CN106514641A - Pulling piece clamping device - Google Patents
Pulling piece clamping device Download PDFInfo
- Publication number
- CN106514641A CN106514641A CN201510572298.8A CN201510572298A CN106514641A CN 106514641 A CN106514641 A CN 106514641A CN 201510572298 A CN201510572298 A CN 201510572298A CN 106514641 A CN106514641 A CN 106514641A
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- Prior art keywords
- pulling
- piece
- clamping
- pair
- clamping device
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Abstract
The invention provides a pulling piece clamping device which can reliably clamp a pulling piece even though the side face of the pulling piece is inclined. The pulling piece clamping device comprises a driving device (61), a pair of clamping arms (62), a pair of clamping jaws (63) and a stop pin (64). The driving device (61) is installed on the side of a robot (40) which carries parts for forming a puller (SL) of a zipper and provided with a pair of sliding components (61a) for opening and closing, the pair of clamping arms (62) are installed on the pair of sliding components (61a), the pair of clamping jaws (63) are arranged on the pair of clamping arms (62) and used for clamping the pulling piece (P), the stop pin (64) is inserted into a hole (P4) of the pulling piece (P) clamped by the pair of clamping jaws (63) and makes contact with a shaft portion (P1) of the pulling piece (P), and the pulling piece (P) is kept by making contact with the pair of clamping jaws (63) and the stop pin (64).
Description
Technical field
The present invention relates to a kind of pulling-on piece clamping device for being installed on robot.
Background technology
As existing pulling-on piece clamping device, it is known to following device：Which includes being installed on mechanical arm (robot
Arm apparatus main body) and apparatus main body can be installed on spinning upside down to clamp the clamping part of pulling-on piece,
Clamping part includes a pair of clamping limbs and is rotationally respectively arranged in the fore-end of a pair of clamping limbs
Gripper jaw, to make a pair of clamping limbs closer to each other or detached mode is driven, so as to clamp pulling-on piece or
Release the clamping (for example, referring to patent documentation 1) of pull-tab.
[prior art literature]
[patent documentation]
[patent documentation 1] International Publication No. 2015/068218
The content of the invention
[invention problem to be solved]
However, pulling-on piece clamping device described in the patent documentation 1 is in order to clamp side relative to pulling-on piece
Long side direction and inclined pulling-on piece, gripper jaw is rotatably mounted in into clamping limb, but there is pulling-on piece phase
For gripper jaw sliding, so as to the probability that pulling-on piece comes off.
The present invention is in view of the situation is formed, to its object is to provide a kind of pulling-on piece clamping device, even if
For the inclined pulling-on piece in side, pulling-on piece also can be positively clamped.
[technological means of solve problem]
The purpose of the present invention is to constitute to realize using following.
(1) a kind of pulling-on piece clamping device, is installed on to constituting slide fastener (slide fastener) pull head (slider)
The robot that transported of part, the pulling-on piece in holding parts, including：Driving means, are installed on machine
Device people side, with a pair of sliding members for carrying out folding；A pair of clamping limbs, are installed on a pair of sliding members；
A pair of gripper jaws, are arranged at a pair of clamping limbs, clamp pulling-on piece；And latch, it is inserted into and is pressed from both sides by a pair
Hold the hole portion of the pulling-on piece of pawl clamping, and contact with the axle portion of pulling-on piece, and pulling-on piece by with a pair of gripper jaws and
The contact of latch and kept.
(2) the pulling-on piece clamping device according to (1), gripper jaw is independently of clamping limb, and can turn
Clamping limb is installed on dynamicly.
(3) the pulling-on piece clamping device according to (2), is formed with the face of the clamping pulling-on piece of gripper jaw
Clamping recess.
(4) the pulling-on piece clamping device according to (3), clamping recess are V shape.
(5) the pulling-on piece clamping device according to (4), latch is relative to installed in driving means
Pin holder, can install in the way of above-below direction slides.
