JPH0833923A - Device for clamping work in bending machine - Google Patents
Device for clamping work in bending machineInfo
- Publication number
- JPH0833923A JPH0833923A JP19014594A JP19014594A JPH0833923A JP H0833923 A JPH0833923 A JP H0833923A JP 19014594 A JP19014594 A JP 19014594A JP 19014594 A JP19014594 A JP 19014594A JP H0833923 A JPH0833923 A JP H0833923A
- Authority
- JP
- Japan
- Prior art keywords
- jaw member
- work
- lower jaw
- upper jaw
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、板材（以下、ワークと
記す）を折曲げ機により加工する際に、当該ワークを把
持して折曲げ機にセットし、或は取出すワーク把持装置
に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work holding device for holding a work and setting it in the bending machine or taking it out when a plate material (hereinafter referred to as a work) is processed by the bending machine.
【０００２】[0002]
【従来の技術】折曲げ機によりワークを加工する際に
は、ワークテーブル上に載置されたワークをワーク把持
装置により把持して折曲げ機にセットすることが行われ
ている。このためワーク把持装置は、相互に回動自在に
連結された下顎部材及び上顎部材を持ち、両顎部材の先
端部分を閉じてワークを把持し、また前記両顎部材の先
端部分を開放して把持を解除している。この時、両顎部
材の先端部がテーブル面と干渉することがないように若
干上方に位置して、テーブル上に載置されたワーク下面
と略同一の高さに設定されている。ワーク把持装置にお
いてワークを把持したときのワークとの当接面（基準
面）はワークの加工位置の座標基準になっており、従っ
てワークを把持させる際は、ワーク把持装置の基準面に
ワークを正確に当接させる必要がある。2. Description of the Related Art When a work is processed by a bending machine, the work placed on a work table is held by a work holding device and set on the bending machine. Therefore, the work gripping device has a lower jaw member and an upper jaw member that are rotatably connected to each other, closes the tip portions of both jaw members to grip the work, and opens the tip portions of the both jaw members. The grip is released. At this time, the tip portions of both jaw members are positioned slightly above so as not to interfere with the table surface, and are set at substantially the same height as the lower surface of the work placed on the table. The contact surface (reference surface) with the work when the work is gripped by the work gripping device is the coordinate reference of the machining position of the work. Therefore, when gripping the work, the work is held on the reference surface of the work gripping device. It is necessary to make accurate contact.
【０００３】ところがワークに垂れや僅かな屈曲があ
り、その端部が下方に下がっていると、ワークが下顎部
材と上顎部材との間にスムーズに挿入されない問題が生
じる。そこで下顎部材の先端面をワーク下面より下方に
位置させれば、ワークに垂れ等があってもスムーズに挿
入されると考えられるが、このようにすると前述の様に
ワークの移動時に下顎部材の先端がテーブル面と干渉し
てしまうという問題が発生する。この問題を解決するた
め特開平２−３０３４３においては、相互に回動自在に
連結された下顎部材及び上顎部材を設け、両顎部材の先
端部を開閉させてワークを把持するワーク把持装置が提
案されている。そして、少なくとも下顎部材の先端部を
上下方向に揺動可能とすると共に、両顎部材の先端部を
開放した時には下顎部材の先端部がテーブル上のワーク
下面より下方に位置するよう、またワーク把持のために
両顎部材の先端部が閉じられる動作に連動して下顎部材
の先端部が上方に揺動するように構成されている。However, if the work is drooped or slightly bent and its end portion is lowered, there is a problem that the work is not smoothly inserted between the lower jaw member and the upper jaw member. Therefore, if the tip surface of the lower jaw member is positioned below the lower surface of the workpiece, it is considered that the workpiece can be inserted smoothly even if the workpiece hangs down, but this makes it possible to move the lower jaw member during movement of the workpiece as described above. There arises a problem that the tip interferes with the table surface. In order to solve this problem, Japanese Patent Application Laid-Open No. 2-30343 proposes a work gripping device which is provided with a lower jaw member and an upper jaw member which are rotatably connected to each other, and which opens and closes the tips of both jaw members to grip a workpiece. Has been done. At least the tip of the lower jaw member can be vertically swung, and when the tips of both jaw members are opened, the tip of the lower jaw member is positioned below the lower surface of the work on the table. For this reason, the distal end portions of the lower jaw members are configured to swing upward in conjunction with the operation of closing the distal end portions of both jaw members.