it is located back to be closer to the body than the first surface 13 of the body 11. 11 is the position of the center axis L.

In the case of such a configuration, the operating member 51 is partially exposed outside the motor 31 from the first side surface 32 a of the motor 31, and the first side surface 32 a is located on the end surface side of the body 11 having the first surface 13. Since the first surface 13 of the main body 11 is located at the two end surfaces in the short-side direction X of the main body 11, the electric gripping device 10 is installed when the first surface 13 located at one end surface in the short-side direction X is in contact with the installation location T. At this time, the other end surface in the short-side direction X becomes the front surface of the electric gripping device 10. In addition, a part of the operating member 51 is exposed from the first side surface 32a of the motor 31 located on the front side, so that the operating member 51 can be directly operated by hand from the front of the electric gripping device 10. Therefore, it is not necessary to rotate the tool above and laterally of the electric gripping device 10 in order to operate the operating member 51. Therefore, it is not necessary to ensure a space for arranging tools above and on the side of the electric gripping device 10, and there is no restriction on the installation place of the electric gripping device 10, and the tool is used to operate the operating member 51.

In addition, the first side surface 32 a of the motor 31 does not protrude from the first surface 13 of the body 11. Therefore, even if a part of the operating member 51 protrudes from the motor 31, it does not interfere with the installation of the electric gripping device 10 in a state where the first surface 13 is brought into contact with the equipment.

The operating member 51 may not have a disc shape. When a part of the operating member 51 is always exposed from the operating window 16, the operating member 51 may be a C-shaped ring with a notch in a part of the circumferential direction.

The electric grip device 10 may be installed so that the flat surface 19 located at one end in the longitudinal direction Y of the body 11 is in contact with the installation site T.

In the case of such a structure, the electric gripping device 10 is installed in a state where the other end surface in the longitudinal direction Y becomes the front side, and a part of the operating member 51 extends from the short side direction X of the body 11 in the front view of the electric gripping device 10 The two end faces are exposed outside the fuselage 11. In addition, the operating members 51 exposed on both sides of the electric grip device 10 can be directly operated by hand from the front of the electric grip device 10. Therefore, it is not necessary to rotate the tool above and laterally of the electric gripping device 10 in order to operate the operating member 51. Therefore, it is not necessary to ensure a space for arranging tools above and on the side of the electric gripping device 10, and there is no restriction on the installation place of the electric gripping device 10, where the tool is used to operate the operating part.

In addition, when a part of the operating member 51 is exposed from the motor 31 as shown in FIG. 7, a part of the operating member 51 is exposed to the motor from the second side surface 32b of the motor 31 in the front view of the electric grip device 10. Outside of 31, the second side surface 32b is located on one end surface side in the longitudinal direction Y of the body 11. Therefore, the operating member 51 can be directly operated by hand from the front of the electric grip device 10.

In addition, in the form of FIG. 7, a protective member 18 may be provided so as to protect a part of the operating member 51 exposed from the motor 31.

The operating member 51 may be exposed only from one end surface in the short-side direction X of the body 11.

In the case of such a configuration, the electric gripping device 10 is installed so that the first surface 13 is in contact with the installation site T, and the first surface 13 is located on both end surfaces in the lateral direction X of the body 11, and the operating member 51 does not protrude. One end face.

Also in the form of FIG. 7, the operating member 51 may be exposed only from one of the two first side surfaces 32 a of the motor 31.

In the electric gripping device 10, the mechanism for opening and closing one hand member 25 can also be appropriately changed.

The electric gripping device 10 may not have a self-locking mechanism. In this structure, when the energization of the motor 31 is cut off or when the motor 31 is stopped in an emergency, the feed nut 43 may move relative to the feed screw 42. However, when it is necessary to move a hand member 25 at the stop position, the operation member 51 can be operated to move the hand member 25.

The operating member 51 and the feed screw 42 may not be separated, but may be integrally formed with one end of the feed screw 42 in the axial direction.

The protective member 18 that closes the operation window 16 may not be provided.

As long as the body 11 has a first surface 13 and a second surface 14 at both ends in the short-side direction X, and end surfaces at both ends in the long-side direction Y, it may have a shape other than a substantially rectangular block shape, For example, hexagonal column shape.

The second surface 14 of the body 11 may be a flat surface without curvature.

L‧‧‧Central axis T‧‧‧setting part X‧‧‧Short side direction Y‧‧‧long side direction Z‧‧‧axis direction W‧‧‧Workpiece 10‧‧‧Electric holding device 11‧‧‧body 11g‧‧‧slot 12‧‧‧Axle hole 13‧‧‧Side 1 14‧‧‧Side 2 18‧‧‧Protection parts 21‧‧‧Control Department 31‧‧‧Motor 32a‧‧‧The first side 33‧‧‧Output shaft 42‧‧‧Feed screw 43‧‧‧Feed nut 51‧‧‧Operating parts

Fig. 1 is a partial cross-sectional view showing the electric gripping device in an open position. Fig. 2 is a perspective view showing the electric gripping device of Fig. 1. Fig. 3 is a cross-sectional view taken along line 3-3 of Fig. 2. Fig. 4 is an exploded perspective view showing a feed screw and an operating member. Fig. 5 is a plan view showing a feed screw and an operating member. Fig. 6 is a partial cross-sectional view showing the electric gripping device of Fig. 1 in a closed position. Fig. 7 is a perspective view showing another example of an electric gripping device.

