JPH065728U - Work clamp / unclamp device - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] To achieve simplification and downsizing while satisfying the positional consistency with the work, the resistance against the work, and the work position correction. [Structure] Between the first link 11L, 11R, which is rotatably supported by the first pin P11 on the reference line Y and is rotatably supported, and the grippers 19L, 19L are formed at the tips thereof, and the moving force imparting means 30, Second pins P12L, P12R, second links 12L, 12R, third pins P13L, P13R, third
The link 13 and the connecting pin P18 are rotatably connected to each other, and the moving force applying means 30 is operated to operate the gripper 19L,
19R is configured so as to perform a symmetrical clamp / unclamp operation around the reference line Y.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a work clamp / unclamp device. In particular, it is used as part of the work transfer mechanism of press machines.

[0002]

[Prior art]

 In industrial machines such as press machines, a clamp / unclamp device is incorporated in the work transfer mechanism (transfer mechanism, transfer robot, etc.) in order to transfer the work from the pre-process to the post-process. Most of such clamp / unclamp devices move a gripping piece (gripper) that is movable in one to three dimensions by a plurality of pulse motors or the like.

[0003]

[Problems to be solved by the device]

 However, recently, the work clamp / unclamp device including the minimization of the drive unit while satisfying the technical positional alignment with the work, the resistance against the work, and the positive work position correction, etc. There is a strong demand for simplification and miniaturization.

In view of the above circumstances, an object of the present invention is to achieve simplification and downsizing while satisfying positional consistency with a work, dealing with resistance from the work, and positively correcting the position of the work. It is to provide a clamp / unclamp device for a work that can be performed.

[0005]

[Means for Solving the Problems]

 The clamping and unclamping device for a work according to the present invention includes a pair of first links, each of which has a gripper formed at its tip end, which is supported rotatably symmetrically and rotatably by a first pin arranged on a reference axis. A pair of second links rotatably connected to second pins, each of which crosses the axis and has one end at the base end of each first link and equidistant from the first pin. A third link that is rotatably connected to the other end of the link via each third pin, a center part of the third link that is rotatably connected to the third link by a reference pin, and a reference axis line to the third link. And a moving force applying means for selectively applying a moving force in a direction. By operating this moving force applying means, both grippers can be symmetrically clamped and unclamped about the reference axis (Y). It is characterized by

[0006]

[Action]

 In the present invention having the above structure, when the moving force applying means is operated to apply the moving force in the direction approaching the first pin along the reference axis through the connecting pin to the third link, the first link and the third link are connected. Since each second link connecting the links intersects with the reference axis, each first link is rotated in the direction away from the reference axis (that is, the unclamping direction). At this time, since the distances between the respective second pins for connection with the second links and the respective first pins are equal, both the first links are simultaneously opened symmetrically with respect to the reference axis. Therefore, the gripper formed at the tip of each first link can be unclamped.

On the other hand, when the moving force in the direction away from the first pin along the reference axis is given to the third link from the moving force giving means, each first link becomes a transmission force from each second link. Therefore, the first pin is rotated simultaneously and at the same angle toward the reference axis. As a result, both grippers approach the reference axis and clamp the work from the left and right. At this time, since the respective first links rotate by the same angle, it is possible to clamp the movably mounted work while correcting its position.

Further, during the clamping operation, for example, when the right gripper comes into contact with the work and receives a resistance higher than a certain limit from the work before the left gripper comes into contact with the work, the right first gripper The link stops turning. Then, the one end portion of the third link, which is connected to the base end portion (second pin) of the first link on the right side through the second link or the like, is a circle centered on the second pin that is the fixed point. Since it moves on the locus, the amount of movement in the reference axis direction is greatly reduced compared to when clamping normally. Therefore, the third link rotates during the clamping operation, and the amount of movement of the other end in the reference axis direction is increased. As a result, the amount of rotation in the clamping direction of the first link on the left side, which is connected to the other end of the third link via the second link and the like, is greater than in the normal state. As a result, the workpiece can be clamped by both grippers without being evenly touched.