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、上述し
た方法においても以下の問題がある。即ち、ワークがパ
ネル材や柱材の様にセクション部を持つような場合、両
顎部材を大きく開口しなければならない。この場合、下
顎部材がワークテーブルと干渉し、ワークの載置位置が
変わる。ワークテーブル上に載置されているワークの位
置は、把持して、折曲げ機にセットした際に最適な加工
位置となる位置にセットされているので、ワークに位置
ずれが生じると加工位置、即ちセット位置を再セットす
る必要が生じる。そこで本発明は、上記問題を解決した
折曲げ機のワーク把持装置を提供することを目的とす
る。However, the above method also has the following problems. That is, when the work has a section portion such as a panel material or a pillar material, both jaw members must be largely opened. In this case, the lower jaw member interferes with the work table, and the placement position of the work changes. The position of the work placed on the work table is set to the position that will be the optimum processing position when gripping and setting it on the bending machine. That is, it becomes necessary to reset the set position. Therefore, it is an object of the present invention to provide a work holding device for a bending machine that solves the above problems.
【０００５】[0005]
【課題を解決するための手段】本発明は上記目的を達成
するために、上顎部材と下顎部材とが駆動源からの駆動
力により開閉してワークを把持してなるワーク把持装置
において、上顎部材が把持装置筐体に軸着される支点
と、連結リンクを介して駆動力が伝達されされる作用点
を持ち、かつ、駆動方向が支点と作用点とを結ぶ仮想線
に対し略直角になるように設定し、また下顎部材が把持
装置筐体に軸着される支点と、トグルリンクを介して駆
動力が伝達されされる作用点とを持つ共に、この支点と
作用点とを結ぶ仮想線に対しトグルリンクが略直角にな
るように配設され、かつ、駆動方向が仮想線と略平行に
なる様に設定されて、上顎部材の開口量が下顎部材の開
口量より大きくなることを特徴とする。In order to achieve the above object, the present invention provides a work gripping device in which an upper jaw member and a lower jaw member are opened and closed by a driving force from a driving source to grip a workpiece. Has a fulcrum pivotally attached to the housing of the gripping device and an action point to which a driving force is transmitted via a connecting link, and the driving direction is substantially perpendicular to an imaginary line connecting the fulcrum and the action point. And a fulcrum on which the lower jaw member is pivotally attached to the housing of the gripping device and an action point to which the driving force is transmitted via the toggle link, and a virtual line connecting the fulcrum and the action point. In contrast, the toggle links are arranged so as to be substantially perpendicular to each other, and the driving direction is set to be substantially parallel to the imaginary line, so that the opening amount of the upper jaw member is larger than the opening amount of the lower jaw member. And
【０００６】また下顎部材と上顎部材が閉じてワークを
把持した際に、下顎部材が水平になると共に、駆動源が
受けるトグルリンクからの反作力のうち駆動力方向の成
分が略ゼロになる様に設定されてなる。Further, when the lower jaw member and the upper jaw member are closed to grip the work, the lower jaw member becomes horizontal and the component in the driving force direction of the reaction force from the toggle link received by the driving source becomes substantially zero. It is set like.
【０００７】さらに、上顎部材を駆動する駆動源と下顎
部材を駆動する駆動源とが単一の駆動源からなる。Further, the drive source for driving the upper jaw member and the drive source for driving the lower jaw member are constituted by a single drive source.
