JP2013059860A

JP2013059860A - Electrically-powered holding device

Info

Publication number: JP2013059860A
Application number: JP2013000324A
Authority: JP
Inventors: Hiroshi Ajiki; 安食　　浩; Nobuo Imaeda; 信雄今枝
Original assignee: Star Seiki Co Ltd
Current assignee: Star Seiki Co Ltd
Priority date: 2013-01-07
Filing date: 2013-01-07
Publication date: 2013-04-04

Abstract

PROBLEM TO BE SOLVED: To efficiently assemble a workpiece transfer device by dispensing with air piping from a vacuum generator, and to contribute to a reduction in electric power consumption by reducing air volume consumed in the entire molding factory.SOLUTION: A workpiece is gripped by swinging a pair of gripping members in a direction where the gripping portions of the pair of gripping members approach each other by an operation shaft. The operation shaft is moved in such a manner that an electric motor is rotatively driven, thereby rotating a screw member in a predetermined direction, and air led to flow from a vent hole in the other end and compressed is supplied into an operation member, thereby sliding a piston.

Description

本発明は、例えば成形品取出し機やパーツフィーダー等のワーク移送装置に搭載され、成形された成形品や部品等のワークを所定の位置に取出す際に該ワークを把持して保持する電動保持装置に関する。 The present invention is, for example, an electric holding device that is mounted on a workpiece transfer device such as a molded product take-out machine or a parts feeder, and holds and holds a workpiece such as a molded product or a component when the workpiece is taken out at a predetermined position. About.

例えば樹脂成形機に搭載される成形品取出し機においては、少なくとも二次元方向へ移動制御されるチャックに、真空発生装置（負圧発生装置）に接続された複数個の吸着パッドを取付けた真空吸着装置が設けられている。該真空吸着装置は、ワークに対して真空発生状態で吸着パッドを当接することにより真空吸着して保持している。また、真空吸着装置とは別に、チャックに設けられた把持用フィンガーを、エアーシリンダ等の空圧作動部材により往復揺動してワークを把持する空圧把持装置が知られている。 For example, in a molded product take-out machine mounted on a resin molding machine, a vacuum suction system in which a plurality of suction pads connected to a vacuum generator (negative pressure generator) are attached to a chuck that is controlled to move in at least a two-dimensional direction. A device is provided. The vacuum suction device holds the workpiece by vacuum suction by bringing a suction pad into contact with the workpiece in a vacuum generation state. In addition to the vacuum suction device, a pneumatic gripping device is known that grips a workpiece by reciprocally swinging a gripping finger provided on a chuck by a pneumatic operating member such as an air cylinder.

しかし、上記した真空吸着装置や空圧把持装置にあっては、エアーコンプレッサー等の真空発生装置と吸着パッドとをパイプ等で配管する必要があり、工場用エアー配管の配管作業やワーク移送装置におけるエアー配管の装着作業に手間と時間がかかり、ワーク移送装置の組立て作業性が悪い問題を有している。特にワーク移送装置を複数台設置した工場にあっては、１台の真空発生装置と複数台のワーク移送装置とをエアー配管する必要があり、このエアー配管の距離が長くなって配管作業に手間と時間がかかる問題を有している。 However, in the vacuum suction device and the pneumatic gripping device described above, it is necessary to pipe the vacuum generation device such as an air compressor and the suction pad with a pipe or the like. It takes time and labor to install the air piping, and the assembly workability of the work transfer device is poor. Especially in a factory where multiple work transfer devices are installed, it is necessary to connect one vacuum generator and multiple work transfer devices to the air piping. And have the problem of taking time.

また、真空発生装置にあっては、一定の真空度に達した際には、エアーコンプレッサーの駆動を中断制御してエアーコンプレッサーによる消費電力の低減を図っているが、実際の工場配管にあっては、真空気密が不充分でエアーコンプレッサーの稼働時間が長くなって消費電力を有効に低減できない問題を有している。
特開平−号公報 Moreover, in the vacuum generator, when a certain degree of vacuum is reached, the drive of the air compressor is interrupted to reduce power consumption by the air compressor. However, there is a problem that the airtightness cannot be effectively reduced because the air-tightness is insufficient due to insufficient vacuum tightness.
JP-A

解決しようとする問題点は、真空発生装置からのエアー配管が必要で、ワーク移送装置の組立て作業性が悪い点にある。また、真空発生装置の稼働時間が長くなって消費電力を低減できない点にある。 The problem to be solved is that air piping from the vacuum generator is required, and the assembly workability of the work transfer device is poor. In addition, the operating time of the vacuum generator is long and the power consumption cannot be reduced.