As described above, one driving unit (moving force applying unit) can simultaneously and symmetrically perform the clamp / unclamp operation of the pair of grippers about the reference axis line, thereby achieving simplification and downsizing. it can. Further, it is possible to satisfy the positional consistency with the work, the countermeasure against the resistance from the work, and the positive work position correction.

[0010]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings. As shown in FIG. 1 and FIG. 2, the present clamp / unclamp device includes a pair of left and right symmetrical first links 11L and 11R rotatably supported by a first pin P11 and respective first links 11L and 11R. The second links 12L and 12R that are connected to the base end and intersect the reference axis (vertical axis Y), the third link 13 that is connected to both ends of the second links 12L and 12R, and the moving force to the third link 13 And a pair of grippers 19L and 19R are simultaneously and symmetrically clamped and unclamped about the longitudinal axis Y by one driving source (30). Is formed in

In FIG. 1, reference numeral 10 denotes a base, which is fixed to a feed bar (not shown) that forms a transport mechanism of the press machine. The vertical axis Y is supposed to pass through the center of the mold when it is positioned. The vertical axis Y is orthogonal to the work feed line. The horizontal axis X is orthogonal to the vertical axis Y at the intersection Q.

Here, the first pin P11 is planted in the base 10 so as to be located at the intersection Q of the vertical axis Y and the horizontal axis X. A pair of first links 11L and 11R are rotatably and rotatably supported by the first pin P11. The second pins P12L and P12R are provided at the same distance (L11L = L11R) at the base ends of the first links 11L and 11R. Further, grippers 19L and 19R are formed at the tip ends of the respective first links 11L and 11R. The shapes of the grippers 19L and 19R are formed so as to correspond to the shapes of the transport mechanism and the work to be adopted.

Particularly, in the present embodiment, the respective fourth links 14L, 14R and the respective fifth links 15L, 15R are added to the respective first links 11L, 11R so that the opening angles of both grippers 19L, 19R are We are trying to increase the number of contact surfaces and the contact area with the work. That is, the base ends of the fourth links 14L, 14R are rotatably connected to the tip ends of the first links 11L, 11R via the fourth pins P14L, P14R. Each gripper 19L, 19R is provided at the tip of each fourth link 14L, 14R. Also, at the base ends of the fourth links 14L, 14R, the fifth pins P15L, P15R are provided at positions separated by a distance (L14L2 = L14 R2) equal to the fourth pins P14L, P14R. The fifth links 15L and 15R are rotatably connected to the fifth pins P15L and P15R. The lower ends of the fifth links 15L and 15R are rotatably connected to a portion of the base 10 on the vertical axis Y via a support pin P15.

Therefore, when each of the first links 11L and 11R is rotated around the first pin P11, the action of each of the fifth links 15L and 15R causes each of the first links 11L of each of the fourth links 14L and 14R. , 11R, the postures of the first links 11L, 11R can be changed so that even if the rotation angle of each of the first links 11L, 11R is made small, that is, the moving stroke of the moving force imparting means 30 is made small, the two grippers 19L, 19R can be moved at high speed along the horizontal axis X. It can be opened and retracted at a large angle to the direction. Further, the work located in the space S surrounded by both grippers 19L, 19R, the first links 11L, 11R, the fourth links 14L, 14R, etc. can be clamped so as to surround it as a whole.

Next, the second links 12L, 12R are connected to the respective second pins P12L, P12R which intersect the longitudinal axis Y and have one ends at the base ends of the first links 11L, 11R. It is rotatably connected.

The third link 13 is rotatably connected to the other ends of the second links 12L and 12R via the third pins P13L and P13R.