【０００８】[0008]
【作用】上記構成に基づき、連結リンクが上顎部材の支
点と作用点を結ぶ仮想線に対し略直角に連結されている
ので、駆動された連結リンクの移動量が略そのまま上顎
部材の回転量となる。一方下顎部材の支点と作用点とを
結ぶ仮想線に対しトグルリンクが略直角になるように配
設され、かつ、駆動源の駆動方向が仮想線と略平行にな
る様に設定されているので、駆動されたトグルリンクの
移動量の大部分が仮想線と略平行に動き、このため下顎
部材の回転量が少なくなる。以上により下顎部材の開口
量が上顎部材の開口量より小さくすることができる。According to the above structure, since the connecting link is connected substantially at right angles to the imaginary line connecting the fulcrum of the upper jaw member and the action point, the amount of movement of the driven connecting link is substantially the same as the rotation amount of the upper jaw member. Become. On the other hand, the toggle link is arranged so as to be substantially perpendicular to the virtual line connecting the fulcrum of the lower jaw member and the point of action, and the driving direction of the drive source is set to be substantially parallel to the virtual line. Most of the amount of movement of the driven toggle link moves substantially parallel to the imaginary line, which reduces the amount of rotation of the lower jaw member. As described above, the opening amount of the lower jaw member can be made smaller than the opening amount of the upper jaw member.
【０００９】[0009]
【実施例】本発明の実施例を図を参照して説明する。図
１は本発明に係るワーク把持装置における上顎部材と下
顎部材との間にワークを挿入した状態を示している。ワ
ーク把持装置５は、シリンダ１０、スライダ１１、把持
装置筐体１２、連結リンク１３、上顎部材１５、下顎部
材１９、トグルリンク２０を主な構成要素として持って
いる。１本のシリンダ１０には、当該シリンダ１０から
駆動力を受けてホルダ本体１２内を水平移動するスライ
ダ１１が取付けられており、このスライダ１１に連結リ
ンク１３及びトグルリンク２０がそれぞれピンＰ１及び
ピンＰ４により回動自在に連結されている。また上顎部
材１５はピンＰ３により把持装置筐体１２に軸着される
と共に、ピンＰ２を介して連結リンク１３と回動自在に
連結されている。そして上顎部材１５の先端部にはワー
クＷを抑える際の緩衝材であると共に、ワークＷの厚み
が多少変化しても十分に力を伝えるためのパット１６が
取付けられている。下顎部材１９は、把持装置筐体１２
とピンＰ６により軸着され、かつ、その後端部がピンＰ
５を介してトグルリンク２０に回動自在に連結されてい
る。Embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a state in which a work is inserted between an upper jaw member and a lower jaw member in the work holding device according to the present invention. The work gripping device 5 has a cylinder 10, a slider 11, a gripping device housing 12, a connecting link 13, an upper jaw member 15, a lower jaw member 19, and a toggle link 20 as main components. A slider 11 that horizontally moves in the holder body 12 by receiving a driving force from the cylinder 10 is attached to one cylinder 10, and the connecting link 13 and the toggle link 20 are attached to the slider 11 by a pin P1 and a pin P1, respectively. It is rotatably connected by P4. The upper jaw member 15 is pivotally attached to the grasping device housing 12 by a pin P3 and is rotatably connected to the connection link 13 via a pin P2. A pad 16 is attached to the tip of the upper jaw member 15 as a cushioning material for suppressing the work W, and for sufficiently transmitting the force even if the thickness of the work W is slightly changed. The lower jaw member 19 includes the gripping device housing 12
And pin P6, and the rear end is pin P
It is rotatably connected to the toggle link 20 via 5.
【００１０】また上顎部材１５と下顎部材１９との間に
おける、把持装置筐体１２にはワークＷのくわえ込み量
を規制する突当部材１７が取付けられており、当該突当
部材１７にはセンサ１８が埋め込まれている。さらにこ
れらのワーク把持装置５はサドル２１に固定されて、当
該ワーク把持装置５がＸ、Ｙ軸方向（必要に応じてＺ軸
方向及び回転）に移動可能になっている。Further, between the upper jaw member 15 and the lower jaw member 19, the gripping device housing 12 is provided with an abutting member 17 for restricting the gripping amount of the work W, and the abutting member 17 has a sensor. 18 is embedded. Further, these work gripping devices 5 are fixed to the saddle 21, and the work gripping devices 5 are movable in X and Y axis directions (Z axis direction and rotation as necessary).
