JPH0929679A - Clamping device - Google Patents

Abstract

(57) 【Abstract】 PROBLEM TO BE SOLVED: To enable grasping an article having a complicated shape in a well-balanced and stable state. A plurality of guide rods 20 arranged in parallel
A movable gripping member 27 individually slidably provided on each of the plurality of guide rods 20, and the plurality of guide rods 2.
Fixed gripping member 33 fixed to each end side of 0 facing the movable gripping member 27, and drive means 39 for moving the movable gripping member 27 along the guide rod 20, and fixed to the plurality of movable gripping members 27. The article is grasped by the grasping member 33.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a clamping device, and more particularly to a clamping device suitable for gripping an article having a complicated shape.

[0002]

2. Description of the Related Art As a clamping device for gripping an article, various devices have been conventionally used.

A device for gripping a casting core is explained as an example of a conventional clamp device with reference to FIG. 6. Reference numeral 1 denotes a robot body.
Is a rotating mechanism 3 provided on the base 2, a plurality of turning mechanisms 4, 5, 6 and arms 7, 8, 9 connected to the rotating mechanism 3.
It is composed of

A fixed base 10 is attached to the tip of the arm 9 of the robot body 1, and a movable base 12 is attached to the lower side of the fixed base 10 via a parallel link 11.

Further, a core 13 is provided below the movable base 12.
A grip portion 14 for gripping is provided.

The fixed side base portion 10, the movable side base portion 12 and the parallel link 11 are used for the compliance mechanism 1.
5 are formed.

On the other hand, reference numeral 16 is a conveyor mechanism composed of a conveyor, on which a plurality of main molds 17 are arranged at substantially constant intervals.

The transfer mechanism 16 is adapted to operate intermittently so that the main mold 17 stops at a predetermined position.

The robot body 1 grips the core 13 arranged at the core receiving position, then moves the core 13 onto the main mold 17 and lowers it vertically downward.

Reference numeral 18 denotes a video camera, which is used by the robot body 1 to confirm the positions and states of the core 13, the main mold 17, and the grip portion 14.

[0011]

The conventional gripping portion 14 is
Although it is composed of a pair of clamp arms that come close to and away from each other, the core to be grasped has a complicated shape in which a plurality of parts 13a and 13b as shown in FIG. In the case of 13, the balance may be unbalanced and unstable due to a moment or the like when grasped and lifted by a pair of clamp arms.

The core 13 having a complicated shape to be grasped there
Although a jig such as an appropriate adapter is used, there is a drawback in that it is costly to manufacture a jig for each of a large number of cores 13.

The present invention solves the above problems and drawbacks of the prior art, and provides a clamp device capable of grasping an article having a complicated shape in a balanced and stable state without using a jig. It is intended.

[0014]

A clamp device according to the present invention comprises a plurality of guide rods arranged in parallel, and a movable gripping member individually slidably provided on each of the plurality of guide rods. A fixed gripping member attached to each end of the plurality of guide rods and paired with the movable gripping member, and a drive unit for moving the movable gripping member along the guide rods. It is a thing.

In the clamp device of the present invention, the movable gripping members individually slidably provided on the plurality of guide rods are moved according to the shape of the article to be gripped,
By grasping the important points of an article between each movable gripping member and a pair of fixed gripping members, even an article having a complicated shape can be lifted in a stable state without using a dedicated jig such as an adapter. You can

[0016]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 4 show an example of an embodiment of the clamp device of the present invention. As shown in these drawings, two clamps are provided on the lower side of a base 19 which is bent downward on both left and right sides. The pair of guide rods 20, 20, 21, 21 are arranged so as to extend in the left-right direction in parallel with each other.
Both ends of these guide rods 20, 20, 21, 21 are fixed to the refraction portion of the base 19.

A movable table 22 is arranged immediately below the pair of guide rods 20 as shown in FIGS. 1 and 2, and support bushes 23 fixed to the four corners of the upper surface of the movable table 22 are provided. The movable table 22 is slidably fitted to the guide rod 20 so that the movable table 22 can move along the guide rod 20.