(6) the pulling-on piece clamping device according to (5), pin holder include：Base portion, with
The mode that latch can slide houses the groove of the latch；Lid, blocks groove；Stay, installs
In base portion, the top of latch is extended to；And spring, it is configured at fore-end and the stop of stay
Between the upper end of pin, latch is exerted a force downwards.
(7) the pulling-on piece clamping device according to (6), also including cover plate, the cover plate is installed on drive
Dynamic device, and for covering the rear surface of driving means and the section L-shaped of lower surface.
[The effect of invention]
According to the present invention, pulling-on piece clamping device includes：Driving means, are installed on robot side, have into
A pair of sliding members of row folding；A pair of clamping limbs, are installed on a pair of sliding members；A pair of gripper jaws,
A pair of clamping limbs are arranged at, pulling-on piece is clamped；And latch, it is inserted into by the drawing of a pair of gripper jaw clampings
The hole portion of piece, and contact with the axle portion of pulling-on piece, and pulling-on piece is by the contact with a pair of gripper jaws and latch
And kept, therefore, even if being the inclined pulling-on piece in side, also can positively clamp pulling-on piece.
Description of the drawings
Fig. 1 is that the pull head assembling device for employing an embodiment of the pulling-on piece clamping device of the present invention is entered
The outline top view of row explanation.
Fig. 2 is the summary side elevation of the pull head assembling device shown in Fig. 1.
Fig. 3 is the axonometric chart for observing the pulling-on piece clamping device shown in Fig. 2 from upside.
Fig. 4 is the axonometric chart for observing the pulling-on piece clamping device shown in Fig. 3 from downside.
Fig. 5 is the front view of the pulling-on piece clamping device shown in Fig. 3.
Fig. 6 is the left side view of the pulling-on piece clamping device shown in Fig. 3.
Fig. 7 is the axonometric chart illustrated to the state of a pair of gripper jaws and latch clamping pulling-on piece.
Fig. 8 is the bottom view illustrated to the state of a pair of gripper jaws and latch clamping pulling-on piece.
Fig. 9 is a side view for illustrating to the pull head assembled by pull head assembling device.
[explanation of symbol]
10：Pull head assembling device
11：Base station
20：This body feeding
21：Cylinder
22、31：Chute
23、32：Pick-up table
23a、32a：Upper surface
30：Pulling-on piece feedway
40：Mechanical arm (robot)
41：Mechanical hand
42：Body clamping device
44：Part position detects photographing unit
50：Hold down gag
60：Pulling-on piece clamping device
61：Driving means
61a：Sliding component
61b、68a：Screw
62：Clamping limb
62a：Arm main body
62b：Bracket
62c：Pin
63：Gripper jaw
63a：Clamping recess
64：Latch
64a：Sliding part
64b：Pin portion
64c：Stage portion
65：Cover plate
66：Pin holder
67：Base portion
67a：Groove
68：Lid
69：Stay
70：Disc spring (spring)
D：Pull head body
D1：Upper flange
D2：Lower wing plate
D3：Guide post
D4：Pulling-on piece mounting post
P：Pulling-on piece
P1：Axle portion
P2：Connecting portion
P3：Clamping part
P4：Hole portion
S1～S6：1st rotary shaft～the 6th rotary shaft
SL：Pull head
Specific embodiment
Hereinafter, referring to the drawings an embodiment of the pulling-on piece clamping device of the present invention is described in detail.
Additionally, in the following description, with regard to pull head assembling device, so-called upside, it is set to relative to Fig. 1's
Paper is nearby side, so-called downside, and the paper being set to relative to Fig. 1 is inner side, and so-called front side is set to
It is downside relative to the paper of Fig. 1, so-called rear side is set to be upside relative to the paper of Fig. 1, so-called
Left side, be set to relative to Fig. 1 paper be left side, so-called right side, be set to relative to the paper of Fig. 1 be
Right side.In addition, left and right directions is also referred to as width.In addition, with regard to pulling-on piece clamping device, it is so-called on
Side, be set to relative to Fig. 5 paper be upside, so-called downside, under being set to relative to the paper of Fig. 5 be
Side, so-called front side, the paper being set to relative to Fig. 5 is nearby side, so-called rear side, is set to relative to figure
5 paper be inner side, so-called left side, be set to relative to Fig. 5 paper be right side, so-called right side, if
Be relative to Fig. 5 paper be left side.In addition, left and right directions is also referred to as width.