本発明の請求項１は、内部に中空部を有し、一方端部及び他方端部に通気孔が設けられたシリンダー部材と、該シリンダー部材の中空部内にて回転可能に軸支されたスクリュー部材と、上記スクリュー部材に連結され、該スクリュー部材を正逆方向へ選択的に回転させる電動モータと、上記シリンダー部材の一方端部側に設けられ、内部に軸線方向へ摺動可能なピストンを支持すると共に該ピストンに作動軸が設けられた作動部材と、上記作動部材の先端側にて揺動可能に支持され、先端側に把持部及び後端側に作動部を有した一対の把持部材と、上記一対の把持部材を、把持部が互いに近づく方向及び離間する方向のいずれかに付勢する弾性部材とからなり、電動モータを回転駆動してスクリュー部材を所定方向へ回転させて他方端部の通気孔から流入して圧縮された空気を作動部材内に供給してピストンを摺動させて移動する作動軸により一対の把持部材を、それぞれの把持部が互いに近づく方向へ揺動させてワークを把持することを主要な特徴とする。 According to a first aspect of the present invention, there is provided a cylinder member having a hollow portion therein and having a vent hole at one end and the other end, and a screw rotatably supported in the hollow portion of the cylinder member. A member, an electric motor connected to the screw member and selectively rotating the screw member in forward and reverse directions, and a piston provided on one end side of the cylinder member and slidable in the axial direction inside. An operating member that is supported and has an operating shaft on the piston, and a pair of gripping members that are swingably supported on the front end side of the operating member, and that have a gripping portion on the front end side and an operating portion on the rear end side And an elastic member that urges the pair of gripping members in either the direction in which the gripping part approaches or separates from each other, and rotates the screw member in a predetermined direction by rotationally driving the electric motor. Part A pair of gripping members are swung in a direction in which each gripping part approaches each other by a working shaft that slides and moves the piston by supplying compressed air that flows in through the hole into the working member and grips the workpiece. The main feature is to do.

本発明は、真空発生装置からのエアー配管を不要にし、ワーク移送装置を効率的に組み立てることができる。また、成型工場全体のエアー消費量を低減し、消費電力の低減に寄与できる。 The present invention eliminates the need for air piping from the vacuum generator, and can efficiently assemble the workpiece transfer device. Moreover, the air consumption of the whole molding factory can be reduced and it can contribute to reduction of power consumption.

本発明の電動保持装置としての電動吸着装置が搭載される成形品取出し機の全体斜視図である。1 is an overall perspective view of a molded product take-out machine on which an electric suction device as an electric holding device of the present invention is mounted. チャック板に取付けられた電動吸着装置の分解斜視図である。It is a disassembled perspective view of the electric attraction apparatus attached to the chuck | zipper board. 電動吸着装置の中央縦断面図である。It is a center longitudinal cross-sectional view of an electric attraction apparatus. 電動吸着装置による成形品の吸着状態を示す説明図である。It is explanatory drawing which shows the adsorption | suction state of the molded article by an electric adsorption apparatus. 電動吸着装置による成形品吸着解除状態を示す説明図である。It is explanatory drawing which shows the molded article adsorption | suction cancellation | release state by an electric adsorption apparatus. 実施例２に係る電動保持装置としての電動吸着装置を示す中央縦断面図である。It is a center longitudinal cross-sectional view which shows the electric adsorption apparatus as an electrically-driven holding | maintenance apparatus which concerns on Example 2. FIG. 実施例２に係る電動吸着装置の作用を示す説明図である。It is explanatory drawing which shows the effect | action of the electric adsorption apparatus which concerns on Example 2. FIG. 実施例３に係る電動保持装置としての電動把持装置を示す一部破断中央縦断面図である。It is a partially broken central longitudinal sectional view showing an electric gripping device as an electric holding device according to a third embodiment. 実施例３に係る電動把持装置の作用を示す説明図である。It is explanatory drawing which shows the effect | action of the electric gripping apparatus which concerns on Example 3. FIG.

電動モータを回転駆動してスクリュー部材を所定方向へ回転させて他方端部の通気孔から流入して圧縮された空気を作動部材内に供給してピストンを摺動させて移動する作動軸により一対の把持部材を、それぞれの把持部が互いに近づく方向へ揺動させてワークを把持することを最良の形態とする。 The electric motor is driven to rotate, the screw member is rotated in a predetermined direction, the compressed air that flows in from the vent hole at the other end is supplied into the operating member, and the piston is slid to move the pair. It is best to swing the gripping members in a direction in which the gripping portions approach each other to grip the workpiece.

