CN106514641B - Pulling-on piece clamping device - Google Patents
Pulling-on piece clamping device Download PDFInfo
- Publication number
- CN106514641B CN106514641B CN201510572298.8A CN201510572298A CN106514641B CN 106514641 B CN106514641 B CN 106514641B CN 201510572298 A CN201510572298 A CN 201510572298A CN 106514641 B CN106514641 B CN 106514641B
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- Prior art keywords
- pulling
- piece
- clamping
- pair
- latch
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Abstract
The present invention provides a kind of pulling-on piece clamping device, even if being the inclined pulling-on piece in side, can also certainly clamp pulling-on piece.The pulling-on piece clamping device includes: driving device (61), is installed on robot (40) side transported to the part for constituting slider for slide fastener (SL), has a pair of sliding members (61a) opened and closed；A pair of of clamping limb (62), is installed on a pair of sliding members (61a)；A pair of of gripper jaw (63), is set to a pair of of clamping limb (62), clamps pulling-on piece (P)；And latch (64), it is inserted into the hole portion (P4) of the pulling-on piece (P) by a pair of of gripper jaw (63) clamping, and it is contacted with the axle portion (P1) of pulling-on piece (P), and pulling-on piece (P) is kept and with the contact of a pair of of gripper jaw (63) and latch (64).
Description
Technical field
The present invention relates to a kind of pulling-on piece clamping devices for being installed on robot.
Background technique
As existing pulling-on piece clamping device, it is known to following device: it 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 of clamping
Arm and be rotationally respectively arranged in a pair of of clamping limb front end portion gripper jaw so that a pair of of clamping limb is closer to each other
Or isolated mode is driven, to clamp pulling-on piece or release the clamping of pull-tab (for example, referring to patent document 1).
[existing technical literature]
[patent document]
[patent document 1] International Publication No. 2015/068218
Summary of the invention
[problem to be solved by the invention]
However, the pulling-on piece clamping device recorded in the patent document 1 is in order to clamp long side side of the side relative to pulling-on piece
To and inclined pulling-on piece, gripper jaw is rotatably mounted in clamping limb, but there are pulling-on pieces to slide relative to gripper jaw, to draw
A possibility that piece falls off.
The present invention is formed in view of the situation, and its purpose is to provide a kind of pulling-on piece clamping devices, even if inclining for side
Oblique pulling-on piece can also certainly clamp pulling-on piece.
[technical means to solve problem]
The purpose of the invention is realized using following compositions.
(1) a kind of pulling-on piece clamping device is installed on and uses pull head (slider) to composition zipper (slide fastener)
The robot that part is transported, the pulling-on piece in holding parts, comprising: driving device is installed on robot side, has and is opened
A pair of sliding members of conjunction；A pair of of clamping limb, is installed on a pair of sliding members；A pair of of gripper jaw is set to a pair of of clamping limb, folder
Hold pulling-on piece；And latch, it is inserted into the hole portion of the pulling-on piece clamped by a pair of of gripper jaw, and contact with the axle portion of pulling-on piece, and draw
Piece is kept and with the contact of a pair of of gripper jaw and latch.
(2) the pulling-on piece clamping device according to (1), gripper jaw are rotatably installed on folder independently of clamping limb
Gripping arm.
(3) the pulling-on piece clamping device according to (2) is formed with clamping recess portion in the face of the clamping pulling-on piece of gripper jaw.
(4) the pulling-on piece clamping device according to (3), clamping recess portion are V shape.
(5) the pulling-on piece clamping device according to (4), latch relative to the pin holder for being mounted on driving device, with
The mode that can be slided in above-below direction is installed.
(6) the pulling-on piece clamping device according to (5), pin holder include: base portion, and having can be slided with latch
Mode accommodate the groove of the latch；Lid blocks groove；Stay is installed on base portion, extends to the top of latch；
And spring, it is configured between the front end portion of stay and the upper end of latch, exerts a force downwards to latch.
(7) the pulling-on piece clamping device according to (6), further includes cover board, and the cover board is installed on driving device, and to cover
The rear surface of lid driving device and the section L-shaped of lower surface.
