JPS6320677B2 - - Google Patents

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 object to be conveyed is, for example, a long metal bar with an enameled surface, and is to be conveyed horizontally by gripping one end, the object must be gently held and lifted to prevent the enamel layer from being damaged by impact, for example. It is necessary to place the object softly in a stable horizontal state, without allowing the opposite end to be gripped to fall or to hit the table while being gripped. On the other hand, even if the transported part is sturdy, when moving the transported part over a fireproof material that is easily damaged by impact, it is necessary to clamp the transported part so as not to apply an impact to the refractory material. It is necessary to lift it up 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. 1a to 1g, which sequentially show a conveyed member and the operations of upper and lower clampers for clamping the conveyed member. Figure 1a shows the mounting table B.
A conveyed member W, which is a bar of a predetermined length, for example, is placed thereon in a horizontal state with its axis extending in the front-rear direction on the paper and with one end protruding forward from the mounting table B. An upper clamper CL.U and a lower clamper CL.D are shown facing each other and arranged at predetermined positions above and below in order to grip the portion protruding from the mounting table B. In order to grip the conveyed member (hereinafter referred to as a work) W, it is necessary to lower the upper clamper CL.U and raise the lower clamper CL.D. In the present invention, (1) the upper clamper CL.U (2) Set the downward displacement limit L of the lower clamper CL.D to a position that is the same as or maintains a slight gap from the upper surface of the workpiece W on the mounting table B before and after transfer, and (2) set the upward displacement force F of the lower clamper CL. Set it to be larger than the downward displacement force f of the lower clamper. When gripping the workpiece W in such a state, the upper clamper CL.U is first lowered to the downward displacement limit L as shown in FIG. 1b. As a result, the upper clamper CL.U stops at a position where it touches or does not touch the upper surface of the workpiece W, so that no impact is applied to the workpiece W. Then raise the lower clamper CL.D. When the lower clamper CL.U reaches the lower surface of the workpiece W, the workpiece W is held between the upper clamper CL.U and the lower clamper CL.D, as shown in FIG. 1c. By the way, the mounting table B is in almost contact with the lower end surface of the upper clamper CL.U, which is stopped at the lower displacement limit L.
The workpiece W placed above has the above. At the moment when it is clamped between the lower clampers CL.U and CL.D, and when the lower clamper CL.D continues to rise, the upper clamper CL.U retreats upward, so no impact is applied. That is, as mentioned above, the lower clamper CL.D
Since the upward displacement force F is set larger than the downward displacement force f of the upper clamper CL.U, the lower clamper
The upper clamper CL.U elastically receives the rise of CL.D via the workpiece W and retreats, thereby performing soft clamping. Additionally, the lower clamper CL.
While D continues to rise to a predetermined height, as shown in Fig. 1d, the work W is subjected to the downward displacement force f of the upper clamper CL.U, but the lower clamper CL.D exceeds the downward displacement force f. The upper clamper CL.U, which retreats via the workpiece W by the upward displacement force F, and the lower clamper CL.D, hold the workpiece with sufficient clamping force and hold it in a stable state from the mounting table B to a predetermined position. It will be lifted up to a certain height. In this case, the workpiece W placed on the mounting table B in a horizontal state is gripped while maintaining the horizontal state, and no movement occurs in the axial direction. Next, when placing the workpiece W in the gripping state shown in FIG. 1d on a predetermined mounting table B, as shown in FIG. 1e, the upper clamper CL. .U is made to follow up to the downward displacement limit L. The upper clamper CL.U stops at the downward displacement limit L, and the lower clamper CL.D continues to descend, so that the workpiece W is released from gripping. As mentioned above, the downward displacement limit L is set at a position that is the same as or maintains a slight gap from the upper surface of the workpiece W placed on the mounting table B, so the workpiece W is placed on the mounting table B. Until just before, both upper and lower clampers CL.U.