以下に実施形態を示す図に従って本発明を説明する。
図1に示すように、本発明の電動保持装置は、樹脂成形機（図示せず）に搭載され、成形されたワークとしての成形品を金型から取出して所定の開放位置に開放するワーク移送装置としての成形品取出し機１のチャック３に取付けられる。該成形品取出し機１は、公知で、例えば樹脂成形機の中心軸線と直交方向へ延出する走行フレーム５上を長手方向へ往復移動するように支持された走行体７と、該走行体７に、中心軸線と一致する方向へ延出するように取付けられた前後フレーム９に往復移動するように支持された前後走行体１１と、該前後走行体１１に、上下方向へ軸線を有し、所定の上下ストロークで昇降するように設けられ、下部に成形品を保持するチャック３が取付けられた上下ユニット１３とから構成される。上記チャック３は、走行体７、前後走行体１１及び上下ユニット１３の移動に伴って樹脂成形機における金型位置と樹脂成形機外の開放位置との間で三次元移動される。 The present invention will be described below with reference to the drawings showing embodiments.
As shown in FIG. 1, the electric holding device of the present invention is mounted on a resin molding machine (not shown) and takes a molded product as a molded workpiece from a mold and opens it to a predetermined opening position. It is attached to a chuck 3 of a molded product take-out machine 1 as an apparatus. The molded product take-out machine 1 is known, for example, a running body 7 supported so as to reciprocate in the longitudinal direction on a running frame 5 extending in a direction orthogonal to the central axis of the resin molding machine, and the running body 7. The front and rear traveling body 11 supported so as to reciprocate in the front and rear frame 9 attached so as to extend in a direction coinciding with the central axis, and the front and rear traveling body 11 have an axis in the vertical direction, The upper and lower unit 13 is provided so as to move up and down with a predetermined vertical stroke, and a chuck 3 for holding a molded product is attached to the lower part. The chuck 3 is three-dimensionally moved between a mold position in the resin molding machine and an open position outside the resin molding machine in accordance with the movement of the traveling body 7, the front and rear traveling body 11, and the vertical unit 13.

上記チャック３のチャック板１５は、上下ユニット１３に下部に対し、必要に応じてチャック板１５の保持面を垂直位置と水平位置との間で回動させる反転手段（図は、反転手段を設けていない例を示す。）を設けて取付けられる。上記チャック板１５には、本発明に係る電動保持装置を構成する複数の電動吸着装置１７が取付けられる。 The chuck plate 15 of the chuck 3 is provided with a reversing means for rotating the holding surface of the chuck plate 15 between the vertical position and the horizontal position as necessary with respect to the lower part of the upper and lower unit 13 (the figure shows a reversing means. The example is not shown.) A plurality of electric suction devices 17 constituting the electric holding device according to the present invention are attached to the chuck plate 15.

図２及び図３に示すように、各電動吸着装置１７のシリンダー部材１９は、チャック板１５の保持面側に設けられ、内部の円筒中空部内には、スクリュー２１が円筒中空部の内周面に対して気密状で、回転可能に支持される。上記シリンダー部材１９先端側の閉鎖板には、複数の通気孔１９ａが形成されると共にパッド取付け部１９ｂが設けられる。そして該パッド取付け部１９ｂには、シリコンゴム等の弾性材により形成され、基端部に円筒状の取付け円筒部２３ａを有すると共に先端側に放射方向及び先端側へ傾斜した吸着部２３ｂを有した吸着パッド２３が取付けられる。 As shown in FIGS. 2 and 3, the cylinder member 19 of each electric adsorption device 17 is provided on the holding surface side of the chuck plate 15, and the screw 21 is disposed in the inner cylindrical hollow portion of the inner cylindrical hollow portion. It is airtight and is rotatably supported. The closing plate on the tip side of the cylinder member 19 is provided with a plurality of vent holes 19a and a pad mounting portion 19b. The pad mounting portion 19b is formed of an elastic material such as silicon rubber, and has a cylindrical mounting cylindrical portion 23a at the base end portion and a suction portion 23b inclined in the radial direction and the distal end side at the distal end side. A suction pad 23 is attached.

該吸着パッド２３における吸着部２３ｂの中心部には、貫通孔２３ｃが形成され、通気孔１９ａを介してシリンダー部材１９に連通している。また、取付け円筒部２３ａは、シリンダー部材１９の先端部に対して、弾性変形させながら挿嵌して気密状に取付けられる。 A through hole 23c is formed at the center of the suction portion 23b of the suction pad 23 and communicates with the cylinder member 19 through the vent hole 19a. The mounting cylindrical portion 23a is inserted into the tip end portion of the cylinder member 19 while being elastically deformed, and is attached in an airtight manner.

