JPH065729U - Work clamp / unclamp device - Google Patents

Abstract

(57) [Summary] [Purpose] To achieve simplification and miniaturization while satisfying the positional consistency with the work and appropriate measures against resistance from the work. [Structure] A pair of first links (11L, 11R) rotatably supported by first pins (P11L, P11R) arranged symmetrically with respect to a reference axis (Y), and a gripper (19).
L, 19R) are formed and each first link (11L, 1R)
1R) has a pair of second links (12L, 12L, P12L, P12R) rotatably connected to the tip of the second pin (P12L, P12R).
12R) and each base end of the third pin (P1) on the substrate (10).
3L, P13R) are rotatably connected to each other, and each tip portion is the second pin (P1) of the second link (12L, 12R).
2L, P12R) A connecting pin (P
13L1, P13R1) and a pair of third links (13L, 13R) rotatably connected to each other, and the first pins (P11L, P11) on the respective first links (11L, 11R).
This is a configuration including a turning force imparting means (30) for applying a turning force centered on (R) via each spring (35L, 35R).

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, there has been a strong demand for simplification and downsizing of the clamp / unclamp device including the minimization of the drive unit while satisfying the technical positional alignment with the work and appropriate measures against the resistance from the work.

In view of the above circumstances, an object of the present invention is to provide a clamp / unclamp device for a work that can be simplified and downsized while satisfying the positional matching with the work and appropriate measures against the resistance from the work. To do.

[0005]

[Means for Solving the Problems]

 A clamp / unclamp device for a work according to the present invention includes a pair of first links rotatably supported by first pins arranged symmetrically with respect to a reference axis, and a gripper formed on each of the first links. A pair of second links rotatably connected to the tip end about each second pin, each base end rotatably connected to the substrate through each third pin, and each tip end to each second end. A pair of third links that are rotatably connected to each other with each connecting pin separated from the second pin of the link by a predetermined distance as a center, and each first link is connected to each spring with a turning force centered on each first pin. It is characterized in that it is provided with a turning force applying means to be applied via the rotating force applying means, and the gripping means is operated so that both grippers can perform clamping / unclamping operation around the reference axis.

[0006]

[Action]

 In the present invention having the above-mentioned configuration, the turning force applying means is operated to apply the turning force in the direction away from the reference axis (that is, the unclamping direction) to each first link. Then, each first link is rotated in the unclamping direction together with each second link. Therefore, the gripper formed on each second link can be unclamped.

On the other hand, when the turning force is applied to each of the first links from the turning force applying means in the direction approaching the reference axis (that is, the clamping direction), each of the first links is connected to each of the second links. It is rotated in the clamping direction. As a result, both grippers approach the reference axis and clamp the work.

Here, at the time of the unclamping / clamping, each second link rotates about each second pin at the tip of each first link by the action of each third link. Therefore, both grippers can be clamped / unclamped at a high speed and at a large angle even if the rotation angle of each first link is reduced. Therefore, it is possible to easily reduce the size of the turning force applying unit (and thus reduce the size of the entire device). Moreover, the number of contact surfaces and the contact area with the work can be increased.

During the clamping operation, for example, when the right gripper comes into contact with the work and receives resistance from the work before the left gripper comes into contact with the work, the right gripper is connected to the right first link. The spring of the rotating force imparting means is prevented from being transmitted to the first link on the right side of the abutting contact to transmit the rotating force of a certain value or more. On the other hand, the first link on the left side, which is not receiving the resistance from the work, is rotated until the left gripper receives the resistance from the work by the turning force transmitted from the turning force applying means via the spring. . This allows the work to be clamped by both grippers without a single contact. Therefore, it is possible to satisfy the positional compatibility with the work and appropriate measures against the resistance from the work.

[0010]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings. As shown in FIGS. 1 and 2, the present clamp / unclamp device includes a pair of first links 11L and 11R rotatably supported by the first pins P 11L and P11R, and a pair of first links 11L and 11R. A pair of second links 12L, 12R connected to each other and having grippers 19L, 19R formed at the respective tips, and a third link 13L for changing the attitude of each second link 12L, 12R with respect to each first link 11L, 11R. , 13R and a rotational force applying means 30 for selectively imparting rotational force to each of the first links 11L, 11R, and a pair of grippers 19L, 19R are provided in the drive source (30) as a reference axis (vertical axis Y). ) Is formed so as to perform clamp / unclamp operation.

In FIG. 1, reference numeral 10 denotes a substrate, which is fixed to a feed bar (not shown) forming a transport mechanism of a press machine. Further, 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 substrate 10 is provided with first pins P11L and P11R which are arranged symmetrically with respect to the vertical axis Y and the horizontal axis X. A pair of first links 11L, 11R are rotatably supported by the first pins P11L, P11R.

