JPS5894983A - Soft grasping and soft placing method and device in grasping conveyor - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a soft gripping and soft placement method and apparatus in a gripping and conveying device.

If the workpiece to be transported is, for example, a nine-long metal bar with an enameled surface, and it is to be transported horizontally by grasping its ends, the workpiece should be gently held and lifted to prevent damage to the enamel layer due to impact. For example, it is necessary to place the object in a stable horizontal state without having it placed in a falling state, or being placed on the holding table in a stable and horizontal manner. There is. On the other hand, even if the transported member is solid, if the transported member is to be moved over a fireproof material that is easily damaged by impact, be sure to move the transported member so as not to apply a shock to the refractory material. It is necessary to grasp and lift it and place it on the software.

The present invention provides a novel soft gripping and soft placing method and device for responding to the case where the gripping and conveying device is required to perform the above-described gripping and placing.

The basic idea of the present invention will be explained with reference to FIGS. 1(i-G), which sequentially show a conveyed member and the operations of the upper and lower clampers that clamp the conveyed member. Fig. 1 (a) K is a horizontal plane on a mounting table B where a conveyed member W, for example a bar of a predetermined length, is axially directed in the front-rear direction on the paper, with its end protruding toward the front from the mounting table B. The loading platform B for the conveyed member W is placed in the state
Upper clamper CL, U and lower clamper CL are used for rounding, upper and lower pupils in predetermined positions to grasp the more protruding part.
, D are shown facing each other.

In order to grip the conveyed member (hereinafter referred to as the work) W, the upper clampers CL and U must be lowered and the lower clamper CL
, D. However, in the present invention, (1) the downward displacement limits of the upper clampers CL and U are the same as the upper surface of the workpiece W on the mounting table B before and after transportation, and the upper surface of the workpiece W on the mounting table B is less 1(2) The upward displacement force r of the lower clampers CL and D is set to be larger than the downward displacement force f of the lower clampers.

In such a state, when gripping the workpiece W, the upper clampers CL and U are first lowered at the downward displacement limit Lt, as shown in FIG. 1(b). Since the KjD upper clappers CL and U stop at a position where they touch or do not touch the upper surface of the workpiece W, they do not impact the workpiece WK. Then, lower clampers CL and D are raised. When the lower clampers CL and U reach the lower surface of the workpiece W,
As shown in Fig. 1(e) K, the workpiece W is held by the upper clamper C.
It is held in good condition by L, U and lower clampers CL, D and K. By the way, the workpiece W, which is placed on the mounting table B in good condition and almost in contact with the lower end surfaces of the upper clampers CL and U, which are stopped at the downward displacement limit, includes the upper and lower corner clampers CL, U and CL. At the moment when it is clamped between D and when the lower clampers CL and D rise, the upper clampers CL and U retreat upward, so no impact is applied.

That is, as mentioned above, the upward displacement force F of the lower clampers CL, tJ is set to be larger than the downward displacement force f of the upper clampers CL, tJ, so that the upper clampers CL, U can raise the lower clampers CL, D to the workpiece W. It is elastically received and retreated via the , and soft clamping is performed. Moreover, while the lower clampers CL and D continue to rise to a predetermined height, the workpiece W is moved by the upper clamper at
,,u, while receiving the downward displacement force f
Due to the upward displacement force FK of the lower clampers CL and D that exceeds the workpiece W, the workpiece W is held in a stable state while being clamped with sufficient clamping force by the upper clampers CL and U and the lower clampers CL and D. It will be lifted up to a predetermined height from the mounting table B. In this case, mounting table B
The companion workpiece W, which is placed horizontally on the top, is gripped while maintaining the horizontal state, and no oscillation occurs in the axial direction.

Next, when placing the workpiece W in the grasped state shown by the chrysanthemum in Fig. 1 on the predetermined mounting table B, as shown in Fig. The upper clampers CL and U are made to follow the workpiece until it reaches the downward displacement limit.The upper clampers CL and U stop at the downward displacement limit, and the lower clampers CL and D continue to descend, so that the work W is released from gripping. As shown in the figure, the lower displacement limit is set to be the same as the upper surface of the workpiece W placed on the mounting table B, and 9 is set at a position that maintains a minute gap, so the workpiece W is placed on the mounting table B. Both upper and lower clampers CL and U until just before
, CL, and D with sufficient clamping force, and almost at the same time when the grips are released, it is placed downwardly on the stand B according to the descending speed of the clamps CL and D. Ru.

Therefore, in this case, the workpiece W is lifted in a stable horizontal state, and is placed horizontally across the entire axial length.
Since there is no possibility that the opposite end of the grip will come into contact with each other before the grip is released or fall after the grip is released, the workpiece W or the mounting table B will not receive any impact. Upper clamper CL
, U return to a predetermined upper position as shown in FIG. 1j) after the workpiece W is placed on the mounting table B.