シリンダー部材１９の後部には、円筒中空部と連通する通気孔１９ｃが形成される。また、シリンダー部材１９後端側の閉鎖板２５は、シリンダー部材１９の外形より大きい形状で、中心部にてスクリュー２１の軸を軸支して突出させる軸孔２５ａが形成される。更に、閉鎖板２５の外周側には、電動吸着装置１７をチャック板１５に取付ける際に、固定ねじ２７を挿通する取付け孔２５ｂが形成される。なお、チャック板１５には、スクリュー２１の軸を挿通する貫通孔１５ａ及び固定ねじ２７がねじ止めされるナット部２９が挿入されるねじ孔１５ｂが形成される。 A vent hole 19c communicating with the hollow cylindrical portion is formed at the rear portion of the cylinder member 19. Further, the closing plate 25 on the rear end side of the cylinder member 19 has a shape larger than the outer shape of the cylinder member 19, and a shaft hole 25 a is formed at the center to project the shaft of the screw 21. Further, on the outer peripheral side of the closing plate 25, an attachment hole 25b through which the fixing screw 27 is inserted when the electric suction device 17 is attached to the chuck plate 15 is formed. The chuck plate 15 is formed with a through hole 15a through which the shaft of the screw 21 is inserted and a screw hole 15b into which a nut portion 29 to which the fixing screw 27 is screwed is inserted.

チャック板１５の背面側には、電動モータ３１が、それぞれの電動吸着装置１７に対応して配置される。各電動モータ３１の回転軸は、貫通孔１５ａ内にてスクリュー２１の軸にカップリング３３で連結される。また、各電動モータ３１のケースには、ナット孔１５ｂ内に挿入されるナット部２９が固着される。該ナット部２９は、その外径が取付け孔２５ｃの内径より大径に形成される。 On the back side of the chuck plate 15, electric motors 31 are arranged corresponding to the respective electric suction devices 17. The rotating shaft of each electric motor 31 is connected to the shaft of the screw 21 by a coupling 33 in the through hole 15a. Further, a nut portion 29 inserted into the nut hole 15b is fixed to the case of each electric motor 31. The nut portion 29 has an outer diameter larger than the inner diameter of the mounting hole 25c.

次に、上記のように構成された電動吸着装置１７によるワークとしての成形品３５の吸着作用を説明する。 Next, the adsorption action of the molded product 35 as a workpiece by the electric adsorption device 17 configured as described above will be described.

先ず、成形品取出し機１による成形品３５の取出し作用を説明すると、チャック３が待機位置に移動した状態で樹脂成形機から成形品取出し機１に型開信号が出力されると、上下ユニット１３を下降駆動してチャック３を金型内に保持された成形品３５の位置へ移動させた後、前後走行体１１を前方へ移動してチャック３を成形品３５に近接した状態で相対させながら電動吸着装置１７を吸着駆動して吸着パッド２３に成形品３５を吸着保持させる。次に、前後走行体１１を後方へ移動して成形品３５を金型内から抜き出させた後、上下ユニット１３を上昇駆動してチャック３を待機位置へ移動させた後、走行体７を駆動してチャック３を開放位置へ移動させる。 First, the operation of taking out the molded product 35 by the molded product take-out machine 1 will be described. When a mold opening signal is output from the resin molding machine to the molded product take-out machine 1 with the chuck 3 moved to the standby position, the upper and lower units 13 Is moved downward to move the chuck 3 to the position of the molded product 35 held in the mold, and then the front and rear traveling bodies 11 are moved forward to make the chuck 3 face the molded product 35 in a relative state. The electric suction device 17 is driven to suck and the molded product 35 is sucked and held on the suction pad 23. Next, the front and rear traveling bodies 11 are moved rearward to extract the molded product 35 from the mold, and then the upper and lower units 13 are driven up to move the chuck 3 to the standby position. Drive to move the chuck 3 to the open position.

次に、上記状態にて、必要に応じて前後走行体１１及び上下ユニット１３をそれぞれ駆動してチャック３を開放位置の所定位置へ移動させた後、電動吸着装置１７を吸着解除駆動して吸着パッド２３による成形品３５の保持を解除させる。上記動作後、走行体７、前後走行体１１及び上下ユニット１３を上記と逆方向へ駆動してチャック３を待機位置へ移動して待機させる。 Next, in the above state, the front and rear traveling bodies 11 and the upper and lower units 13 are driven as necessary to move the chuck 3 to a predetermined position of the open position, and then the electric suction device 17 is driven to suck and suck. The holding of the molded product 35 by the pad 23 is released. After the above operation, the traveling body 7, the front and rear traveling body 11 and the vertical unit 13 are driven in the opposite direction to move the chuck 3 to the standby position and wait.