As shown in FIGS. 2 and 3, a movable table 24 is arranged just below the guide rods 21 of the other set, and the support bushes are fixed to the four corners of the upper surface of the movable table 24. 25 is slidably fitted to the guide rod 21, and the movable table 24 can be moved along the guide rod 21.

As shown in FIG. 1, a bracket 26 is fixed to the lower surface of the movable table 22, and a movable gripping member 27 facing right is attached to the bracket 26 by a pin 28.

Further, as shown in FIG. 3, the movable table 24
A bracket 29 is fixed to the lower surface of the bracket, and a movable gripping member 30 facing rightward is fixed to the bracket 2 by a pin 31.
9 attached.

As shown in FIG. 1, a bracket 32 is fixed to the lower surface of the right bent portion of the base 19 near the right end of the guide rod 20, and a fixed gripping member 33 is attached to the bracket 32. It is attached by a pin 34 so as to face 27.

As shown in FIG. 3, a bracket 35 is fixed to the lower surface of the right bent portion of the base 19 near the right end of the guide rod 21, and a fixed grip member 36 is movably gripped on the bracket 35. It is attached by a pin 37 so as to face the member 30.

As shown in FIGS. 1 and 2, on the lower surface of the base 19, an air cylinder 39 having a piston rod 38 protruding to the right is located above the pair of guide rods 20, 20. It has been fixed to.

The tip of the piston rod 38 is connected to the movable table 22 by a bracket 40.

As shown in FIGS. 2 and 3, on the lower surface of the base 19, an air cylinder 42 having a piston rod 41 protruding leftward is paired with a guide rod 21, 2.
It is fixed so that it may be located above between 1.

The tip of the piston rod 41 is connected to the movable table 24 by a bracket 43.

The air cylinder 39 shown in FIGS. 1 and 2 is a driving means for moving the movable grip member 27 along the guide rod 20, and the compressed air is supplied to and discharged from the air cylinder 39 to move the piston rod 38. When stretched or contracted,
The movable table 22 moves along with the support bush 23 along the guide rod 20, and accordingly, the movable gripping member 27 moves toward or away from the fixed gripping member 33.

The air cylinder 42 shown in FIGS.
Is a driving means for moving the movable gripping member 30 along the guide rod 21, and when the compressed air is supplied to and discharged from the air cylinder 42 to extend or contract the piston rod 41, the movable table 24 is supported by the support bush 25. At the same time, the movable gripping member 30 moves along the guide rod 21, and the movable gripping member 30 moves away from or approaches the fixed gripping member 36.

In the clamp device shown in FIGS. 1 to 4, the air cylinders 39 and 42 are mounted so that the directions thereof are opposite to each other, and the movable gripping member 27 (see FIGS. 1 and 2) is brought into contact with the fixed gripping member 33. The distance between the movable gripping members 30 (see FIGS. 2 and 3) is increased until the movable gripping members 30 come into contact with each other and the movable gripping members 30 (see FIGS. 2 and 3) move away from the fixed gripping members 36. Alternatively, a driving means other than the air cylinder may be used.

Next, the operation of the clamp device shown in FIGS. 1 to 4 will be described.

The base 19 of the above-mentioned device is attached to the lower side of the movable side base portion 12 described with reference to FIG. 6 by the attachment rod 44 fixed to the upper surface thereof.

The piston rod 38 of the air cylinder 39 is contracted so that the movable gripping member 27 is fixed to the fixed gripping member 33.
6, the piston rod 41 of the air cylinder 42 is extended so that the movable gripping member 30 is separated from the fixed gripping member 36, and the rotation mechanism 3 of FIG.
Etc. are moved in the descending direction so that the base 19 comes directly above the core 13 which is the article to be grasped.

Next, the piston rod 38 of the air cylinder 39 shown in FIGS. 1 and 2 is extended to bring the movable gripping member 27 closer to the fixed gripping member 33, and the piston rod 41 of the air cylinder 42 shown in FIGS. Contracts the movable gripping member 3
When 0 is brought closer to the fixed gripping member 36, the movable gripping member 27 and the fixed gripping member 33 grip the portion 13b of the core 13 from both sides as shown in FIG. The part 13a of the core 13 is grasped from both sides.