In the present invention, the upward displacement force F of the lower clampers CL, D
How to set the difference between the downward displacement force f of the upper clampers CL and U is determined based on the relationship between the weight of the workpiece W and the gripping force determined according to the gripping position of the workpiece W.

As a device for carrying out the soft gripping and soft placing methods of the present invention, the present invention is configured to fix the support member integrally with the conveying mechanism so as to face each other in the vertical direction. A cylinder, an upper clamper CL, U, and a lower clamper CL driven by the cylinder.
, D is configured like a cutout. That is,
A rounding adjustment mechanism is provided to adjust the downward displacement limit of the upper clampers CL and U according to the shape or size of the workpiece W, and the output of the lower cylinders CY and D that drive the lower clampers CL and D is adjusted to the upper clamper CL. , upper cylinder CY, which drives U, is set to be larger than the output of the upper cylinders CY, U, and the operating circuit of each cylinder is set to an upper clamper CL which sets the lower clamper CL, D to the downward displacement limit LKI when the lower clamper CL, D is displaced upward. , U can be displaced upward via the workpiece W, and when the lower clampers CL and D are displaced downward, the upper clamper CL and U follow the downward displacement of the lower clampers CL and D through the workpiece W until the downward displacement limit. Set to allow displacement.

The output of the above lower cylinders CY and D is converted to the upper cylinder CY,
For a configuration that increases the output of U, the lower cylinder CY
, the diameter of D is the upper cylinder CY.

Either set the diameter to be larger than the diameter of U and keep the working pressure to both cylinders constant, or set the diameter of both cylinders to be the same and set the working pressure to the lower cylinders CY and D to be equal to the working pressure to the upper cylinder C.
It is sufficient to set the operating pressure to Y and U to be higher than that.

The present invention will be described with reference to FIGS. 2(b) and 2(,), taking as an example the case in which the present invention is applied to a gripping mechanism at the tip of the arm portion 1 of a manipulator shown in FIG. 2(a).

The gripping mechanism for the workpiece W is attached to the tip of a rod RU that is fixed to the outside of the upper frame 11U of the support member 11 and extends into the U-shaped frame through nine hydraulic or pneumatic cylinders CY, U, and the upper frame 11U. Upper clampers CL, U and hydraulic or pneumatic cylinders CY, which are fixed to the outside of the lower frame 110, are attached to the tips of rods RD that pass through the lower frame 11D of D and are placed in the square frame. CL and D are getting better.

As shown in FIG. 1(,), before the gripping mechanism starts transporting, the transport mechanism has upper clampers CL, U and lower clampers CL, D.
Place the workpiece W on one mounting table B in a position where it can be held from above and below, and after conveyance, place the workpiece W on the other mounting table B as shown in Fig. 1 (φ) K. It is assumed that the upper clampers CL, U and the lower clampers CL, D, which have been moved and retreated, are set to be placed at the same position relative to the workpiece W on the respective mounting table l.

The diameter of the lower cylinders CY and D is the same as that of the upper cylinder CY.

It is set larger than the diameter of U, and both cylinders CY, D,
CY, U have the same actuation supplied by the respective actuation circuits via 4-point and 3-position switching valves V, switched by e.g. solenoid SQL, 1 and solenoid 80L, 2, connected to a single pressure source 2. It is driven by pressure. The operating circuit of the upper cylinders CY and U includes two-point, two-position switching valves that are switched by solenoids 80L and 3 and solenoids SQL and 4, respectively.
Internal pilot type check valve sealing sequence valve (hereinafter referred to as pilot type sequence valve) P8. U and individual piping M with check valves are connected to the lower cylinders CY and D, and a pilot sequence valve P8D is installed in the operating circuit of the lower cylinders CY and D as shown in Fig. 2 (b).
It is arranged as follows. One end of an L-shaped member 2 is fixed to the rod RU of the upper cylinders CY and U, and the member 2 and the other end, for example, a U-shaped support member 10, slidably penetrate the upper frame 11U at a predetermined position. A stopper 3 having a female threaded portion that is screwed into the outer peripheral threaded portion of the protruding portion that extends to the outside.
and constitute a downward displacement limit adjustment mechanism, and the stopper 3
The most advanced position of the rod RU can be adjusted by the screwing position of the rod RU.