As shown in Figures 1 and 2, pull head assembling device 10 includes：Base station 11；This body feeding 20,
The front left side being arranged on base station 11, supplies the pull head body D of the part as pull head SL；Pulling-on piece is supplied
To device 30, the right side adjacent of this body feeding 20 is arranged at, supplies the part as pull head SL
Pulling-on piece P；Mechanical arm (robot) 40, the substantial middle being arranged on base station 11 are supplied from body
Device 20 and the pickup pull head body D and pulling-on piece P of pulling-on piece feedway 30；And hold down gag 50, if
The right lateral side being placed on base station 11, after using mechanical arm 40 for giving pull head body D and pulling-on piece P,
Pulling-on piece mounting post D4 of pull head body D is compressed.
Herein, the pull head SL to being assembled by pull head assembling device 10 is illustrated.The pull head SL
For the free pull head for not possessing AutoLock feature, and as shown in figure 9, including pull head body D and pulling-on piece
P。
As shown in figure 9, pull head body D has：Upper flange D1 and lower wing plate D2；By upper flange D1
And the guide post D3 linked in leading section by lower wing plate D2；And be arranged on upper flange D1, use
To install pulling-on piece mounting post D4 of pulling-on piece P.
As shown in Figures 7 and 8, pulling-on piece P has pulling-on piece mounting post D4 of insert to pull head body D
Axle portion P1, a pair of connecting portion P2 extended from the both ends of axle portion P1 and from a pair of connecting portion P2
The clamping part P3 of extension.And, formed using axle portion P1, a pair of connecting portion P2 and clamping part P3
Insertion table carries on the back hole portion P4 in direction.In addition, side (a pair of connecting portion P2 and the clamping part P3 of pulling-on piece P
Side) incline relative to the long side direction of pulling-on piece P, specifically, with the narrow width of axle portion P1 side
And the width of clamping part P3 sides becomes wide mode and inclines.Additionally, in the present note, by the thickness of slab of pulling-on piece P
Direction is set to table back of the body direction, is set to width by the orthogonal direction in direction is carried on the back with the long side direction and table of pulling-on piece P
Direction.
As shown in Figures 1 and 2, this body feeding 20 includes：Cylinder 21, by pull head body D with
The posture of regulation is discharged；Chute 22, the pull head body D for being provided from the discharge of cylinder 21 slide；And pickup
Platform 23, with the upper surface 23a for supplying to stop along the pull head body D that chute 22 slides.In addition, so-called drawing
The prescribed form of head body D, refers to upper flange D1 states upward.And, from 21 row of cylinder
The pull head body D for going out upper flange D1 upward in the state of slide along chute 22, and in pick-up table
The optional position of 23 upper surface 23a stops.
As shown in Figures 1 and 2, pulling-on piece feedway 30 includes：Chute 31, is provided from material (not shown)
The pulling-on piece P that bucket is discharged slides；And pick-up table 32, with the pulling-on piece P stoppings for supplying to slide along chute 31
Upper surface 32a.And, pick up independent of the table back of the body of pulling-on piece P along the pulling-on piece P that chute 31 slides
The optional position of the upper surface 32a of platform 32 stops.
As shown in Figures 1 and 2, mechanical arm 40 is with the 1st rotary shaft S1～the 6th rotary shaft S6
Six shaft mechanical arms, and the fore-end in the 6th rotary shaft S6 is provided with mechanical hand (robot hand) 41.
And, mechanical hand 41 includes the body clamping device 42 for picking up pull head body D and pulling-on piece P respectively and draws
Holder for x-ray film 60.
In addition, pull head assembling device 10 includes part position detection photographing unit 44, the part position inspection
Survey photographing unit 44 to be arranged at compared with 40 more top of mechanical arm, be pointed to the pick-up table of this body feeding 20
The position of the pull head body D of 23 upper surface 23a and the pick-up table 32 positioned at pulling-on piece feedway 30
The position of pulling-on piece P of upper surface 32a detected.