[The effect of invention]
According to the present invention, pulling-on piece clamping device includes: driving device, is installed on robot side, has one opened and closed
To sliding component；A pair of of clamping limb, is installed on a pair of sliding members；A pair of of gripper jaw, is set to a pair of of clamping limb, and clamping is drawn
Piece；And latch, it is inserted into the hole portion of the pulling-on piece clamped by a pair of of gripper jaw, and contact with the axle portion of pulling-on piece, and pulling-on piece is logical
It crosses the contact with a pair of of gripper jaw and latch and is kept, therefore, even if being the inclined pulling-on piece in side, can also certainly be pressed from both sides
Hold pulling-on piece.
Detailed description of the invention
Fig. 1 is illustrated to the pull head assembling device for the implementation form for using pulling-on piece clamping device of the invention
Outline top view.
Fig. 2 is the outline side view of pull head assembling device shown in FIG. 1.
Fig. 3 is the perspective view that pulling-on piece clamping device shown in Fig. 2 is observed from upside.
Fig. 4 is the perspective view that pulling-on piece clamping device shown in Fig. 3 is observed from downside.
Fig. 5 is the front view of pulling-on piece clamping device shown in Fig. 3.
Fig. 6 is the left side view of pulling-on piece clamping device shown in Fig. 3.
Fig. 7 is the perspective view being illustrated to the state of a pair of of gripper jaw and latch clamping pulling-on piece.
Fig. 8 is the bottom view being illustrated to the state of a pair of of gripper jaw and latch clamping pulling-on piece.
Fig. 9 is the side view being illustrated to an example of 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: roller
22,31: sliding slot
23,32: pick-up table
23a, 32a: upper surface
30: pulling-on piece feedway
40: mechanical arm (robot)
41: manipulator
42: ontology clamping device
44: part position detects camera
50: pressing device
60: pulling-on piece clamping device
61: driving device
61a: sliding component
61b, 68a: screw
62: clamping limb
62a: arm body
62b: bracket
62c: pin
63: gripper jaw
63a: clamping recess portion
64: latch
64a: sliding part
64b: pin portion
64c: stage portion
65: cover board
66: pin holder
67: base portion
67a: groove
68: lid
69: stay
70: disc spring (spring)
D: slider 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: interconnecting piece
P3: clamping part
P4: hole portion
S1~S6: the 1 rotary shaft~the 6th rotary shaft
SL: pull head
Specific embodiment
Hereinafter, being described in detail referring to an implementation form of the attached drawing to pulling-on piece clamping device of the invention.In addition, with
In explanation afterwards, about pull head assembling device, so-called upside is set as being nearby side relative to the paper of Fig. 1, so-called downside, if
It is inside for the paper relative to Fig. 1, so-called front side is set as relative to the paper of Fig. 1 being downside, and so-called rear side is set as opposite
It is upside in the paper of Fig. 1, so-called left side is set as relative to the paper of Fig. 1 being left side, and so-called right side is set as relative to Fig. 1's
Paper is right side.In addition, left and right directions is also referred to as width direction.In addition, about pulling-on piece clamping device, so-called upside is set as phase
Paper for Fig. 5 is upside, and so-called downside is set as relative to the paper of Fig. 5 being downside, and so-called front side is set as relative to Fig. 5
Paper be nearby side, so-called rear side, be set as relative to the paper of Fig. 5 being inside, so-called left side is set as the paper relative to Fig. 5
Face is right side, so-called right side, is set as relative to the paper of Fig. 5 being left side.In addition, left and right directions is also referred to as width direction.
As shown in Figures 1 and 2, pull head assembling device 10 includes: base station 11；This body feeding 20 is set to base station 11
On front left side, supply as pull head SL part slider body D；Pulling-on piece feedway 30, is set to this body feeding
20 right side adjacent supplies the pulling-on piece P of the part as pull head SL；Mechanical arm (robot) 40, is set on base station 11
Substantial middle picks up slider body D and pulling-on piece P from this body feeding 20 and pulling-on piece feedway 30；And pressing device 50,
The right lateral side being set on base station 11, after having supplied slider body D and pulling-on piece P using mechanical arm 40, by the drawing of slider body D
Piece mounting post D4 is compressed.