次に、電動吸着装置１７による成形品３５の吸着作用および吸着解除作用を説明すると、図４に示すように、吸着パッド２３が金型内に保持された成形品３５に相対した際に、電動モータ３１を回転駆動してスクリュー２１を図４に示す実線矢印方向へ回転させてスクリュー２１のポンプ作用により吸着部２３ｂ内の空気を後端側の通気孔１９ｃから排気させることにより吸着パッ部２３ｂ内を負圧（真空）形成して成形品３５を吸着保持させる。なお、成形品３５の吸着保持時には、電動モータ３１の回転駆動を継続して負圧状態を維持させる。 Next, the adsorption action and adsorption release action of the molded product 35 by the electric suction device 17 will be described. As shown in FIG. 4, when the suction pad 23 is opposed to the molded product 35 held in the mold, The motor 31 is driven to rotate, the screw 21 is rotated in the direction of the solid arrow shown in FIG. 4, and the air in the suction portion 23b is exhausted from the vent hole 19c on the rear end side by the pumping action of the screw 21. A negative pressure (vacuum) is formed inside to hold the molded product 35 by suction. In addition, at the time of adsorbing and holding the molded product 35, the rotation drive of the electric motor 31 is continued and the negative pressure state is maintained.

一方、成形品３５の吸着保持を解除するには、図5に示すように、電動モータ３１を上記と逆方向へ回転駆動してスクリュー２１を図5に示す破線矢印方向へ回転させることにより通気孔１９ｃから流入する空気を圧縮して通気孔１９ａ及び貫通孔２３ｃから吸着部２３ｂ内に噴射して負圧破壊し、吸着部２３ｃによる成形品３５の吸着状態を強制的に解除させる。 On the other hand, in order to release the adsorption hold of the molded product 35, as shown in FIG. 5, the electric motor 31 is driven to rotate in the direction opposite to the above and the screw 21 is rotated in the direction of the broken line arrow shown in FIG. The air flowing in from the air holes 19c is compressed and injected from the air holes 19a and the through-holes 23c into the suction portion 23b to break the negative pressure, and the suction state of the molded product 35 by the suction portion 23c is forcibly released.

本実施例は、成形品取出し機１に真空発生装置からのエアー配管を接続することなく、吸着パッド２３の吸着部２３ｂ内を負圧形成して成形品を吸着保持することができ、成形品取出し機１の組立て作業を効率的におこなう組立てることができる。また、負圧発生装置を使用した従来に比べてエアーの消費量及び負圧を発生させるための消費電力を低減することができる。 In the present embodiment, the molded product can be sucked and held by forming a negative pressure in the suction portion 23b of the suction pad 23 without connecting the air pipe from the vacuum generator to the molded product take-out machine 1. It is possible to assemble the unloader 1 in an efficient manner. In addition, air consumption and power consumption for generating negative pressure can be reduced as compared with the conventional case using a negative pressure generator.

実施例２は、スクリューを軸支する円筒ハウジングに電動モータを一体化したことを特徴とする電動吸着装置で、図6に示すように、電動吸着装置５１の円筒ハウジング５３内には、スクリュー５５が回転可能に軸支され、該スクリュー５５の外周には円筒ロータ５７がスクリュー５５と一体に回転するように固着されている。また、円筒ロータ５７の外周面には、周方向に磁極が異なるように配列されたロータ用磁石５９が挿嵌されて固着されている。 Example 2 is an electric suction device in which an electric motor is integrated with a cylindrical housing that supports a screw. As shown in FIG. 6, a screw 55 is provided in a cylindrical housing 53 of the electric suction device 51. Is rotatably supported, and a cylindrical rotor 57 is fixed to the outer periphery of the screw 55 so as to rotate integrally with the screw 55. Further, on the outer peripheral surface of the cylindrical rotor 57, a rotor magnet 59 arranged so that magnetic poles are different in the circumferential direction is inserted and fixed.

なお、円筒ハウジング５３の内周面とロータ用磁石５９の外周面間には、微小間隙が設けられている。また、円筒ハウジング５３の前閉鎖板及び後部には、通気孔５３ａ・５３ｂが、円筒ロータ５７内に位置するように形成されている。更に、円筒ハウジング５３の前部には、吸着パッド６１の取付け部５３ｃが設けられ、該取付け部５３ｃには、吸着パッド６１が、その貫通孔６１ａが通気孔５３ａと連通するように取付けられる。 A minute gap is provided between the inner peripheral surface of the cylindrical housing 53 and the outer peripheral surface of the rotor magnet 59. Further, vent holes 53 a and 53 b are formed in the cylindrical rotor 57 in the front closing plate and the rear portion of the cylindrical housing 53. Further, a mounting portion 53c for the suction pad 61 is provided at the front portion of the cylindrical housing 53, and the suction pad 61 is attached to the mounting portion 53c so that the through hole 61a communicates with the vent hole 53a.

上記円筒ハウジング５３の外周面には、ステータコイル６３が装着され、上記ロータ用磁石５９とにより電動モータを構成している。 A stator coil 63 is mounted on the outer peripheral surface of the cylindrical housing 53, and the rotor magnet 59 constitutes an electric motor.

