JPS6179546A - Holding device - Google Patents

Abstract

PURPOSE:To hold a work so firmly enough by means of forcible pressure from both sides, by installing a cylinder, attaching a rod and a cylinder body to each of two holding members, and a clamper which positions these holding members on a guide member in a state of holding a work at this cylinder side. CONSTITUTION:In a state that a work 24 is situated in position between two holding members 33 and 34, when a control direction is selected by a valve (unillustrated herein) and compressed air is fed to a cylinder 36, a rod 36a moves in an arrow direction and the holding member 33 comes into contact with the work 24. At this time, another holding member 34 is being hit to a stopper 41. When the compressed air is further fed to the cylinder 36, the holding member 34 moves forward against energizing force of a spring 43 whereby the work 24 is held by both these holding members 33 and 34. At this time, with a signal of holding completion, a clamper is set in motion and both jaw parts hold a guide member 31. Then, the work 24 is conveyed to the specified spot by a driving device. Thus, the work is firmly held by means of forcibly pressure from both sides.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は載置台上のワークを把持する把持装置に関する
。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a gripping device for gripping a workpiece on a mounting table.

〔従来の技術〕[Conventional technology]

従来、この種の把持装置は第９図および第１０図に示す
ように構成されており、これを同図に基づいて説明する
と、ｌおよび２は断面コ字状枠体３の両側板３ａ、３ｂ
にボルト４により固定された一対のシリンダ、５はセッ
トねじ６により前記両側板３ａ、３ｂに固定されたガイ
ドバー、７および８はそれぞれ前記両のシリンダ１．　
２のロッドにナツト９により固定され前記ガイドバー５
上に軸受１０を介して矢印１１．１２の方向に摺動する
把持板、１３はシリンダ本体１４がブラケット１５にボ
ルト１６により固定されかっロッド１７の先端が前記枠
体３にナツト１８により固定されたシリンダ、１９は前
記枠体３に設けられ前記ブラケット１５０軸受２０を挿
通ずるガイドである。なおブラケット１５はシリンダ等
の駆動装置（図示せず）′″″より矢印２１．２２の方
向に移動する。また２３は載置台、２４はこの載置台２
３の肩部２３ａに位置決めされたワークである。Conventionally, this type of gripping device has been constructed as shown in FIGS. 9 and 10. This will be explained based on FIGS. 3b
A pair of cylinders are fixed to each other by bolts 4, 5 is a guide bar fixed to both side plates 3a and 3b by set screws 6, and 7 and 8 are respectively fixed to both cylinders 1.
The guide bar 5 is fixed to the rod 2 with a nut 9.
A gripping plate 13 slides in the direction of arrows 11 and 12 through a bearing 10 on top, and a cylinder body 14 is fixed to a bracket 15 with a bolt 16, and the tip of a rod 17 is fixed to the frame 3 with a nut 18. The cylinder 19 is a guide provided in the frame 3 and through which the bracket 150 and the bearing 20 are inserted. The bracket 15 is moved in the direction of arrows 21 and 22 by a drive device (not shown) such as a cylinder. Also, 23 is a mounting table, and 24 is this mounting table 2.
This is a workpiece positioned at the shoulder portion 23a of No. 3.

このように構成された把持装置においては、載置台２３
上のワーク２４を搬送する場合、先ずブラケット１５を
駆動装置（図示せず）によりワーク２４の上方に位置決
めする０次に、シリンダ１３に圧縮エアを供給して両把
持仮７．８間にワーク２４が位置するまで両部材７，８
を下降させる。In the gripping device configured in this way, the mounting table 23
When transporting the upper workpiece 24, the bracket 15 is first positioned above the workpiece 24 by a drive device (not shown).Next, compressed air is supplied to the cylinder 13 to transport the workpiece between the two grippers. Both members 7 and 8 until 24 is located
lower.

そして、左側のシリンダ１に圧縮エアを供給し把持板７
をワーク２４に当接するまで矢印１１の方向に移動させ
た後、右側のシリンダ２に圧縮エアを供給し把持板８を
矢印１２の方向に移動させて両把持板７．８によりワー
ク２４を把持する。しかる後、シリンダ１３に圧縮エア
を供給して枠体３を上昇させ、駆動装置（図示せず）に
よりブラケット１５を矢印２１．２２の方向に移動させ
る。Then, compressed air is supplied to the left cylinder 1 and the grip plate 7 is
is moved in the direction of arrow 11 until it contacts the workpiece 24, then compressed air is supplied to the right cylinder 2, the gripping plate 8 is moved in the direction of arrow 12, and the workpiece 24 is gripped by both gripping plates 7.8. do. Thereafter, compressed air is supplied to the cylinder 13 to raise the frame 3, and the bracket 15 is moved in the direction of arrows 21 and 22 by a drive device (not shown).