Herein, the pull head SL assembled by pull head assembling device 10 is illustrated.The pull head SL is not have certainly
The free pull head of dynamic lock function, and as shown in figure 9, include slider body D and pulling-on piece P.
As shown in figure 9, slider body D includes upper flange D1 and lower wing plate D2；By upper flange D1 and lower wing plate D2 in front end
The guide post D3 that portion is linked；And be set on upper flange D1, to install the pulling-on piece mounting post D4 of pulling-on piece P.
As shown in Figures 7 and 8, pulling-on piece P has the axle portion P1 of pulling-on piece mounting post D4 of the insert to slider body D, from axle portion
The a pair of connecting portion P2 that the both ends of P1 the extend and clamping part P3 extended from a pair of connecting portion P2.Moreover, utilizing axle portion
P1, a pair of connecting portion P2 and clamping part P3 and formed perforation table back direction hole portion P4.In addition, side (a pair of connection of pulling-on piece P
The side of portion P2 and clamping part P3) relative to pulling-on piece P longitudinal direction and tilt, specifically, narrow with the width of the side axle portion P1
And the width of the side clamping part P3 becomes wide mode and tilts.In addition, in the present note, the plate thickness direction of pulling-on piece P is set as table back side
To width direction will be set as with the orthogonal direction of the longitudinal direction of pulling-on piece P and table back direction.
As shown in Figures 1 and 2, this body feeding 20 includes: roller 21, and slider body D is discharged with defined posture；
Sliding slot 22, the slider body D for being provided from the discharge of roller 21 slide；And pick-up table 23, there is the pull head sheet slid for along the chute 22
The upper surface 23a that body D stops.In addition, the prescribed form of so-called slider body D, refers to the state of upper flange D1 upward.And
And from the slider body D that roller 21 is discharged upper flange D1 upward in the state of 22 slide along the chute, and in pick-up table 23
Upper surface 23a any position stop.
As shown in Figures 1 and 2, pulling-on piece feedway 30 includes: sliding slot 31, is provided from the pulling-on piece P of hopper discharge (not shown)
It slides；And pick-up table 32, the upper surface 32a that there is the pulling-on piece P slid for along the chute 31 to stop.Moreover, 31 sliding along the chute
Pulling-on piece P independent of pulling-on piece P table back and any position of the upper surface 32a of pick-up table 32 stop.
As shown in Figures 1 and 2, mechanical arm 40 is the six shaft mechanical arms with the 1st rotary shaft S6 of rotary shaft S1~the 6th, and
Manipulator (robot hand) 41 is installed in the front end portion of the 6th rotary shaft S6.Moreover, manipulator 41 includes picking up to draw respectively
The ontology clamping device 42 and pulling-on piece clamping device 60 of head ontology D and pulling-on piece P.
In addition, pull head assembling device 10 includes that part position detects camera 44, the part position detects camera 44
It is set to compared at 40 more top of mechanical arm, to the slider body D of the upper surface 23a for the pick-up table 23 for being located at ontology feedway 20
Position and the position of pulling-on piece P of the upper surface 32a positioned at the pick-up table 32 of pulling-on piece feedway 30 detected.
As shown in Fig. 3~Fig. 6, pulling-on piece clamping device 60 includes: driving device 61, is installed on 40 side of mechanical arm, has edge
The sliding component 61a for the pair of right and left that width direction is opened and closed；The clamping limb 62 of pair of right and left is installed on the sliding structure of left and right
Part 61a；The gripper jaw 63 of pair of right and left is installed on the front end portion of the clamping limb 62 of left and right；Latch 64 is configured at driving dress
The front surface for setting 61, is inserted into the hole portion P4 of the pulling-on piece P clamped by the gripper jaw 63 of left and right, and contacts with the axle portion P1 of pulling-on piece P；
And cover board 65, it is installed on the rear surface of driving device 61, and be the rear surface of covering driving device 61 and the section L of lower surface
Shape.Moreover, pulling-on piece clamping device 60 clamps pulling-on piece P using gripper jaw 63 and being closed the clamping limb 62 of left and right, and logical
Cross the clamping for making the clamping limb 62 of left and right open and release pull-tab P.