なお、上記電動吸着装置５１は、実施例１と同様に成形品取出し機１のチャック３に取付けられ、成形品３５を吸着して保持する用途に使用するものであり、実施例１と同一の部材に付いては、同一の符号を付して詳細な説明を省略する。 The electric suction device 51 is attached to the chuck 3 of the molded product take-out machine 1 in the same manner as in the first embodiment, and is used for the purpose of sucking and holding the molded product 35. The same as in the first embodiment. About the member, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

成形品３５を吸着する際には、ステータコイル６３に電流を印加して磁界を発生させてロータ用磁石５９との間に磁気吸引力または磁気反発力を発生させることにより円筒ロータ５７、従ってスクリュー５５を図7に示す実線矢印方向へ回転させる。これによりスクリュー５５のポンプ作用により吸着パッド２３の吸着部２３ｂ内の空気を吸引して通気孔５３ｂから排気して吸着パッド６１内を負圧形成し、成形品３５を吸着して保持させる。 When the molded product 35 is attracted, a current is applied to the stator coil 63 to generate a magnetic field to generate a magnetic attractive force or a magnetic repulsive force with the rotor magnet 59, thereby causing the cylindrical rotor 57, and thus the screw. 55 is rotated in the direction of the solid line arrow shown in FIG. Thus, the air in the suction portion 23b of the suction pad 23 is sucked by the pump action of the screw 55 and exhausted from the vent hole 53b to form a negative pressure in the suction pad 61, and the molded product 35 is sucked and held.

一方、成形品３５の吸着を解除するには、ステータコイル６３に上記とは逆方向の電流を印加して円筒ロータ５７、従ってスクリュー５５を図7に示す破線矢印方向へ回転させる。これによりスクリュー５５による上記とは逆のポンプ作用により通気孔５３ｂから空気を流入させて圧縮して吸着パッド６１内に噴射することにより負圧破壊して成形品３５の吸着を強制的に解除させる。 On the other hand, in order to release the adsorption of the molded product 35, a current in the opposite direction to the above is applied to the stator coil 63 to rotate the cylindrical rotor 57 and thus the screw 55 in the direction of the broken line arrow shown in FIG. As a result, air is introduced from the vent hole 53b by the pumping action reverse to that described above by the screw 55, compressed, and injected into the suction pad 61, whereby the negative pressure is broken and the suction of the molded product 35 is forcibly released. .

なお、上記説明は、円筒ロータ５７、従ってスクリュー５５を正逆方向へ回転させる電動モータとして永久磁石型としたが、例えば電磁石型等のように従来公知の電動モータ構造であればよい。 In the above description, the permanent magnet type is used as the electric motor for rotating the cylindrical rotor 57 and therefore the screw 55 in the forward and reverse directions. However, any conventional electric motor structure such as an electromagnet type may be used.

実施例３は、実施例１及び２に示す真空（負圧）発生機構を使用して成形品を把持する電動保持装置としての電動把持装置に係る。なお、電動把持装置を示す図8は、実施例１に示す真空発生機構を使用した例を示すが、実施例２に示す真空発生機構を使用した場合も同様である。また、実施例３においては、実施例１と同一の部材に付いては、同一の符号を付して詳細な説明を省略する。 The third embodiment relates to an electric gripping device as an electric holding device that grips a molded product using the vacuum (negative pressure) generating mechanism shown in the first and second embodiments. FIG. 8 showing the electric gripping device shows an example in which the vacuum generation mechanism shown in the first embodiment is used, but the same applies to the case where the vacuum generation mechanism shown in the second embodiment is used. In the third embodiment, the same members as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

図8に示すように、電動把持装置６１のシリンダー部材１９には、作動部材６３が取付けられている。該作動部材６３は、内部に中空部を有した作動シリンダー６５と、該作動シリンダー６５内にして軸線方向へ摺動可能に支持されたピストン６７と、該ピストン６７に連結されて作動シリンダー６５外に突出する作動軸６９及び該作動軸６９の先端部に設けられ、截頭円錐形状または三角形状のカム７１とから構成される。 As shown in FIG. 8, an operating member 63 is attached to the cylinder member 19 of the electric gripping device 61. The actuating member 63 includes an actuating cylinder 65 having a hollow portion therein, a piston 67 supported so as to be slidable in the axial direction within the actuating cylinder 65, and connected to the piston 67 to be outside the actuating cylinder 65. And a cam 71 having a truncated cone shape or a triangular shape.