The moving force imparting means 30 is rotatably connected to the central portion of the third link 13 via a connecting pin P18 and selectively applies a moving force in the Y-axis direction to the link 13. Is. In this embodiment, the moving force applying means 30 is composed of a lever 31 and a drive source (in this case, the air cylinder device 35) for rotating the lever 31. The lever 31 is rotatably supported by the base 10 via a support pin P31, and one end of the lever 31 is rotatably connected to the center of the third link 13 via a connecting pin P18. When the lever 31 is rotated using the support pin P31 as the center using the air cylinder device 35, the third link 13 moves in the Y-axis direction via the connecting pin P18.

1 and 2, reference numerals 25 and 25 are return springs that urge the first links 11L and 11R toward the open position. That is, the return springs 25, 25 urge the left first link 11L in the counterclockwise direction about the first pin P11 and the right first link 11R about the first pin P11. Energize clockwise. Further, 29 is a stopper which engages with the base ends of the first links 11L and 11R to regulate the opening angle amount of the links 11L and 11R.

Next, the operation will be described. When the feed bar is returned and the base 10 is positioned on the vertical axis Y, the moving force applying means 30 operates. That is, the air cylinder device 35 causes the lever 31 to rotate in the clockwise direction in FIG. 1 about the support pin P31. Then, the third link 13 moves in a direction away from the first pin P11 along the vertical axis Y through the connecting pin P18. As a result, the left and right first links 11L, 11R rotate about the first pin P11 at the same time and at the same angle toward the vertical axis Y by the transmission force from the second links 12L, 12R.

At this time, since the postures of both grippers 19L and 19R are changed by the pulling action of the respective fifth links 15L and 15R accompanying the rotation of the respective first links 11L and 11R, the number of contact surfaces to the work And the area can be expanded. Therefore, even if the work is a deformed object, it can be reliably clamped. Thus, when the feed bar is advanced, the work can be transferred to the next die.

When the moving force application means 30 stops the application of the moving force and the first links 11L and 11R are made free when they are conveyed to the next die, the respective links 11L and 11R are restored. While being assisted by the springs 25, 25, they are simultaneously opened symmetrically about the vertical axis Y. Even if the return springs 25 are not provided, the links 11L and 11R can be simultaneously opened by rotating the lever 31 in the counterclockwise direction in FIG. 1 by the air cylinder device 35. Therefore, the work can be unclamped, and both grippers 19L and 19R can be largely opened.

Here, during the clamping operation, for example, when the right gripper 19R comes into contact with the work and receives a resistance exceeding a certain limit from the work before the left gripper 19L comes into contact with the work, The right first link 11R stops rotating. Then, the one end portion (P13R) of the third link 13, which is connected to the base end portion of the first link 11R via the second link 12R and the like, becomes the fixed point as shown by the chain double-dashed line in FIG. Since it moves on a circular locus centered on the 2-pin P12R, the amount of movement in the Y-axis of the vertical axis is greatly reduced as compared with the normal clamping. Therefore, the third link 13 rotates during the clamp operation, and the amount of movement of the other end (P13L) in the vertical axis Y direction is increased. As a result, the amount of rotation in the clamping direction of the left first link 11L, which is connected to the other end (P13L) of the third link 13 via the second link 12, etc., increases more than in the normal state. As a result, the work can be clamped by the two grippers 19L and 19R without hitting the work piece.

According to this embodiment, however, the grippers (19L, 19R) are rotatably supported by the first pin (P11) disposed on the reference axis (Y) and rotatably supported. ) Is formed on the pair of first links (11L, 11R) and the reference axis (Y) and one end of each of the first links (11L, 11R) is connected to the first pin (P1). 1) A pair of second links (12L, 12R) rotatably connected to the respective second pins (P12L, P12R) arranged at equal distances from 1) and the other ends of the respective second links (12L, 12R) Section and each third pin (P13L, P13R) rotatably connected to each other through a third link (13), and a central portion of the third link (13) rotatably connected through a connecting pin (P18). And is directed to the reference axis (Y) on the third link (13). And a moving force applying means (30) for selectively applying the moving force of (3), and the moving force applying means (30) is operated so that both grippers (19L, 19R) are symmetrical about the reference axis (Y). Since the configuration is such that the clamp / unclamp operation can be performed, the pair of grippers 19L and 19R can be simultaneously and symmetrically clamped / unclamped around the reference axis (Y) by one driving unit (moving force applying unit 30). It can be operated, and simplification and miniaturization can be achieved. In addition, it is possible to satisfy the positional consistency with the work, the countermeasure against the resistance from the work, and the positive work position correction.