It is lifted down while being clamped with sufficient clamping force by the clampers CL.D, and almost at the same time as it is released from the grip, it is placed on the mounting table B according to the descending speed of the lower clamper CL.D. Therefore, in this case, the workpiece W is lifted in a stable horizontal state and is placed horizontally over the entire length in the axial direction, so that the opposite end of the grip may come into contact with each other before the grip is released, or the workpiece W may fall after the grip is released. Since this will not occur, the workpiece W or the mounting table B will not receive any impact. After the workpiece W is placed on the mounting table B, the upper clamper CL.U returns to a predetermined upper position as shown in FIG. 1g. In the present invention, how to set the difference between the upward displacement force F of the lower clamper CL.D and the downward displacement force f of the upper clamper CL.U is determined according to the weight of the workpiece W and the gripping position of the workpiece W. It is determined in relation to the gripping force. As a device for carrying out the soft gripping and soft placing methods of the present invention, the present invention includes hydraulic or pneumatic cylinders fixedly arranged to face each other in the vertical direction on a support member that is integrally structured with the conveyance mechanism; A gripping mechanism consisting of an upper clamper CL.U and a lower clamper CL.D driven by a cylinder is configured as follows. That is, the upper clamper
An adjustment mechanism is provided to adjust the downward displacement limit L of CL.U according to the shape or size of the workpiece W, and the output of the lower cylinder CY.D that drives the lower clamper CL.D is adjusted to the upper clamper CL.U. The output of the upper cylinder CY.U, which drives the
When CL.D is displaced upward, the lower clamper CL.D can displace the upper clamper CL.U, which is at the downward displacement limit L, upward via the workpiece W, and the lower clamper CL.D
When CL.D is displaced downward, the upper clamper CL.U is set to be able to move downward by following the downward displacement of the lower clamper CL.D via the workpiece W up to the downward displacement limit. The output of the above lower cylinder CY.D is transferred to the upper cylinder.
To make the output larger than that of CY.U, the diameter of the lower cylinder CY.D is larger than the diameter of the upper cylinder CY.U, and the operating pressure to both cylinders is set to be constant, or The diameters of the cylinders should be the same, and the operating pressure to the lower cylinder CY.D should be set higher than the operating pressure to the upper cylinder CY.U. The arm part 1 of the manibrator according to the invention is shown in FIG. 2a.
The second example is the case where it is applied to the gripping mechanism at the tip of the
This will be explained according to Figures b and c. The gripping mechanism for the workpiece W is the upper frame 1 of the support member 11.
Hydraulic or pneumatic cylinder fixed on the outside of 1U
Upper clamper attached to the tip of the rod RU that passes through the upper frame 11U of CY.U and extends into the U-shaped frame.
CL.U and a lower clamper CL.D attached to the tip of a rod RD extending into the U-shaped frame through the lower frame 11D of a hydraulic or pneumatic cylinder CY.D fixed to the outside of the lower frame 11D. It's getting more familiar. As shown in Fig. 1a, before the conveyance mechanism starts conveyance, the gripping mechanism places the upper clamper CL.U and the lower clamper CL.D in a position where they can grip the workpiece W on one of the mounting tables B from above and below. Then, as shown in Fig. 1e, after the work W is placed on the other mounting table B, the upper clamper CL.U and the lower clamper CL.D move back.
and are set to be placed at the same position relative to the work W on each mounting table B. The diameter of the lower cylinder CY.D is set larger than the diameter of the upper cylinder CY.U, and both cylinders CY.D, CY.U are connected to a single pressure source P , e.g. solenoid SOL.1 and
They are driven by the same operating pressure supplied by their respective operating circuits via a 4-port, 3-position switching valve V switched by SOL.2. The operating circuit of the upper cylinder CY.U includes a 2-port 2-position switching valve that is switched by solenoids SOL.3 and SOL.4, respectively, and a sequence valve with an internal pilot type check valve (hereinafter referred to as a pilot type sequence valve). PS.U and individual piping M with check valve, and lower cylinder CY.D
The operating circuit includes a pilot sequence valve PS.D.
are arranged as shown in FIG. 2b. upper cylinder
One end of an L-shaped member 2 is fixed to the rod RU of CY.U, and the member 2 and the other end, for example, the U-shaped support member 1, are slidably penetrated through the upper frame 11U at a predetermined position. The stopper 3 has a female screw portion that is screwed into the outer circumferential screw portion of the protruding portion that extends to the outside, and constitutes a downward displacement limit adjustment mechanism.