When gripping a workpiece W using a device having the above configuration, first solenoid SQL, 1 and solenoid S
Turn on QL and 3. As a result, the operating pressure from the papermaking pressure source is applied to the upper cylinders CY and UOa chambers, and as a result, the upper clampers CL and U are at the same position as the upper surface of the workpiece W and maintain a small gap II! It descends at the lower displacement limit Lt. When the upper clampers CL and U reach their downward displacement limit and stop, the operating pressure of the circuit to the first chamber of the upper cylinders CY and U increases, so the pilot sequence valve PS is activated.

D operates (op@n) and lower cylinder CY, a of D
Working pressure is also applied to the chamber, and as a result, the lower clampers CL and D
begins to rise. When the lower clampers (CL, D) rise and contact the lower surface of the workpiece W, or when they slightly rise, the workpiece W is held in a clamped state by the upper clampers CL, U and the lower clampers CL, D. becomes.

[-However, the stroke of the rod RD is set so that the lower clampers CL and D further rise to a predetermined height, so they continue to rise further. As a result, the upper clampers CL, U, which are set at a downward displacement force f smaller than the upward displacement force F of the lower clampers CL, D, clamp the work W between the lifting lower clampers CL, D, and move the workpiece W backward. At the moment of clamping, the workpiece W is clamped without receiving any impact, and is then lifted to a predetermined height while maintaining a stable state V and horizontal while being clamped with sufficient clamping force. In this case, the upper cylinder Cy,
The fluid in the first chamber of XJ flows backward through the valve indicated as conductive by the solenoid 80L, 3, and joins the flow into the first chamber of the lower cylinders CY and D, and at the same time, the fluid flows into the first chamber of the lower cylinders CY and D.
The fluid in the tank Mt is supplied to the b chamber via the individual pipe M by suction (Sup).

The thus gripped workpiece W is transported to a predetermined position by the transport mechanism.

When placing the workpiece W in a predetermined position, the solenoid 8
0L, 2 and solenoids 80L, 4 are turned on, and solenoids SQL, 3 are turned OFF. The operating pressure from the pressure source 1 is applied to the upper cylinder CY, UOa chamber and the lower cylinder CY, chamber b of D at the same time, so that the lower clampers 7 CL, D fall and the upper clampers CL, tJ
4. It follows and descends via the workpiece W. Therefore, the workpiece W that was held between the upper and lower clampers CL, U, CL, and D
is in a stable state while being clamped with sufficient clamping force...it descends while maintaining its horizontal position.

Since the upper clampers CL and UK are set at the lower displacement limit, the above-mentioned lowering stops at the lower displacement limit, and then the workpiece W also leaves the upper clampers CL and U and rides on the lower clampers <at, , n. However, since the downward displacement limit is set at a predetermined position as described above, when the upper crane 7 <CL, U stops at the downward displacement limit, the workpiece WFi mounting table B almost simultaneously The workpiece W is placed on top of the workpiece, and while maintaining the horizontal position, the downward descending cranometer lands horizontally at a descending speed determined by the pressure fluid flow rate adjustment of CL and O, and both the workpiece W and the workpiece B receive an impact. You will not receive any. The lower cylinders CL and D stop their descent at a predetermined position, but this increases the operating pressure of the circuit to chamber b of the lower cylinders CY and D, causing the pilot sequence valve P8.U to operate. (・P@!l
), and the working pressure of the pressure cylinder is b of the upper cylinder CY, U.
I start walking to my room. At this point, Nrenoid EIOL,
If the lunoid 80L and 8 are turned ON at the same time as 4 is turned OFF, the upper cranometer <ex, u will rise to a predetermined height, thereby completing the placing operation of the gripping mechanism, and then the transport mechanism will move on to the next workpiece W. I will return to prepare.

In the embodiment described above, the diameter of the lower cylinders CY, I) is made larger than the diameter of the upper cylinders CY, UO, and the same working pressure is supplied so that the output of the lower cylinders CY, D is greater than the output of the upper cylinders CY, U. The explanation was given using the case where the upper and lower cylinders have the same diameter, and the operating pressure to the lower cylinder is greater than the operating pressure to the upper cylinder, so that the output of the lower cylinder is greater than the output of the upper cylinder. This is possible using known hydraulic and pneumatic circuit configurations.