Further, since both the first links 11L and 11R (both grippers 19L and 19R) can be largely opened, it is not necessary to perform the lift operation once and wait. In other words, it is possible to make the machine stand by during the press working while the down operation is being performed. Therefore, the work can be transported at high speed.

Further, the work can be clamped by both grippers 19L and 19R, or both grippers 19L and 19R are closed as shown in FIG. 1, and the first links 11L and 11R and the fourth links 14L and 14R are closed. For example, the work located in the space S can be clamped so as to surround the work as a whole, and the adaptability can be expanded.

Further, since the pulling action of each fifth link 15L, 15R accompanying the rotation of each first link 11L, 11R can change the posture of each gripper 19L, 19R, the first Even if the rotation angle of the links 11L, 11R is made small, that is, the moving stroke of the moving force applying means 30 is made small, both grippers 19L, 19R can be opened at a large angle in the direction of the horizontal axis X and retracted at high speed. . Therefore, it is possible to easily downsize the moving force applying unit 30 (and thus downsize the entire device). In addition, the number of contact surfaces and the contact area with the work can be increased and the transfer speed can be increased.

Further, since the return springs 25, 25 are provided, the elastic force of the springs 25, 25 can surely return the first links 11L, 11R to the open position.

[0028]

[Effect of device]

 According to the present invention, a pair of first links, which are symmetrically and rotatably supported by the first pin arranged on the reference axis and each gripper is formed at the tip, cross the reference axis and each of the first links. A pair of second links, one end of which is rotatably connected to each second pin arranged at the base end of each first link at an equal distance from the first pin, and the other end of each second link. A third link that is rotatably connected via each third pin, and a center portion of the third link that is rotatably connected via a connecting pin and that selectively moves the third link in the direction of the reference axis. The moving force applying means for operating the moving force applying means is arranged so that both grippers can perform clamping and unclamping operation symmetrical about the reference axis. By means of a pair of grippers simultaneously around the reference axis One symmetrical can be clamping and unclamping operation, it is possible to simplify and downsizing. Further, it is possible to satisfy the positional consistency with the work, the countermeasure against the resistance from the work, and the positive position correction of the work.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of the present invention.

FIG. 2 is a plan view showing an unclamped state of the same.

[Explanation of symbols]

 10 Base 11L, 11R 1st link P11 1st pin 12L, 12R 2nd link P12L, P12R 2nd pin 13 3rd link P18 Connecting pin 30 Moving force giving means

Claims (1)

[Scope of utility model registration request] 1. A pair of first links in which each gripper (19L, 19R) is formed at a tip end thereof, which is rotatably supported by a first pin (P11) arranged on a reference axis (Y) so as to be bilaterally symmetric. (11L, 11R) intersects with the reference axis (Y) and each one end is arranged at the base end of each first link (11L, 11R) at an equal distance from the first pin (P11). 2 pin (P12L, P12
R) is rotatably connected to a pair of second links (12).
L, 12R), a third link (13) rotatably connected to the other end of each second link (12L, 12R) via each third pin (P13L, P13R), and a third link ( And a moving force applying means (30) that is rotatably connected to the central portion of 13) via a connecting pin (P18) and that selectively applies a moving force in the reference axis (Y) direction to the third link (13). The work is characterized in that the moving force imparting means (30) is operated so that both grippers (19L, 19R) can be symmetrically clamped and unclamped about the reference axis (Y). Clamping / unclamping device.