このようにしてワーク２４を所定の場所に搬送すること
ができる。In this way, the workpiece 24 can be transported to a predetermined location.

〔発明が解決しようとする問題点〕[Problem that the invention seeks to solve]

このように構成された把持装置においては、左右側シリ
ンダ１．２を別個に駆動させる構造であるため、片側か
らの押圧が不安定になり、両把持部材７，８によるワー
ク把持力が低下するという問題があった。また、両把持
板７，８のワーク把持位置が搬送中に振動等によりずれ
るという不都合があった。In the gripping device configured in this way, since the left and right cylinders 1.2 are driven separately, the pressing force from one side becomes unstable and the workpiece gripping force by both gripping members 7 and 8 decreases. There was a problem. Further, there is a problem in that the workpiece gripping positions of both the gripping plates 7 and 8 are shifted due to vibrations or the like during transportation.

本発明はこのような事情に鑑みなされたもので、高把持
力を得ることができ、ワーク把持位置が搬送中にずれる
ことがない安定した搬送が行える把持装置を提供するも
のである。The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a gripping device that can obtain a high gripping force and perform stable conveyance without shifting the workpiece gripping position during conveyance.

〔問題点を解決するだめの手段〕[Failure to solve the problem]

本発明に係る把持装置は、両把持部材にそれぞれロッド
、シリンダ本体が取付けられたシリンダと、このシリン
ダ側に設けられワーク把持状態においてガイド部材上に
両把持部材を位置決めするクランパとを備えたものであ
る。A gripping device according to the present invention includes a cylinder in which a rod and a cylinder body are respectively attached to both gripping members, and a clamper provided on the cylinder side for positioning both gripping members on a guide member when a workpiece is being gripped. It is.

〔作　用〕[For production]

本発明においては、両把持部材にそれぞれロッド、シリ
ンダ本体が取付けられたシリンダを備えるから、１つの
シリンダの駆動による両方側からの押圧によってワーク
を両把持部材間に把持することができる。In the present invention, since both gripping members each include a cylinder to which a rod and a cylinder body are attached, a workpiece can be gripped between both gripping members by pressing from both sides by driving one cylinder.