【００１１】上記構成において、ワークＷを把持する際
の動きをその作用と共に説明する。なお説明の都合上、
ワーク把持装置５の前にセクション部を有するワークＷ
がワークテーブルに載置されており、これを把持する場
合を考える。まずシリンダ１０が後退すると（図１にお
いて右側移動）、ピンＰ１及びピン４がスライダ１１ー
１１に従って後退する。この結果、連結リンク１３及び
トグルリンク２０が右側に引っ張られて、上顎部材１５
がピンＰ３を中心に回転し、また下顎部材１９がピンＰ
６を中心に回転する。即ち、シリンダ１０の後退により
上顎部材１５及び下顎部材１９が開口する様になる。こ
の時、連結リンク１３が上顎部材１５の支点と作用点を
結ぶ仮想線に対し略直角に連結されているので、駆動さ
れた連結リンク１３の移動量が略そのまま上顎部材１５
の回転量となる。また、下顎部材１９の支点と作用点と
を結ぶ仮想線に対しトグルリンク２０が略直角になるよ
うに配設され、かつ、駆動源の駆動方向が仮想線と略平
行になる様に設定されているので、駆動されたトグルリ
ンク２０の移動量の大部分が仮想線と略平行に動き、こ
のため下顎部材１９の回転量が少なくなる。これにより
下顎部材１９の開口量が上顎部材１５の開口量より小さ
くなるように構成されている。The operation of gripping the work W in the above structure will be described together with its operation. For convenience of explanation,
Work W having a section in front of the work gripping device 5
Is placed on the work table, and the user holds the work table. First, when the cylinder 10 retracts (moves to the right in FIG. 1), the pins P1 and 4 retract according to the sliders 11-11. As a result, the connecting link 13 and the toggle link 20 are pulled to the right, and the upper jaw member 15
Rotates about the pin P3, and the lower jaw member 19 moves to the pin P.
Rotate around 6. That is, when the cylinder 10 is retracted, the upper jaw member 15 and the lower jaw member 19 are opened. At this time, since the connecting link 13 is connected to the imaginary line connecting the fulcrum and the action point of the upper jaw member 15 at substantially right angles, the amount of movement of the driven connecting link 13 remains substantially unchanged.
Is the amount of rotation. Further, the toggle link 20 is arranged so as to be substantially perpendicular to the virtual line connecting the fulcrum of the lower jaw member 19 and the point of action, and the driving direction of the drive source is set to be substantially parallel to the virtual line. Therefore, most of the amount of movement of the driven toggle link 20 moves substantially parallel to the imaginary line, which reduces the amount of rotation of the lower jaw member 19. As a result, the opening amount of the lower jaw member 19 is smaller than the opening amount of the upper jaw member 15.
【００１２】この状態でワーク把持装置５が前進し、ワ
ークＷが突当部材１７に当接すると共にセンサー１８に
より検知される。このとき上述した様に上顎部材１５の
開口量が下顎部材１９の開口量より大きくなる様に設定
されているのでワークＷがセクション部を持つ場合であ
っても把持することが可能であり、かつ、下顎部材１９
の開口量が小さく設定されているので、下顎部材１９と
ワークテーブルとの干渉を防止することが可能になる。
ワークＷがセンサー１８により検知されると、ワーク把
持装置５の前進動作が停止し、シリンダ１０が前進（図
１において左側移動）する様になる。すると上顎部材１
５及び下顎部材１９は閉じてワークＷが把持される。こ
の時、下顎部材１９の高さはワークテーブルの高さに設
定されているので、ワークＷが水平になった時に把持さ
れる様になっている。In this state, the work gripping device 5 advances, the work W contacts the abutting member 17, and the sensor 18 detects the work. At this time, as described above, since the opening amount of the upper jaw member 15 is set to be larger than the opening amount of the lower jaw member 19, the work W can be gripped even when it has a section portion, and , Lower jaw member 19
Since the opening amount is set to be small, it is possible to prevent the lower jaw member 19 and the work table from interfering with each other.