Clamping limb 62 includes arm body 62a, is installed on the sliding component 61a of driving device 61, and extends forwards
Side regards L-shaped；And the bracket 62b of fork-like shape, it is set from the front end portion of arm body 62a to width direction inside is prominent
It sets, and to install gripper jaw 63.Clamping limb 62 is fixed in the sliding component of driving device 61 using two screw 61b
61a。
Gripper jaw 63 is rotatably installed on the bracket 62b of clamping limb 62 via pin 62c, and to project to compared with clamping limb 62
Lower edge mode more on the lower be arranged.Therefore, gripper jaw 63, can be corresponding to the side of pulling-on piece P when clamping pulling-on piece P
Inclination is rotated.In addition, the width direction medial surface in the clamping pulling-on piece P of gripper jaw 63 is formed with the clamping recess portion of V shape
63a。
Pin holder 66 of the latch 64 relative to the front surface for being mounted on driving device 61, that can slide in above-below direction
Mode install, and include the sliding part 64a of quadrangular shape, using pin holder 66, drawn towards the sliding of up and down direction
It leads；And pin portion 64b, it is formed in the lower end of sliding part 64a downward.
Pin holder 66 includes: base portion 67, is had described in accommodating in such a way that the sliding part 64a of latch 64 is slidable
The groove 67a of the sliding part 64a of latch 64；Lid 68 blocks the groove 67a of base portion 67；Stay 69 is installed on base portion 67
Left side, and for extend to latch 64 top L-shaped；And disc spring (coil spring) 70, it is configured at stay 69
Front end portion and latch 64 upper end between, exert a force downwards to latch 64.Lid 68 using two screw 68a and by
It is fixed on base portion 67.In addition, the upper end two sides of the base portion 67 in latch 64, are respectively formed with stage portion 64c, institute
It states stage portion 64c and is connected to the upper surface of base portion 67 to limit the lower dynamic position of latch 64.
Moreover, being drawn in the pulling-on piece clamping device 60 that constitutes when the pulling-on piece clamping device 60 of mechanical arm 40 picks up as so
When piece P, driving device 61 is closed the clamping limb 62 of left and right, and thus as shown in Figures 7 and 8, the gripper jaw 63 of left and right, which clamps, to be drawn
The two sides of a pair of connecting portion P2 of piece P, also, the pin portion 64b of latch 64 be inserted into pulling-on piece P hole portion P4 and with pulling-on piece P
Axle portion P1 contact.To which pulling-on piece P is kept using the gripper jaw 63 and latch 64 of left and right with three point contact.Therefore,
Even if pulling-on piece P slides relative to the gripper jaw 63 controlled, but because the pin portion 64b of latch 64 is contacted to the axle portion of pulling-on piece P
P1, therefore falling off for pulling-on piece P is prevented.
In addition, when the pulling-on piece clamping device 60 of mechanical arm 40 picks up pulling-on piece P, even if the contact of latch 64 to pulling-on piece supplies
The pick-up table 32 of device 30, but because latch 64 can slide upwards, therefore the collision of the contact of latch 64 can be absorbed.
As described above, according to the pulling-on piece clamping device 60 of this implementation form, a pair of of clamping including clamping pulling-on piece P
Pawl 63 and the latch for being inserted into the hole portion P4 of the pulling-on piece P clamped by a pair of of gripper jaw 63 and being contacted with the axle portion P1 of pulling-on piece P
64, and pulling-on piece P is kept using a pair of of gripper jaw 63 and latch 64 with three point contact, therefore, even if being tilted for side
Pulling-on piece P, can also certainly clamp pulling-on piece P.
In addition, gripper jaw 63 is rotatably installed on clamping limb 62 according to the pulling-on piece clamping device 60 of this implementation form, because
This, when clamping pulling-on piece P, the tilt angle of the side of gripper jaw 63 and pulling-on piece P is performed in accordance with rotation.Therefore it can more reliably press from both sides
Hold pulling-on piece P.In addition, (the side of the pulling-on piece P feelings parallel with the longitudinal direction of pulling-on piece P the case where the side of pulling-on piece P does not tilt
Condition) under, gripper jaw 63 does not rotate.