〔実施例〕〔Example〕

第１図および第２図は本発明に係る把持装置の一実施例
を示す正面図と側面図、第３図および第４図はそれぞれ
第２図の■−■断面図とＩＶ−ＩＶ断面図で、同図にお
いて第９図および第１０図と同一の部材については同一
の符号を付し、詳細な説明は省略する。同図において、
符号３１で示すものはガイド部材で、前記枠体３の両側
板３ａ、３ｂに支架されており、両端部には抜は止め防
止用の止め輪３２が装着されている。３３および３４は
前記載置台２３上に位置決めされたワーク２４を把持す
る一対の把持部材で、前記ガイド部材３１上に軸受３５
を介して摺動自在に設けられている。３６はこれら把持
部材３３．３４を駆動するためのシリンダで、ロッド３
６ａがナツト３７により前記把持部材３３に、またシリ
ンダ本体３６ｂがボルト３８により前記把持部材３４に
取付けられている。３９はワーク把持状態において前記
ガイド部材３１上に両把持部材３３．３４を位置決めす
るクランパで、後述するスプリングの付勢力より大きい
クランプ力を有し前記シリンダ３６側の把持部材３４に
延設された延在部３４ａにナツト４０により固定されて
おり、両爪部３９ａが図中矢印で示す方向に回動し前記
ガイド部材３１を把持するように構成されている。４１
は前記把持部材３４を位置決めするストッパで、前記枠
体３の側板３ａにナツト４２により固定されており、両
把持部材３３．３４間の最大間隔を調整し得るように構
成されている。４３はこのストッパ４１側に前記把持部
材３４を位置決めするスプリングで、シリンダ３６の駆
動時にガイド部材３１と前記把持部材３３との摺動抵抗
力より大きい付勢力（把持部材３４を把持部材３３側に
摺動する反抵抗力）を存し両端がそれぞれ把持部材３４
．枠体３にばね掛け４４を介して設けられている。1 and 2 are a front view and a side view showing an embodiment of the gripping device according to the present invention, and FIGS. 3 and 4 are a cross-sectional view taken along the line ■-■ and a cross-sectional view taken along the line IV-IV in FIG. 2, respectively. In this figure, the same members as in FIGS. 9 and 10 are designated by the same reference numerals, and detailed explanations will be omitted. In the same figure,
Reference numeral 31 denotes a guide member, which is supported by both side plates 3a and 3b of the frame 3, and retaining rings 32 for preventing removal are attached to both ends. A pair of gripping members 33 and 34 grip the workpiece 24 positioned on the mounting table 23, and a bearing 35 is mounted on the guide member 31.
It is slidably provided through the. 36 is a cylinder for driving these gripping members 33 and 34, and the rod 3
6a is attached to the gripping member 33 with a nut 37, and the cylinder body 36b is attached to the gripping member 34 with a bolt 38. Reference numeral 39 denotes a clamper for positioning both gripping members 33 and 34 on the guide member 31 in the state of gripping the workpiece, and the clamper has a clamping force greater than the biasing force of a spring described later, and is extended to the gripping member 34 on the side of the cylinder 36. It is fixed to the extending portion 34a with a nut 40, and both claw portions 39a are configured to rotate in the direction shown by the arrow in the figure and grip the guide member 31. 41
A stopper for positioning the gripping member 34 is fixed to the side plate 3a of the frame 3 with a nut 42, and is configured to adjust the maximum distance between the gripping members 33 and 34. Reference numeral 43 denotes a spring that positions the gripping member 34 on the side of the stopper 41. When the cylinder 36 is driven, the spring 43 has a biasing force greater than the sliding resistance force between the guide member 31 and the gripping member 33 (moving the gripping member 34 toward the gripping member 33 side). A gripping member 34 is provided at both ends.
．． It is provided on the frame 3 via a spring hook 44.

次に、前記構成による把持装置の動作を第５図〜第８図
を用いて説明する。Next, the operation of the gripping device having the above configuration will be explained using FIGS. 5 to 8.

今、第５図に示すように両把持部材３３．３４間にワー
ク２４が位置する状態において、バルブ（図示せず）で
’Ｍ制御方向を切り換えシリンダ３６に圧縮エアを供給
すると、ロッド３６ａが同図矢印で示す方向に移動して
第６図に示すように把持部材３３がワーク２４に当接す
る。このとき、把持部材３４はスプリング４３の付勢力
によりストッパ４１に当接している。さらにシリンダ３
６に圧縮エアを供給すると、同図矢印で示す方向に把持
部材３４がスプリング４３の付勢力に抗して移動し、第
７図に示すように両把持部材３３．３４によりワーク２
４が把持される。このとき、把持完了の信号を図示しな
い検出器で得てクラツノ々３９が作動し、両爪部３９ａ
がガイド部材３１を把持する。そして、駆動装置（図示
せず）によりワーク２４が所定の場所に搬送されると、
クラツノ々３９のクランプ動作が解除され、両把持部材
３３゜３４がスプリング４３の付勢力により移動して第
８図に示すように把持部材３４がスト・ツノ＜４１に当
接する。しかる後、パルプで制御方向を切り換えシリン
ダ３６に圧縮エアを供給すると把持部材３３が同図に矢
印で示す方向に移動し、ワーク２４が両把持部材３３．
３４から離脱する。Now, when the workpiece 24 is located between both the gripping members 33 and 34 as shown in FIG. 5, when the 'M control direction is switched using a valve (not shown) and compressed air is supplied to the cylinder 36, the rod 36a The gripping member 33 moves in the direction indicated by the arrow in the figure and comes into contact with the workpiece 24 as shown in FIG. At this time, the gripping member 34 is in contact with the stopper 41 due to the urging force of the spring 43. Furthermore, cylinder 3
When compressed air is supplied to the workpiece 6, the gripping member 34 moves in the direction shown by the arrow in the figure against the biasing force of the spring 43, and as shown in FIG.
4 is grasped. At this time, a signal indicating completion of gripping is obtained by a detector (not shown), and the claws 39 are activated, and both claws 39a
grips the guide member 31. Then, when the workpiece 24 is transported to a predetermined location by a drive device (not shown),
The clamping operation of the horns 39 is released, and both gripping members 33 and 34 are moved by the biasing force of the spring 43, so that the gripping members 34 come into contact with the horns 41 as shown in FIG. Thereafter, when the control direction is switched using the pulp and compressed air is supplied to the cylinder 36, the gripping member 33 moves in the direction shown by the arrow in the figure, and the workpiece 24 is moved between the gripping members 33 and 33.
Leaving 34.