10‧‧‧Electric holding device

11‧‧‧body

11c‧‧‧Pole storage section

11g‧‧‧slot

13‧‧‧Side 1

13a‧‧‧Mounting hole

14‧‧‧Side 2

15‧‧‧Board 1

15a‧‧‧Guide recess

15b‧‧‧Guide groove

16‧‧‧Operation window

17‧‧‧Second board

18‧‧‧Protection parts

18a‧‧‧Check card department

18b‧‧‧Concave

19‧‧‧Flat surface

19a‧‧‧Threaded hole

21‧‧‧Control Department

25‧‧‧Hand Parts

25b‧‧‧Installation Department

31‧‧‧Motor

32a‧‧‧The first side

32b‧‧‧Second side

32c‧‧‧Cover body

36‧‧‧Wiring

51‧‧‧Operating parts

51a‧‧‧Knurling

T‧‧‧setting part

Z‧‧‧axis direction

Claims (8)

An electric holding device is provided with: a motor having an output shaft; a feed screw which rotates integrally with the output shaft; a feed nut which is screwed to the feed screw and moves toward the output shaft by the rotational movement of the output shaft. The output shaft moves in the axial direction; a grip part, which is connected to the feed nut, opens and closes in conjunction with the feed nut, and holds the workpiece in the closed position; and the body, which has a shaft hole, and the shaft hole accommodates the input The screw and the feed nut extend in the axial direction of the output shaft. The electric gripping device is characterized in that the central axis of the shaft hole extends in the axial direction of the fuselage, and the fuselage is in the same direction as the fuselage. The electric gripping device has an end surface including an installation surface in a direction orthogonal to the axial direction, and the electric gripping device is configured to be installed at the installation location in a state where the installation surface is in contact with the installation location. At this time, a direction orthogonal to the axis direction is the short side direction of the fuselage, and the direction orthogonal to the axis direction and the short side direction is the long side direction of the fuselage. The two end surfaces of the body each include a first surface and a second surface, the first surface defines the maximum dimension of the fuselage in the short-side direction, and the second surface is located closer to the central axis than the first surface, The electric gripping device is further provided with an operating member which is integrated with the feed screw It rotates and protrudes radially from the outer circumferential surface of the feed screw, and in at least one of the two end faces of the body in the short-side direction, a part of the operating member is exposed to the body from the second surface It is arranged in a state where it does not protrude from the first surface in the short-side direction. The electric holding device of claim 1, wherein a part of the operating member is exposed to the outside of the body from both end faces of the body in the short-side direction. An electric holding device is provided with: a motor having an output shaft; a feed screw which rotates integrally with the output shaft; a feed nut which is screwed to the feed screw and moves toward the output shaft by the rotational movement of the output shaft. The output shaft moves in the axial direction; a grip part, which is connected to the feed nut, opens and closes in conjunction with the feed nut, and holds the workpiece in the closed position; and the body, which has a shaft hole, and the shaft hole accommodates the input The screw and the feed nut extend in the axial direction of the output shaft. The electric gripping device is characterized in that the central axis of the shaft hole extends in the axial direction of the fuselage, and the fuselage is in the same direction as the fuselage. The electric gripping device has an end surface including an installation surface in a direction orthogonal to the axial direction, and the electric gripping device is configured to be installed at the installation location in a state where the installation surface is in contact with the installation location. When, the direction orthogonal to the axis direction is the short side direction of the fuselage, and the direction orthogonal to the axis direction and the short side direction is the long side direction of the fuselage. The two end surfaces of the fuselage in the short-side direction each include a first surface, the first surface defines the maximum size of the fuselage in the short-side direction, and the motor is in the short-side direction of the fuselage It has a first side surface, the first side surface is located closer to the central axis than the first surface, the electric grip device further includes an operating member that rotates integrally with the output shaft of the motor and is larger than the output shaft The outer peripheral surface protrudes in the radial direction, and a part of the operating member is arranged in a state that is exposed to the outside of the motor from at least one of the two first side surfaces of the motor and does not protrude in the short-side direction from the first surface. The electric gripping device of claim 3, wherein a part of the operating member is exposed to the outside of the motor from the two first side surfaces. The electric gripping device according to any one of claims 1 to 4, wherein the electric gripping device includes a protective member, and the protective member covers the operating member. Such as the electric holding device of claim 5, wherein the protective member does not contact the operating member. An electric holding device is provided with: a motor having an output shaft; a feed screw which rotates integrally with the output shaft; a feed nut which is screwed to the feed screw and moves toward the output shaft by the rotational movement of the output shaft. The output shaft moves in the axial direction; a grip part, which is connected to the feed nut, opens and closes in conjunction with the feed nut, and holds the workpiece in the closed position; and A body having a shaft hole that accommodates the feed screw and the feed nut and extends in the axial direction of the output shaft. The electric gripping device is characterized by further comprising an operating member, the operating member and the feeder Screws or the output shaft are fixed so as to be integrally rotatable, a part of the operating member is configured to be able to operate the operating member from the outside in the radial direction, exposed to the outside from the body or the motor, and further provided with a covering for the operating member Protect parts. Such as the electric holding device of claim 7, wherein the protective member does not contact the operating member.

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