The most advanced position of the rod RU can be adjusted by adjusting the screw position. When gripping the workpiece W using the device having the above configuration, first, the solenoid SOL.1 and the solenoid SOL.3 are turned on. As a result , the operating pressure from the pressure source P is applied to chamber a of the upper cylinder CY.U, and as a result, the upper clamper CL.U
It descends to the downward displacement limit L, which is adjusted to a position that is the same as or maintains a minute gap with the upper surface of the .
When the upper clamper CL.U stops at the downward displacement limit L, the operating pressure of the circuit to chamber a of the upper cylinder CY.U increases, so the pilot sequence valve PS.
D operates (opens), and the operating pressure is also applied to chamber a of the lower cylinder CY.D, resulting in lower clamper CL.
D begins to rise. When the lower clamper CL.D rises and contacts the lower surface of the workpiece W, or when it rises slightly more than that, the upper clamper CL.D
The work W is held in a clamped state by CL.U and the lower clamper CL.D. However, the lower clamper CL.D
The rod will further rise to a predetermined height.
Since the RD stroke is set, it will continue to rise further. As a result, the upper clamper CL.U, which is set to a downward displacement force f smaller than the upward displacement force F of the lower clamper CL.D, moves backward while holding the workpiece W between it and the lower clamper CL.D that is ascending. At the moment of clamping, the workpiece W is clamped without receiving any impact, and then lifted to a predetermined height while being clamped with sufficient clamping force and maintained in a stable state...horizontal. In this case, the fluid in chamber a of the upper cylinder CY.U is a solenoid.
The valve connected by SOL.3 reverses the flow and joins the flow to chamber a of the lower cylinder CY.D.
At the same time, separate piping M to room b of upper cylinder CY.U
The fluid in the tank Mt is supplied (Sup.) via the suction force. The workpiece W thus gripped is transported to a predetermined position by the transport mechanism. When placing the workpiece W at a predetermined position, solenoid SOL.2 and solenoid SOL.4 are turned on, and solenoid SOL.3 is turned off.
The working pressure from the pressure source P is applied simultaneously to the upper cylinder CY.
As a result, the lower clamper CL.D is lowered, and the upper clamper CL.U is also lowered via the workpiece W. Therefore, the workpiece W, which has been clamped between the upper and lower clampers CL.U.CL.D, descends while maintaining a stable state...horizontal state while being clamped with sufficient clamping force.
Since a downward displacement limit L is set for the upper clamper CL.U, the above-mentioned lowering stops at the downward displacement limit L, and then the workpiece W is moved to the upper clamper CL.U.
However, since the downward displacement limit L is set at a predetermined position as described above, when the upper clamper CL.U stops at the downward displacement limit L, it is almost impossible to do so. At the same time, the workpiece W is placed on the mounting table B, and the workpiece W is landed horizontally at a descending speed determined by adjusting the pressure fluid flow rate of the lower clamper CL.D, which descends while maintaining the horizontal position. , neither the workpiece W nor the mounting table B receives any impact. The lower clamper CL.D stops descending at a predetermined position, but this increases the operating pressure in the circuit to chamber b of the lower cylinder CY.D, which opens the pilot sequence valve PS.U. , the working pressure of the pressure source P is in the upper cylinder
I start heading to CY.U's room B. At this point, solenoid SOL.4 is turned OFF and at the same time the solenoid
When SOL.3 is turned ON, the upper clamper CL.U rises to a predetermined height, thereby completing the placing operation of the gripping mechanism, and then the transport mechanism returns to prepare for the next workpiece W. In the embodiment described above, the diameter of the lower cylinder CY.D is made larger than the diameter of the upper cylinder CY.U, and the output of the lower cylinder CY.D is greater than the output of the upper cylinder CY.U by supplying the same operating pressure. The explanation was given using the case where the diameter of both the upper and lower cylinders is the same,
It is also possible with known hydropneumatic circuit configurations to make the operating pressure to the lower cylinder 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. The present invention also provides an upper and lower clamper as shown in FIG.