As shown in Fig. 3～Fig. 6, pulling-on piece clamping device 60 includes：Driving means 61, are installed on mechanical arm
40 sides, the sliding component 61a with the pair of right and left for carrying out folding in the width direction；The folder of pair of right and left
Gripping arm 62, is installed on the sliding component 61a of left and right；The gripper jaw 63 of pair of right and left, is installed on left and right
The fore-end of clamping limb 62；Latch 64, is configured at the front surface of driving means 61, be inserted into by
Hole portion P4 of the pulling-on piece P of the clamping of gripper jaw 63 of left and right, and contact with axle portion P1 of pulling-on piece P；And
Cover plate 65, is installed on the rear surface of driving means 61, and for cover driving means 61 rear surface and under
The section L-shaped on surface.And, pulling-on piece clamping device 60 by make left and right clamping limb 62 close and
Pulling-on piece P is clamped using gripper jaw 63, and pull-tab P is released by opening the clamping limb 62 of left and right
Clamping.
Clamping limb 62 has：Arm main body 62a, is installed on the sliding component 61a of driving means 61, and is
The side for extending forwards regards L-shaped；And the bracket 62b of fork-like shape, from before arm main body 62a
End part is provided projectingly on the inside of width, and to install gripper jaw 63.Clamping limb 62 utilizes two
Root screw 61b and be fixed in the sliding component 61a of driving means 61.
Gripper jaw 63 is rotatably installed on the bracket 62b of clamping limb 62 via pin 62c, and to project to
Arrange compared with the lower edge mode more on the lower of clamping limb 62.Therefore, gripper jaw 63 is in clamping pulling-on piece
During P, can be rotated corresponding to the inclination of the side of pulling-on piece P.In addition, the clamping in gripper jaw 63 is drawn
The width medial surface of piece P is formed with the clamping recess 63a of V shape.
Pin holder 66 of the latch 64 relative to the front surface installed in driving means 61, with can be upper
The mode that lower direction is slided is installed, and is had：The sliding part 64a of quadrangular shape, using pin holder 66,
It is guided towards the slip of above-below direction；And pin portion 64b, it is formed at downward sliding part 64a
Bottom.
Pin holder 66 includes：Base portion 67, it is slidable with the sliding part 64a with latch 64
Mode houses the groove 67a of the sliding part 64a of the latch 64；Lid 68, blocks base portion 67
Groove 67a；Stay 69, is installed on the left surface of base portion 67, and for extending to the upper of latch 64
The L-shaped of side；And disc spring (coil spring) 70, it is configured at fore-end and the stop of stay 69
Between the upper end of pin 64, latch 64 is exerted a force downwards.The quilt using two screw 68a of lid 68
It is fixed on base portion 67.In addition, the upper end two sides of the base portion 67 in latch 64, difference shape
Into there is stage portion 64c, stage portion 64c is connected to the upper surface of base portion 67 to limit latch 64
Lower dynamic position.
And, in the pulling-on piece clamping device 60 constituted as so, when the pulling-on piece clamping dress of mechanical arm 40
When putting 60 pickup pulling-on piece P, driving means 61 close the clamping limb 62 of left and right, thus such as Fig. 7 and figure
Shown in 8, the two sides of a pair of connecting portion P2 of the clamping pulling-on piece P of gripper jaw 63 of left and right, also, only
The pin portion 64b of dynamic pin 64 is inserted into hole portion P4 of pulling-on piece P and is contacted with axle portion P1 of pulling-on piece P.From
And, pulling-on piece P is kept with three point contact using the gripper jaw 63 and latch 64 of left and right.Therefore,
Even if pulling-on piece P relative to left and right gripper jaw 63 and sliding, but because the pin portion 64b of latch 64 connects
Touch to axle portion P1 of pulling-on piece P, therefore coming off for pulling-on piece P is prevented.