このようにしてワーク２４を確実に把持して所定の場所
に搬送することができる。In this way, the workpiece 24 can be reliably gripped and transported to a predetermined location.

なお、本発明においては、同一寸法のワークのみならず
異種寸法のワークを取り扱うことができる。Note that in the present invention, not only workpieces of the same size but also workpieces of different sizes can be handled.

また、本実施例においては、スプリング４３により把持
部材３４を位置決めする例を示したが、本発明はこれに
限定されるものではなく、スプリング４３の代わりにシ
リンダを用いても勿論よい。Further, in this embodiment, an example is shown in which the gripping member 34 is positioned by the spring 43, but the present invention is not limited to this, and it is of course possible to use a cylinder instead of the spring 43.

また、ストッパ４１を枠体３の側板３ａに固定する代わ
りに把持部材３４に固定しても何等差し支えない。Moreover, there is no problem in fixing the stopper 41 to the gripping member 34 instead of fixing it to the side plate 3a of the frame body 3.

〔発明の効果〕〔Effect of the invention〕

以上説明したように本発明によれば、両把持部材にそれ
ぞれロッド、シリンダ本体が取付けられたシリンダと、
このシリンダ側に設けられワーク把持状態においてガイ
ド部材上に両把持部材を位置決めするクランパとを備え
ただので、両方側からの押圧によりワークを両把持部材
間に強固に把持することができる。したがって、ワーク
把持位置が搬送中にずれることがなく安定したワーク搬
送を行うことができる。As explained above, according to the present invention, a cylinder in which a rod and a cylinder body are respectively attached to both gripping members;
Since the clamper is provided on the cylinder side and positions both gripping members on the guide member when the workpiece is being gripped, the workpiece can be firmly gripped between the gripping members by pressure from both sides. Therefore, the workpiece gripping position does not shift during transportation, and stable workpiece transportation can be performed.

【図面の簡単な説明】[Brief explanation of drawings]

第１図および第２図は本発明に係る把持装置の一実施例
を示す正面図と側面図、第３図および第４図はそれぞれ
第２図の■−■断面図とＩＶ−ＩＶ断面図、第５図〜第
８図は把持装置の動作状態を説明するための図、第９図
および第１０図は従来の把持装置を示す正面図と側面図
である。 ２３・・・・載置台、２４・・・・ワーク、３１・・・
・ガイド部材、３３．３４・・・・把持部材、３６・・
・・シリンダ、３６ａ・・・・ロッド、３６ｂ・・・・
シリンダ本体、３９・・・・クランパ。 代　　　理　　　人　　　大　岩　増　雄第３図　　　
　　　第４図 第５図 第６図 第７図1 and 2 are a front view and a side view showing an embodiment of the gripping device according to the present invention, and FIGS. 3 and 4 are a cross-sectional view taken along the line ■-■ and a cross-sectional view taken along the line IV-IV in FIG. 2, respectively. , FIGS. 5 to 8 are diagrams for explaining the operating state of the gripping device, and FIGS. 9 and 10 are front and side views showing the conventional gripping device. 23...Placement table, 24...Workpiece, 31...
・Guide member, 33, 34...Gripping member, 36...
...Cylinder, 36a...Rod, 36b...
Cylinder body, 39... Clamper. Agent Masuo Oiwa Figure 3
Figure 4 Figure 5 Figure 6 Figure 7

Claims (1)

【特許請求の範囲】[Claims] ガイド部材上に摺動自在に設けられ載置台上に位置決め
されたワークを把持する一対の把持部材と、これら両把
持部材にそれぞれロッド、シリンダ本体が取付けられた
シリンダと、このシリンダ側に設けられワーク把持状態
において前記ガイド部材上に両把持部材を位置決めする
クランパとを備えたことを特徴とする把持装置。A pair of gripping members that are slidably provided on a guide member and grip a workpiece positioned on a mounting table, a cylinder to which a rod and a cylinder body are respectively attached to both gripping members, and a cylinder provided on the side of the cylinder. A gripping device comprising: a clamper that positions both gripping members on the guide member in a workpiece gripping state.