The second links 12L, 12R are rotatably connected to the tip ends of the first links 11L, 11R about the second pins P12L, P12R. A gripper 19L (19R) is provided at the tip of the second link 12L (12R). The shapes of the grippers 19L and 19R are formed so as to correspond to the shapes of the transfer mechanism and the work to be adopted.

The third link 13L (13R) has a base end rotatably connected to the substrate 10 via a third pin P13L (P13R) and a tip end of the second link 12L (12R). The connecting pin P13L 1 (P13R1), which is separated from the two pin P12L (P12R) by a predetermined distance, is rotatably connected.

Therefore, when the first links 11L, 11R are rotated about the first pins P11L, P11R, the action of the third links 13L, 13R causes the first links of the second links 12L, 12R. Since the postures of the links 11L and 11R can be changed, the two grippers 19L and 19R can be moved horizontally at high speed even if the turning angle of each of the first links 11L and 11R is small, that is, the turning amount of the turning force applying means 30 is small. It can be released and retracted at a large angle in the direction of the axis Y. Further, the work located in the space S surrounded by both grippers 19L, 19R, the first links 11L, 11R and the second links 12L, 12R can be clamped so as to surround the work as a whole.

Particularly, in the present embodiment, the right side second link 12R side is further provided with the fourth link 14R, the fifth link 15R, etc., to further increase the number of contact surfaces and the contact area with the workpiece. Also, the opening angles of both grippers 19L and 19R are expanded. That is, the fourth link 14R is rotatably connected to the tip end of the second link 12R via the fourth pin P14R. In addition, a connecting pin P15R1 is provided at a base end portion of the fourth link 14R so as to be separated from the fourth pin P14R by a predetermined distance.

The fifth link 15R has one end rotatably connected to the tip of the first link 11R via the fifth pin P15R and the other end connected to the connecting pin P15R1 of the fourth link 14R. It is rotatably connected. Therefore, when the first link 11R is rotated around the first pin 11R, the attitude of the fourth link 14R with respect to the second link 12R can be changed by the action of the fifth link 15R, and the gripper 19R can be moved at a higher speed in the horizontal axis. It can be opened and retracted at a large angle in the X direction. In addition, the number of contact surfaces and the contact area with the work can be further increased.

Next, the turning force imparting means 30 is a means for applying a turning force centered on the first pin P 11LP, 11R to each first link (11L, 11R) via each spring 35L, 35R. . In the present embodiment, the turning force imparting means 30 includes levers 31L and 31R, springs 35L and 35R, a drive source for rotating the levers 31L and 31R (here, an air cylinder device not shown), and a return spring 25L. , 25R.

The levers 31L and 31R are rotatably supported on the substrate 10 via respective support pins P31L and P31R. A spring 35L is stretched between one end of the lever 31L and a portion of the first link 11L that is separated from the first pin P11L by a predetermined distance. A spring 35R is stretched between one end of the lever 31R and a portion of the first link 11R which is separated from the first pin 11R by a predetermined distance. Each of the levers 31L and 31R is configured to be rotated by an air cylinder device. The return springs 25L and 25R are means for urging the first links 11L and 11R toward the open position. That is, the return spring 25L biases the left first link 11L counterclockwise around the first pin P11L, and the return spring 25R pushes the right first link 11R into the first pin. It urges clockwise around P11R.

When the lever 31L is rotated counterclockwise and the lever 31R is rotated clockwise, the first links 11L and 11R together with the second links 12L and 12R are directed toward the vertical axis Y. Rotate. As a result, the gripper 19L approaches the vertical axis Y 1 and the gripper 19R approaches the vertical axis Y via the fourth link 14R and the fifth link 15R.

Next, the operation will be described. When the feed bar is returned and the substrate 10 is positioned on the vertical axis Y, the rotational force applying means 30 operates. That is, the air cylinder device rotates the levers 31L and 31R in the counterclockwise and clockwise directions, respectively. Then, the left first link 11L is rotated in the clockwise direction via the spring 35L, and the right first link 11R is rotated in the counterclockwise direction via the spring 35R. . As a result, the left second link 12L (gripper 19L) changes its posture with respect to the first link 11L by the action of the third link 13L, and approaches the vertical axis Y. Similarly, the posture of the right fourth link 14R (gripper 19R) with respect to the first link 11R is changed in two steps by the action of the third link 13R and the fifth link 15R, and is brought closer to the vertical axis Y.

At this time, the postures of both grippers 19L and 19R are changed by the pulling action of each of the third links 13L and 13R (fifth link 15R) accompanying the rotation of each of the first links 11L and 11R. The number of contact surfaces and the area can be increased. Therefore, even if the workpiece is a deformed one, it can be clamped securely. Thus, when the feed bar is advanced, the work can be transferred to the next die.