また、作動シリンダー６５に固定された取付け板７３には、把持部材としての相対する一対の把持レバー７５が、軸７５ａを中心に揺動可能に支持されている。相対する一対の把持レバー７５は、先端側に成形品３５を把持する把持部７５ｂ及び反対側にカム７１が摺接する作動部としてのカム面７５ｃからなる。そして相対する一対の把持レバー７５は、軸７５ａより先端側に装着された圧縮ばね等の弾性部材７７により、常に把持部７５ｂ相互が離間する、従ってカム面７５ｃ相互が近接する方向に付勢される。 A pair of opposing gripping levers 75 as gripping members are supported on the mounting plate 73 fixed to the operating cylinder 65 so as to be swingable about a shaft 75a. A pair of opposing gripping levers 75 includes a gripping portion 75b that grips the molded product 35 on the distal end side and a cam surface 75c that serves as an operating portion on which the cam 71 slides. The pair of opposing gripping levers 75 are always urged in a direction in which the gripping portions 75b are always separated from each other by the elastic member 77 such as a compression spring mounted on the distal end side from the shaft 75a, so that the cam surfaces 75c are close to each other. The

次に、電動把持装置６１による成形品３５の把持作用および把持解除作用を説明する。
図9に示すように、成形品３５を把持する際には、電動モータ３１を回転駆動してスクリュー２１を図示する実線矢印方向へ回転して通気孔１９ｃから吸引したエアーを圧縮して通気孔１９ａを介して作動部材６３内に供給し、ピストン６７を図示する実線矢印方向へ摺動させる。これによりカム面７５ｃに対するカム７１の摺接に伴って一対の把持レバー７５は、弾性部材７７の弾性力に抗して把持部７５ｂ相互が近接する方向へ揺動して両者間に位置する成形品３５を把持させる。 Next, the gripping action and the grip releasing action of the molded product 35 by the electric gripping device 61 will be described.
As shown in FIG. 9, when gripping the molded product 35, the electric motor 31 is rotationally driven to rotate the screw 21 in the direction of the solid line arrow in the figure to compress the air sucked from the vent hole 19c and thereby vent the vent hole. It is supplied into the actuating member 63 through 19a, and the piston 67 is slid in the direction indicated by the solid line arrow. As a result, the pair of gripping levers 75 swings in the direction in which the gripping portions 75b come close to each other against the elastic force of the elastic member 77 in accordance with the sliding contact of the cam 71 with the cam surface 75c. The product 35 is gripped.

一方、成形品３５の把持を解除するには、電動モータ３１を上記と逆方向へ回転駆動してスクリュー２１を図示する破線矢印方向へ回転して通気孔１９ａを介して作動部材６３内の空気を吸引して通気孔１９ｃから排気することによりピストン６７を図示する破線矢印方向へ摺動させる。これによりカム面７５ｃに対するカム７１の摺接に伴って一対の把持レバー７５を、把持部７５ｂ相互が弾性部材７７の弾性力により離間する方向へ揺動して成形品３５の把持を解除させる。 On the other hand, in order to release the gripping of the molded product 35, the electric motor 31 is driven to rotate in the opposite direction to the above, and the screw 21 is rotated in the direction of the broken arrow shown in the figure, and the air in the operating member 63 is passed through the vent 19a. And the piston 67 is slid in the direction of the broken arrow shown in the figure. As a result, as the cam 71 slides on the cam surface 75 c, the pair of grip levers 75 are swung in a direction in which the grip portions 75 b are separated from each other by the elastic force of the elastic member 77 to release the grip of the molded product 35.

上記実施例１乃至３においては、電動保持装置を成形品取出し機に設け、ワークとしての成形品を吸着または把持して保持する例に基づいて説明したが、本発明に係る電動保持装置が装着されるワーク移送装置としては、各種部品を保持して加工機等に供給するパーツフィーダーや、各種シート類（フィルム）を保持して加工機等に供給するシート供給装置であってもよい。 In the first to third embodiments, the electric holding device is provided in the molded product take-out machine, and the description has been made based on the example in which the molded product as the workpiece is sucked or held and held. However, the electric holding device according to the present invention is attached. The workpiece transfer device may be a parts feeder that holds various components and supplies them to a processing machine, or a sheet supply device that holds various sheets (films) and supplies them to a processing machine or the like.

上記実施例３においては、カム面に対してカムを摺接して一対の把持レバーを揺動させる構成としたが、一対の把持レバーにおける作動部と作動軸とをリンクにより連結して一対の把持レバーを揺動させる構成であってもよい。 In the third embodiment, the cam is slidably contacted with the cam surface to swing the pair of gripping levers. However, the operating portion and the operating shaft of the pair of gripping levers are connected by a link, and the pair of gripping is performed. The structure which rocks a lever may be sufficient.