When the work W is detected by the sensor 18, the forward movement operation of the work holding device 5 is stopped, and the cylinder 10 is moved forward (moved leftward in FIG. 1). Then the upper jaw member 1
5 and the lower jaw member 19 are closed and the work W is gripped. At this time, since the height of the lower jaw member 19 is set to the height of the work table, the work W is gripped when it becomes horizontal.
【００１３】図２はこの様にして把持した状態を示して
いる。図中において一点鎖線Ｌ１はピンＰ４とピンＰ５
を結ぶ線を示し、一点鎖線Ｌ２は下顎部材１９の把持面
を示している。本発明においては、ワークＷを把持した
際には、この２つの一点鎖線Ｌ１，Ｌ２が略直行する様
に構成されている。これにより、ワークＷを把持したと
きに、トグルリンク２０がスライダ１１に及ぼす水平成
分（駆動力方向の成分）が略ゼロとなり、大きな把持力
でワークＷを把持することが可能になっている。FIG. 2 shows a state of gripping in this way. In the figure, the alternate long and short dash line L1 indicates the pins P4 and P5.
And a dashed-dotted line L2 indicates the grip surface of the lower jaw member 19. In the present invention, when the work W is gripped, the two alternate long and short dash lines L1 and L2 are substantially orthogonal to each other. As a result, when the work W is gripped, the horizontal component (component in the driving force direction) that the toggle link 20 exerts on the slider 11 becomes substantially zero, and the work W can be gripped with a large gripping force.
【００１４】[0014]
【効果】以上説明したように、上顎部材１５の開口量を
下顎部材１９の開口量より大きくすることによりワーク
Ｗが垂れ下がっていたり、セクション部を持っていても
ワークテーブルと干渉することなく把持することが可能
になった。また駆動を１つのシリンダ１０により行うこ
とが可能なので、装置の軽量化やコストダウンが図られ
た。さらに、トグルリンク２０機構を用いたので大きな
把持力でワークＷを把持することが可能になって。[Effect] As described above, by making the opening amount of the upper jaw member 15 larger than the opening amount of the lower jaw member 19, the work W hangs down or is gripped without interfering with the work table even if it has a section. It has become possible. Further, since the driving can be performed by one cylinder 10, the weight and cost of the device can be reduced. Further, since the toggle link 20 mechanism is used, the work W can be gripped with a large gripping force.
【図１】本発明に係るワーク把持装置の模式的な側面図
で上顎部材と下顎部材とが開口した状態を示す図であ
る。FIG. 1 is a schematic side view of a work gripping device according to the present invention, showing a state in which an upper jaw member and a lower jaw member are opened.
【図２】図１においてワークを把持した状態を示す図で
ある。FIG. 2 is a diagram showing a state in which a work is gripped in FIG.
１０ シリンダ １１ スライダ １２ 把持装置筐体 １３ 連結リンク １５ 上顎部材 １６ パッド １７ 突当部材 １８ センサー １９ 下顎部材 ２０ トグルリンク ２１ サドル Ｐ１〜Ｐ６ ピン 10 Cylinder 11 Slider 12 Grasping Device Housing 13 Connection Link 15 Upper Jaw Member 16 Pad 17 Abutting Member 18 Sensor 19 Lower Jaw Member 20 Toggle Link 21 Saddle P1 to P6 Pins
Claims (3)
動力により開閉してワークを把持してなるワーク把持装
置において、上顎部材が把持装置筐体に軸着される支点
と、連結リンクを介して駆動力が伝達されされる作用点
を持ち、かつ、駆動方向が支点と作用点とを結ぶ仮想線
に対し略直角になるように設定し、また下顎部材が把持
装置筐体に軸着される支点と、トグルリンクを介して駆
動力が伝達されされる作用点とを持つ共に、この支点と
作用点とを結ぶ仮想線に対しトグルリンクが略直角にな
るように配設され、かつ、駆動方向が仮想線と略平行に
なる様に設定されて、上顎部材の開口量が下顎部材の開
口量より大きくなることを特徴とする折曲げ機のワーク
把持装置。1. A work gripping device in which an upper jaw member and a lower jaw member open and close by a driving force from a driving source to grip a work, and a fulcrum on which the upper jaw member is pivotally attached to a housing of the gripping device, and a connecting link. Has a point of action to which the driving force is transmitted via, and the driving direction is set to be substantially perpendicular to the imaginary line connecting the fulcrum and the point of action. It has a fulcrum to be worn and an action point to which a driving force is transmitted via a toggle link, and the toggle link is arranged so as to be substantially perpendicular to a virtual line connecting the fulcrum and the action point, A work gripping device for a folding machine, wherein a driving direction is set to be substantially parallel to an imaginary line, and an opening amount of an upper jaw member is larger than an opening amount of a lower jaw member.