In addition, as the pickup pulling-on piece P of pulling-on piece clamping device 60 of mechanical arm 40, even if latch 64 connects
Touch to the pick-up table 32 of pulling-on piece feedway 30, but because latch 64 can be slided upward, therefore stop
The collision of the contact of pin 64 can be absorbed.
As described above, the pulling-on piece clamping device 60 according to this embodiment, including clamping pulling-on piece P
A pair of gripper jaws 63, and be inserted into the pulling-on piece P clamped by a pair of gripper jaws 63 hole portion P4 and with
The latch 64 of the axle portion P1 contact of pulling-on piece P, and pulling-on piece P utilizes a pair of gripper jaws 63 and latch 64
And kept with three point contact, therefore, even if being the inclined pulling-on piece P in side, also positively can clamp
Pulling-on piece P.
In addition, according to the pulling-on piece clamping device 60 of this embodiment, gripper jaw 63 is rotatably installed on
Clamping limb 62, therefore, when pulling-on piece P is clamped, the angle of inclination of the side of gripper jaw 63 and pulling-on piece P
Accordingly rotated.Therefore can more reliably clamp pulling-on piece P.Additionally, not inclining in the side of pulling-on piece P
Situation (side of the pulling-on piece P situation parallel with the long side direction of pulling-on piece P) under, gripper jaw 63 does not turn
It is dynamic.
In addition, according to the pulling-on piece clamping device 60 of this embodiment, in the clamping pulling-on piece P of gripper jaw 63
Face be formed with the clamping recess 63a of V shape, therefore, easily can clamp positioned at pulling-on piece feedway
Pulling-on piece P in 30 pick-up table 32.In addition, the clamping recess of the embedded V shape of clamped pulling-on piece P
In 63a, therefore can more reliably clamp pulling-on piece P.
In addition, according to the pulling-on piece clamping device 60 of this embodiment, latch 64 is relative to installed in drive
The pin holder 66 of dynamic device 61, can install in the way of above-below direction slides, therefore, work as clamping
During pulling-on piece P, even if latch 64 is contacted to the pick-up table 32 of pulling-on piece feedway 30, latch 64
Can slide upward, can absorb the collision of the contact of latch 64.This prevents pulling-on piece clamping device
60 and the failure of mechanical arm 40.
In addition, according to the pulling-on piece clamping device 60 of this embodiment, after covering driving means 61
The cover plate 65 of the section L-shaped of surface and lower surface, therefore, when mechanical arm 40 is driven, i.e.,
Just driving means 61 are collided to somewhere, prevented also from the damage of driving means 61.
In addition, according to the pulling-on piece clamping device 60 of this embodiment, clamping limb 62 utilizes two screw 61b
And be fixed in the sliding component 61a of driving means 61, and the lid 68 of pin holder 66 utilizes two spiral shells
Follow closely 68a and be fixed in base portion 67, therefore, can easily load and unload clamping limb 62 and lid 68.So as to,
May correspond to pulling-on piece P to be clamped easily to change clamping limb 62 and latch 64.
Additionally, the present invention is not limited to the content listed by the embodiment, without departing from the present invention
Purport in the range of suitably can be changed.
Claims (7)
1. a kind of pulling-on piece clamping device (60), it is installed on and the part for constituting slider for slide fastener (SL) is entered
The robot (40) of row conveyance, clamps the pulling-on piece (P) in the part, it is characterised in that include：
Driving means (61), are installed on the robot (40) side, with a pair of cunnings for carrying out folding
Dynamic component (61a)；
A pair of clamping limbs (62), are installed on the pair of sliding component (61a)；
A pair of gripper jaws (63), are arranged at the pair of clamping limb (62), clamp pulling-on piece (P)；
And
Latch (64), is inserted into the pulling-on piece (P) that clamped by the pair of gripper jaw (63)
Hole portion (P4), and contact with the axle portion (P1) of the pulling-on piece (P), and
Pulling-on piece (P) is by the contact with the pair of gripper jaw (63) and the latch (64)
And kept.
2. pulling-on piece clamping device (60) according to claim 1, it is characterised in that：The clamping
Pawl (63) is independently of the clamping limb (62), and can be rotatably mounted to the clamping limb (62).