The present invention also provides upper and lower clampers cL as shown in FIG.
This also applies to walking and clampers that have multiple U', CL, and D' units. For jin, upper clamper C
L, U' and lower clampers CL, D' each have a frame 4 that can swing in the left and right direction by a lateral feed cylinder 41.
Upper cylinder CY fixedly arranged above and below 2
, U' and the lower cylinders CY, D' are fixed at the tips of their respective rondos. Upper clamper CL, U
The adjustment mechanism for adjusting the downward displacement limit of ' is comprised of a stopper 8 at the upper end of the guide bar GB, which guides the displacement movement of the upper clampers CL and U' so that the left and right displacements are uniform, and a stopper S and a guide G. It is inserted in the seki and the round piece member has an unusual shi,
It is configured such that the downward displacement limit can be set depending on the thickness K of the bridge member and the size of the workpiece W. The circuit configuration and operation of the rounding circuit that drives both the upper and lower cylinders CY, U', CY, and D' are the same as in the previous embodiment.
An extremely brittle refractory material S is inserted into one side of a heavy oil heating furnace or an induction heating furnace, and the other end outside the furnace is used as a gripping part to line the furnace. The round bar W placed on top is repeatedly held, lifted, and placed on the conveyor shaft at predetermined time intervals and moved forward, and while reaching 11, the insertion part of the work W into the furnace is If used in a case where heating is performed at a predetermined temperature Kt, the effect of the present invention, which allows the workpiece W to be softly gripped in a horizontal state and softly placed in a horizontal state, will be very clearly exhibited.

The present invention is applicable not only to the case where a member is conveyed by gripping only one end thereof, but also to the case where the center portion thereof is gripped.
Of course, you can get the same effect.

According to the present invention, (1) The workpiece is lifted while being clamped by the upper clamper, which displaces upward, and the lower clamper, which displaces upward, while receiving the downward displacement force of the upper clamper, so it can be held extremely softly in a stable horizontal state. (3) The upper and lower clampers are used to hold the material until just before it is loaded, and the material is held in a stable and horizontal position, making it possible to place the material very softly. This invention is extremely practical because it can be implemented in various gripping and conveying devices.

[Brief explanation of the drawing]

Figures 1 (,) to (g) are front views showing the positional relationship between the rounded conveyed member and the vertical movement of 2 inches to explain the basic idea of the present invention, and Figure 2 (a) Fi A front view of the gripping mechanism of the manipulator embodying the present invention, FIG.
) is an operating circuit diagram of a hydraulic cylinder in an embodiment of the present invention,
FIG. 2 (,) is a miniature diagram for explaining the operation of each part over time in the embodiment of the present invention, and FIG. It is a front view showing an example. 1.41...Transportation mechanism 11,11U. 11D, 42... Support members 2, 3 and S, K.
...Downward displacement limit adjustment mechanism W...Transferred member
CL, U...Upper clamper CL, D...Downward clamper F...Upward displacement force of lower clamper f.
・Downward displacement force L of upper clamper ・Downward displacement limit
CYo, U... Upper cylinder CY, D... Lower cylinder Patent applicant Koshuha Netoren Co., Ltd. Representative Patent attorney Fu Kobayashi Figure 1 (Q) (b) (C) (d) (@) ( f
) (9) Figure 2 (0) 1D Figure 2 (b)

Claims (1)

[Claims] 1.) When a conveyed member is gripped by an upper clamper and a lower clamper, conveyed, and then placed, the upward displacement force of the lower clamper is larger than the downward displacement force of the upper two clampers. At the same time, the downward displacement limit of the upper clamper is set at a position that is the same as the upper is surface of the transported member at the predetermined mounting position before transport and after transport, or at a position that maintains a slight gap, and when gripping the transported member, the lower While clamping the conveyed member by an upper clamper that displaces it to the displacement limit, and a lower clamper that displaces it upward so that it comes into contact with the conveyed member at least after the upper clamper is displaced to the downward displacement limit,
In order to lift the conveyed member to a predetermined height by the lower clamper, which continues to move upward, and the upper clamper, which is forced to move upward by the upward displacement force of the lower clamper, the KL is used. causes the upper clamper to follow the downward displacement of the lower clamper and displace it downward;
A method for soft gripping and soft placement in a gripping and conveying device, characterized in that a conveyed member is clamped between a Hijikata clamper and a lower clamper while the upper clamper is displaced to its downward displacement limit. 2) Hydraulic clamps fixedly arranged vertically opposite to the support member integrated with the transport mechanism use the vertical displacement movement of an upper clamper and a lower clamper driven by pneumatic cylinders to transport the transported object. In the gripping mechanism that grips the member, transports it by the transport mechanism, and places it thereon, an adjustment mechanism is provided for adjusting the downward displacement limit of the upper clamper,
The output of the lower cylinder is set to be larger than the output of the upper cylinder, and when the lower clamper is displaced upward, the upper clamper, which is at its downward displacement limit, can be displaced upward via the conveyed member, and In a gripping and conveying device, the cylinder operating circuit is set so that when the clamper is displaced downward, the upper clamper can follow the downward displacement of the crimp lower clamper to the limit of downward displacement via the conveyed member and can be displaced downwardly. Soft gripping and soft placement device.