１ワーク移送装置としての成形品取出し機
３チャック
５走行フレーム
７走行体
９前後フレーム
１１前後走行体
１３上下ユニット
１５チャック板
１５ａ貫通孔
１５ｂねじ穴
１７電動保持装置としての電動吸着装置
１９シリンダー部材
１９ａ通気孔
１９ｂパッド取付け部
１９ｃ通気孔
２１スクリュー
２３吸着パッド
２３ａ取付け円筒部
２３ｂ吸着部
２３ｃ貫通孔
２５閉鎖板
２５ａ軸孔
２５ｂ取付け孔
２７固定ねじ
２９ナット部
３１電動モータ
３３カップリング
３５ワークとしての成形品 DESCRIPTION OF SYMBOLS 1 Mold take-out machine 3 as a workpiece transfer device Chuck 5 Traveling frame 7 Traveling body 9 Front / rear frame 11 Front / rear traveling body 13 Vertical unit 15 Chuck plate 15a Through hole 15b Screw hole 17 Electric adsorption device 19 as an electric holding device Cylinder member 19a Vent hole 19b Pad mounting part 19c Vent hole 21 Screw 23 Suction pad 23a Mounting cylindrical part 23b Suction part 23c Through hole 25 Closing plate 25a Shaft hole 25b Mounting hole 27 Fixing screw 29 Nut part 31 Electric motor 33 Coupling 35 Molding as workpiece Goods

Claims

内部に中空部を有し、一方端部及び他方端部に通気孔が設けられたシリンダー部材と、
該シリンダー部材の中空部内にて回転可能に軸支されたスクリュー部材と、
上記スクリュー部材に連結され、該スクリュー部材を正逆方向へ選択的に回転させる電動モータと、
上記シリンダー部材の一方端部側に設けられ、内部に軸線方向へ摺動可能なピストンを支持すると共に該ピストンに作動軸が設けられた作動部材と、
上記作動部材の先端側にて揺動可能に支持され、先端側に把持部及び後端側に作動部を有した一対の把持部材と、
上記一対の把持部材を、把持部が互いに近づく方向及び離間する方向のいずれかに付勢する弾性部材と、
からなり、
電動モータを回転駆動してスクリュー部材を所定方向へ回転させて他方端部の通気孔から流入して圧縮された空気を作動部材内に供給してピストンを摺動させて移動する作動軸により一対の把持部材を、それぞれの把持部が互いに近づく方向へ揺動させてワークを把持する電動保持装置。 A cylinder member having a hollow portion therein and having a vent hole at one end and the other end;
A screw member rotatably supported in the hollow portion of the cylinder member;
An electric motor connected to the screw member and selectively rotating the screw member in forward and reverse directions;
An actuating member provided on one end side of the cylinder member, supporting an internally slidable piston in the axial direction and having an operating shaft provided on the piston;
A pair of gripping members supported pivotably on the distal end side of the operating member, having a gripping portion on the distal end side and an operating portion on the rear end side;
An elastic member that urges the pair of gripping members in either the direction in which the gripping part approaches or moves away from each other;
Consists of
The electric motor is driven to rotate, the screw member is rotated in a predetermined direction, the compressed air that flows in from the vent hole at the other end is supplied into the operating member, and the piston is slid to move the pair. An electric holding device that grips a workpiece by swinging the gripping members in directions in which the gripping portions approach each other.

請求項１において、
上記作動軸には、先端から基端に向かって外径が増大するカムが設けられると共に作動部には、上記カムが摺接するカム面が設けられ、カム面に対するカムの摺接に伴って一対の把持部材を開閉する電動保持装置。 In claim 1,
The operating shaft is provided with a cam whose outer diameter increases from the distal end toward the base end, and the operating portion is provided with a cam surface on which the cam is slidably contacted. The electric holding device which opens and closes the holding member.

請求項１において、
作動部材の作動軸と把持部材の作動部とは、リンクを介して連結され、軸線方向に対する作動軸の移動に伴って一対の把持部材を開閉する電動保持装置。 In claim 1,
The operating shaft of the operating member and the operating portion of the gripping member are connected via a link, and the electric holding device opens and closes the pair of gripping members as the operating shaft moves in the axial direction.

請求項1において、
電動モータは、
上記シリンダー部材内のスクリュー部材の外周に固着され、周方向に異なる磁極が交互に配列され、スクリュー部材と一体に回転するロータ用磁石と、
上記シリンダー部材の外周にて上記ロータ用磁石に相対して設けられるステータコイルと、
から構成され、
ステータコイルに電流を印加してスクリュー部材を所定方向へ回転させて他方端部の通気孔から流入して圧縮された空気を作動部材内に供給してピストンを摺動させて移動する作動軸により一対の把持部材を、それぞれの把持部が互いに近づく方向へ揺動させてワークを把持する電動保持装置。 In claim 1,
Electric motor
A rotor magnet that is fixed to the outer periphery of the screw member in the cylinder member, and that magnetic poles that are different in the circumferential direction are alternately arranged, and rotates integrally with the screw member;
A stator coil provided opposite to the rotor magnet on the outer periphery of the cylinder member;
Consisting of
By applying an electric current to the stator coil, rotating the screw member in a predetermined direction, supplying the compressed air flowing in from the vent hole at the other end into the operating member, and moving the piston by sliding the operating shaft. An electric holding device that grips a workpiece by swinging a pair of gripping members in directions in which the gripping portions approach each other.