When conveyed to the next die, when the rotation power application by the rotation power application means 30 is stopped and each of the first links 11L and 11R is made free, the respective links 11L and 11R are for return. The springs 25L and 25R are opened around the vertical axis Y by the elastic force and the like. 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 contacts the work and receives a resistance from the work before the left gripper 19L contacts the work, the first link on the right side The spring 35R of the turning force imparting means 30 connected to 11R is prevented from being extended and the turning force of a certain value or more being transmitted to the link 11R. On the other hand, the first link 11L on the left side, which is not resisted by the work, rotates until the left gripper 19L receives resistance from the work by the turning force transmitted from the turning force applying means 30 via the spring 35L. To be done. As a result, the work can be clamped by both grippers 19L and 19R without being evenly touched.

Therefore, according to this embodiment, the pair of first links (11L, 11L, P11L, P11R) rotatably supported by the first pins (P11L, P11R) symmetrically arranged on the vertical axis (Y). 11R) and a gripper (19L, 19R) are formed and a pair of second pins rotatably connected to the tip of each first link (11L, 11R) about the second pin (P12L, P12R). The link (12L, 12R) and each base end portion are rotatably connected to the substrate (10) via the third pin (P13L, P13R) and each tip end is connected to the second link (12L, 12R). The pair of third links (13L, 13R) rotatably connected about the connecting pins (P13L1, P13R1) separated from the two pins (P12L, P12R) by a predetermined distance, and the respective first links (11L, 11R). ) To Since the configuration is provided with the turning force applying means (30) for applying the turning force centered on the 1-pin (P11L, P11R) through the springs (35L, 35R), the first link 11L, 11R Even if the turning angle is reduced, both grippers 19L and 19R can be clamped / unclamped at high speed and at a large angle. Therefore, it is possible to easily downsize the turning force applying means (and thus downsize the entire device). In addition, the work can be clamped by both grippers 19L and 19R without hitting the work piece, and it is possible to satisfy the positional matching with the work and the proper countermeasure against the resistance from the work.

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 can be closed as shown in FIG. 1, and the first links 11L and 11R and the second links 12L and 12R can be clamped. 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, the pulling action of the respective third links 13L and 13R (and the rightward direction is the fifth link 15R) accompanying the rotation of the respective first links 11L and 11R can change the postures of the respective grippers 19L and 19R. Since it is configured, both grippers 19L and 19R can be clamped / unclamped at high speed and at a large angle even if the rotation angle of each first link 11L, 11R is reduced. Therefore, it is possible to easily reduce the size of the turning force applying unit 30 (and thus reduce the size of the entire device). In addition, the number of contact surfaces and the contact area with the work can be increased.

[0029]

[Effect of device]

 According to the present invention, the pair of first links rotatably supported by the first pins arranged symmetrically with respect to the reference axis and the grippers are formed, and the second pins are provided at the tip end of each first link. And a pair of second links rotatably connected to each other, each base end is rotatably connected to the substrate through a third pin, and each tip is a predetermined distance from the second pin of each second link. A pair of third links that are rotatably connected to each other about a connecting pin that is separated by a distance, and a turning force applying unit that applies a turning force about the first pin to each first link through each spring. Since it is configured, both grippers can be opened (retracted) at a high speed and at a large angle even if the rotation angle of each first link is reduced. Therefore, it is possible to easily reduce the size of the turning force applying means (and thus reduce the size of the entire device). In addition, the work can be clamped by both grippers without hitting one side, and it is possible to satisfy the positional consistency with the work and appropriate measures against the resistance from the work.

[Brief description of drawings]

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

FIG. 2 is likewise a plan view showing an unclamped state.

[Explanation of symbols]

 10 board 11L, 11R 1st link P11L, P11R 1st pin 12L, 12R 2nd link P12L, P12R 2nd pin 13L, 13R 3rd link P13L, P13R 3rd pin 19L, 19R gripper 30 times energizing means

Claims (1)

[Scope of utility model registration request] 1. A pair of first links (11L, 11R) rotatably supported by first pins (P11L, P11R) arranged symmetrically with respect to a reference axis (Y), and a gripper (19L, 19R). ) Is formed and each first link (11
Each of the second pins (P12L, P12) is attached to the tip of L, 11R.
R) and a pair of second links (12L, 12R) that are rotatably connected to each other, and each base end portion of the second pin (P13L, P1) on the substrate (10).
3R) so as to be rotatably connected to each other, and each tip portion of each second link (12L, 12R) has a second pin (P12L, P).
12R) each connecting pin (P13L)
1, P13R1) and a pair of third links (13L, 13R) rotatably connected to each other, and each first link (11L, 11R) with each first pin (P11L, P11).
R) and a turning force imparting means (30) for applying a turning force through each spring (35L, 35R), and actuating this turning force imparting means (30) causes both grippers (19L, 19R) to operate. A clamping / unclamping device for a workpiece, which is configured so that clamping / unclamping operations can be performed around a reference axis (Y).