The side surface of the core 13 is often slightly inclined with respect to the vertical direction as a draft, but the movable gripping members 27, 30 and the fixed gripping members 33, 36 have pins 28, 31, 34. , 37 to rotate about the core 13
Can be close to each side of.

By raising the base 19 in this state, the entire core 13 can be lifted in a stable state.

FIG. 5 shows another example of the embodiment of the clamp device according to the present invention. In the figure, the parts denoted by the same reference numerals as those in FIGS. 1 to 4 represent the same parts.

The clamp device shown in FIG. 5 is similar to that shown in FIGS.
It has a configuration in which a shift mechanism 45 is added to the clamp device shown in FIG.

The shift mechanism 45 includes guide rods 20 and 21.
A shift rod 46 having a rectangular cross-sectional shape, which is arranged parallel to and above the base 19.
A bracket 47 for fixing both ends of the shift rod 46 to the base 19, and a support block 4 fitted onto the shift rod 46 so as to be slidable in the axial direction thereof.
8 is provided.

The support block 48 is attached to the lower side of the movable base 12 described with reference to FIG. 6 via the attachment rod 44.

In the clamp device shown in FIG. 5, the core 13 (see FIG. 4) is gripped by the same operation as that of the clamp device shown in FIGS. 1 to 3, but the clamp device shown in FIG. Then, the base 1 by the shift mechanism 45
Since 9 can move in the direction parallel to the guide rods 20 and 21, the core 13 can be more reliably and stably gripped.

The present invention is not limited to the above-described embodiment, but three bases or more of movable gripping members, fixed gripping members, and driving means for moving the movable gripping members are attached to one base. It is needless to say that it is used when grasping an article having a complicated shape other than the child, and that various changes are made without departing from the scope of the present invention.

[0043]

As described above, in the clamping device of the present invention, since the article is grasped from both sides at a plurality of points,
It is possible to achieve an excellent effect that various complicated-shaped articles can be held in a balanced manner without using a jig and that the article can be lifted in a stable state.

[Brief description of drawings]

FIG. 1 is a front view of an example of an embodiment of a clamp device according to the present invention viewed from the direction I in FIG.

FIG. 2 is a sectional view taken along line II-II of FIG.

3 is a sectional view taken along line III-III in FIG.

FIG. 4 is a plan view showing a state in which a core is gripped by a gripping member in an example of the embodiment of the clamp device of the present invention.

FIG. 5 is a front view of another example of the embodiment of the clamp device of the present invention.

FIG. 6 is a conceptual diagram showing an example of a conventional clamp device.

FIG. 7 is a perspective view of a core shown as an example of an article having a complicated shape.

[Explanation of symbols]

 20 guide rod 21 guide rod 27 movable gripping member 30 movable gripping member 33 fixed gripping member 36 fixed gripping member 39 air cylinder (driving means) 42 air cylinder (driving means)

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hitoshi Wada 1-1-1, Ishishiba, Matsumoto-shi, Nagano Ishikawajima Shibaura Machinery Co., Ltd. Matsumoto Factory (72) Inventor Shusaku Yamazaki 1-1-15, Toyosu, Koto-ku, Tokyo No. Ishikawajima Harima Heavy Industries Co., Ltd. Toni Technical Center (72) Inventor Hiroki Murakami 3-15-15 Toyosu Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Co., Ltd. Toni Technical Center (72) Inventor Mitsuru Muto Tokyo 3-15 Toyosu, Koto-ku Ishikawajima Harima Heavy Industries Co., Ltd. Toni Technical Center

Claims (1)

[Claims] 1. A plurality of guide rods arranged in parallel,
A movable gripping member individually slidably provided on each of the plurality of guide rods; a fixed gripping member fixed to each end of the plurality of guide rods and facing the movable gripping member; And a driving means for moving the member along the guide rod.