持した際に、下顎部材が水平になると共に、駆動源が受
けるトグルリンクからの反作力のうち駆動力方向の成分
が略ゼロになる様に設定されてなる請求項１記載の折曲
げ機のワーク把持装置。2. The lower jaw member becomes horizontal when the lower jaw member and the upper jaw member are closed and grips the work, and the component in the driving force direction of the reaction force from the toggle link received by the driving source becomes substantially zero. The work gripping device for a folding machine according to claim 1, wherein the work gripping device is set as follows.
駆動する駆動源とが単一の駆動源からなる請求項２記載
の折曲げ機のワーク把持装置。3. The work gripping device for a bending machine according to claim 2, wherein the drive source for driving the upper jaw member and the drive source for driving the lower jaw member are constituted by a single drive source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19014594A JPH0833923A (en) | 1994-07-21 | 1994-07-21 | Device for clamping work in bending machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19014594A JPH0833923A (en) | 1994-07-21 | 1994-07-21 | Device for clamping work in bending machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0833923A true JPH0833923A (en) | 1996-02-06 |
Family
ID=16253161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19014594A Pending JPH0833923A (en) | 1994-07-21 | 1994-07-21 | Device for clamping work in bending machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0833923A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104043752A (en) * | 2013-03-12 | 2014-09-17 | 洛法公司 | Device For Gripping Hot Blank |
| US8918968B2 (en) | 2010-11-11 | 2014-12-30 | Delaware Capital Formation, Inc. | Link clamp |
| CN104249123A (en) * | 2014-10-11 | 2014-12-31 | 扬州市华光双瑞实业有限公司 | Automatic tube body grabbing and releasing device of core die vibrating tube-making machine |
| CN105834319A (en) * | 2016-04-20 | 2016-08-10 | 昆山集鑫成精密模具有限公司 | Adjustable manipulators for stamping die |
| CN106493249A (en) * | 2016-11-07 | 2017-03-15 | 东莞市松柏模具有限公司 | A kind of automatic stamping production line clamp specially |
-
1994
- 1994-07-21 JP JP19014594A patent/JPH0833923A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8918968B2 (en) | 2010-11-11 | 2014-12-30 | Delaware Capital Formation, Inc. | Link clamp |
| CN104043752A (en) * | 2013-03-12 | 2014-09-17 | 洛法公司 | Device For Gripping Hot Blank |
| WO2014142395A1 (en) * | 2013-03-12 | 2014-09-18 | (주)로파 | Device for gripping hot blank |
| CN104249123A (en) * | 2014-10-11 | 2014-12-31 | 扬州市华光双瑞实业有限公司 | Automatic tube body grabbing and releasing device of core die vibrating tube-making machine |
| CN105834319A (en) * | 2016-04-20 | 2016-08-10 | 昆山集鑫成精密模具有限公司 | Adjustable manipulators for stamping die |
| CN106493249A (en) * | 2016-11-07 | 2017-03-15 | 东莞市松柏模具有限公司 | A kind of automatic stamping production line clamp specially |
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