3. pulling-on piece clamping device (60) according to claim 2, it is characterised in that：In the folder
The face for holding the clamping pulling-on piece (P) of pawl (63) is formed with clamping recess (63a).
4. pulling-on piece clamping device (60) according to claim 3, it is characterised in that：The clamping
Recess (63a) is V shape.
5. pulling-on piece clamping device (60) according to claim 4, it is characterised in that：The stop
Pin (64) relative to the pin holder (66) installed in the driving means (61), with can be upper
The mode that lower direction is slided is installed.
6. pulling-on piece clamping device (60) according to claim 5, it is characterised in that：
Pin holder (66) include：
Base portion (67), can house the stop with by the latch (64) in the way of sliding
The groove (67a) of pin (64)；
Lid (68), blocks groove (67a)；
Stay (69), is installed on the base portion (67), extends to the upper of the latch (64)
Side；And
Spring (70), is configured at the fore-end and the latch (64) of the stay (69)
Between upper end, the latch (64) is exerted a force downwards.
7. pulling-on piece clamping device (60) according to claim 6, it is characterised in that：Also include lid
Plate (65), cover plate (65) are installed on the driving means (61), and for covering the driving
The rear surface of device (61) and the section L-shaped of lower surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510572298.8A CN106514641B (en) | 2015-09-10 | 2015-09-10 | Pulling-on piece clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510572298.8A CN106514641B (en) | 2015-09-10 | 2015-09-10 | Pulling-on piece clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106514641A true CN106514641A (en) | 2017-03-22 |
| CN106514641B CN106514641B (en) | 2019-01-11 |
Family
ID=58345751
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510572298.8A Active CN106514641B (en) | 2015-09-10 | 2015-09-10 | Pulling-on piece clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106514641B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0759608A (en) * | 1993-08-24 | 1995-03-07 | Ykk Kk | Full fitting device for slider |
| CN201800045U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Clamping mechanism for multiple-degree-of-freedom robot |
| CN103831625A (en) * | 2012-11-23 | 2014-06-04 | 上海吉田拉链有限公司 | Zipper puller assembly mechanism |
| CN104427903A (en) * | 2013-05-10 | 2015-03-18 | Ykk株式会社 | Pull Tab Holding Device For Slider Assembling Machine |
| CN104427902A (en) * | 2013-07-10 | 2015-03-18 | Ykk株式会社 | Slider assembling machine |
| CN104507350A (en) * | 2014-01-28 | 2015-04-08 | Ykk株式会社 | Pull sheet supplying device of slide member assembling machine |
| CN104602563A (en) * | 2013-11-06 | 2015-05-06 | Ykk株式会社 | Pull tab transporting device |
| WO2015068263A1 (en) * | 2013-11-08 | 2015-05-14 | Ykk株式会社 | Pull tab supply device in slider assembly machine |
-
2015
- 2015-09-10 CN CN201510572298.8A patent/CN106514641B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0759608A (en) * | 1993-08-24 | 1995-03-07 | Ykk Kk | Full fitting device for slider |
| CN201800045U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Clamping mechanism for multiple-degree-of-freedom robot |
| CN103831625A (en) * | 2012-11-23 | 2014-06-04 | 上海吉田拉链有限公司 | Zipper puller assembly mechanism |
| CN104427903A (en) * | 2013-05-10 | 2015-03-18 | Ykk株式会社 | Pull Tab Holding Device For Slider Assembling Machine |
| CN104427902A (en) * | 2013-07-10 | 2015-03-18 | Ykk株式会社 | Slider assembling machine |
| CN104602563A (en) * | 2013-11-06 | 2015-05-06 | Ykk株式会社 | Pull tab transporting device |
| WO2015068263A1 (en) * | 2013-11-08 | 2015-05-14 | Ykk株式会社 | Pull tab supply device in slider assembly machine |
| CN104507350A (en) * | 2014-01-28 | 2015-04-08 | Ykk株式会社 | Pull sheet supplying device of slide member assembling machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106514641B (en) | 2019-01-11 |
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