Walking with multiple CL.U′.CL.D′. Also applies to clampers. In this case, the upper clamper CL.U' and the lower clamper CL.D' are fixedly arranged above and below the frame body 42 which can be swung in the left and right direction by the lateral feed cylinder 41, respectively. and fixed to the tip of each rod of the lower cylinder CY.D'. The adjustment mechanism for adjusting the downward displacement limit of the upper clamper CL.U' consists of a stopper S at the upper end of the guide bar GB that guides the upper clamper CL.U' so that the displacement movement is averaged between the left and right sides, and the stopper S and the guide bar GB. A piece member K is inserted between the piece member G and the piece member G, and the downward displacement limit L can be set according to the size of the work piece W depending on the thickness of the piece member K. The circuit configuration and operation for driving both the upper and lower cylinders CY.U'.CY.D' are the same as in the previous embodiment. For example, only one end of the bar W is heated in a heavy oil heating furnace or an induction heating furnace. A refractory material 5 that is inserted into one side and lined in the furnace with the other end outside the furnace as a gripping part and is extremely brittle against impact.
The bar W placed on top is clamped at predetermined time intervals. If used when lifting, transporting, and placing the workpiece W in a horizontal state, it is possible to move the workpiece W forward by repeating the steps and heat the insertion part of the workpiece W in the furnace to a predetermined temperature while reaching the other side. The effects of the present invention, which allows soft gripping and soft placement in a horizontal state, are very clearly exhibited. It goes without saying that the present invention can be applied not only to the case where a member is conveyed by gripping only one end thereof, but also to the case of gripping the central part, and the same effect can be obtained. According to the present invention, (1) the work is lifted while being held by the upper clamper, which is displaced upward, and the lower clamper, which is displaced upward, while receiving the downward displacement force of the upper clamper; (2) The upper and lower clampers are used to hold the object until just before it is placed, and the object is lifted in a stable horizontal position, making it possible to place the object in an extremely soft manner. (3) The configuration for implementing this This is an extremely practical invention because it is simple and can be implemented in various gripping and conveying devices.

[Brief explanation of the drawing]

1A to 1G are front views sequentially showing the positional relationship between the conveyed member and the operation of the upper and lower clampers for explaining the basic idea of the present invention, and FIG. 2A is a gripping view of the manibrator implementing the present invention. Front view of the mechanism,
Fig. 2b is an operational rotation diagram of the hydraulic cylinder in the embodiment of the present invention, Fig. 2c is a diagram for explaining the operation of each part over time in the embodiment of the invention, and Fig. 3 FIG. 3 is a front view showing another embodiment of the present invention. 1, 41...transport mechanism, 11, 11U, 11
D, 42...Support member, 2, 3 and S, K...
Downward displacement limit adjustment mechanism, W...Transferred member, CL.
U……Upper clamper, CL.D……Lower clamper,
F...Upward displacement force of the lower clamper, f...Downward displacement force of the upper clamper, L...Downward displacement limit, CY.
U...Upper cylinder, CY.D...Lower cylinder.

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 made larger than the downward displacement force of the upper clamper, and the upper When gripping the conveyed member, the downward displacement limit of the clamper is set to a position that is the same as or maintains a slight gap from the upper surface of the conveyed member at the predetermined mounting position before and after conveyance.
an upper clamper displaced to its downward displacement limit;
After the upper clamper has been displaced to at least its downward displacement limit, the lower clamper displaces upward so as to come into contact with the transported member, and the lower clamper continues to move upward while clamping the transported member, and the lower clamper moves upward to contact the transported member. The conveyed member is lifted to a predetermined height by the upper clamper, which is forced to move upward by the displacement force, and when placing the conveyed member, the upper clamper follows the downward displacement of the lower clamper. A method for soft gripping and soft placement in a gripping and conveying device, characterized in that the conveyed member is clamped by the upper clamper and the lower clamper while the upper clamper is displaced to its downward displacement limit. 2. Grasping the conveyed member using the vertical displacement movement of the upper clamper and the lower clamper, which are driven by hydraulic or pneumatic cylinders that are fixedly arranged vertically opposite to the support member that is integrated with the conveyance mechanism. In the gripping mechanism that is transported and placed by the transport mechanism, an adjustment mechanism is provided to adjust the downward displacement limit of the upper clamper, and the output of the lower cylinder is set larger than the output of the upper cylinder, and the lower When the clamper is displaced upward, the upper clamper is at its downward displacement limit and can be displaced upwardly via the conveyed member, and when the lower clamper is displaced downward, the upper clamper is caused to move up to its downward displacement limit by the downward displacement of the lower clamper. 1. A soft gripping and soft placement device in a gripping and conveying device, characterized in that an operating circuit of a cylinder is set to enable downward displacement following a conveying member.