In addition, being formed with V in the face of the clamping pulling-on piece P of gripper jaw 63 according to the pulling-on piece clamping device 60 of this implementation form
Therefore the clamping recess portion 63a of shape can easily clamp the pulling-on piece P in the pick-up table 32 of pulling-on piece feedway 30.Separately
Outside, in the clamping recess portion 63a of clamped pulling-on piece P insertion V shape, therefore pulling-on piece P can more reliably be clamped.
In addition, according to the pulling-on piece clamping device 60 of this implementation form, latch 64 is relative to being mounted on driving device 61
Pin holder 66 is installed in a manner of it can slide in above-below direction, therefore, when clamping pulling-on piece P, even if the contact of latch 64 is extremely
The pick-up table 32 of pulling-on piece feedway 30, latch 64 can slide upwards, can absorb the collision of the contact of latch 64.By
This, can prevent the failure of pulling-on piece clamping device 60 and mechanical arm 40.
In addition, according to the pulling-on piece clamping device 60 of this implementation form, rear surface and following table including covering driving device 61
The cover board 65 of the section L-shaped in face therefore, can also even if driving device 61 is collided to somewhere when mechanical arm 40 is driven
Prevent the damage of driving device 61.
In addition, clamping limb 62 is fixed in using two screw 61b according to the pulling-on piece clamping device 60 of this implementation form
The sliding component 61a of driving device 61, and the lid 68 of pin holder 66 is fixed in base portion 67 using two screw 68a,
Therefore, clamping limb 62 and lid 68 can be easily assembled and disassembled.To can correspond to the pulling-on piece P to be clamped easily to replace clamping
Arm 62 and latch 64.
In addition, not departing from purport of the invention the present invention is not limited to the content that the implementation form is listed
It can be suitably changed in range.
Claims (7)
1. a kind of pulling-on piece clamping device (60) is installed on the robot transported to the part for constituting slider for slide fastener (SL)
(40), the pulling-on piece (P) in the part is clamped, the pulling-on piece clamping device (60) includes driving device (61), a pair of of clamping limb
(62) and a pair of of gripper jaw (63), the driving device (61) is installed on the robot (40) side, and has and opened and closed
A pair of sliding members (61a), the pair of clamping limb (62) is installed on the pair of sliding component (61a), the pair of folder
It holds pawl (63) to be set to the pair of clamping limb (62), and clamps the pulling-on piece (P), which is characterized in that the pulling-on piece clamping dress
Set (60) further include:
Latch (64), be inserted by the pair of gripper jaw (63) clamping the pulling-on piece (P) hole portion (P4), and with it is described
The axle portion (P1) of pulling-on piece (P) contacts, and
The pulling-on piece (P) is kept and with the contact of the pair of gripper jaw (63) and the latch (64).
2. pulling-on piece clamping device (60) according to claim 1, it is characterised in that: the gripper jaw (63) is independently of described
Clamping limb (62), and rotatably it is installed on the clamping limb (62).
3. pulling-on piece clamping device (60) according to claim 2, it is characterised in that: in the clamping institute of the gripper jaw (63)
The face for stating pulling-on piece (P) is formed with clamping recess portion (63a).
4. pulling-on piece clamping device (60) according to claim 3, it is characterised in that: the clamping recess portion (63a) is V word
Shape.
5. pulling-on piece clamping device (60) according to claim 4, it is characterised in that: the latch (64) is relative to installation
Pin holder (66) in the driving device (61), is installed in a manner of it can slide in above-below direction.
6. pulling-on piece clamping device (60) according to claim 5, it is characterised in that:
The pin holder (66) includes:
Base portion (67) has the groove that the latch (64) are accommodated in such a way that the latch (64) can slide
(67a)；
It covers (68), blocks the groove (67a)；
Stay (69) is installed on the base portion (67), extends to the top of the latch (64)；And
Spring (70) is configured between the front end portion of the stay (69) and the upper end of the latch (64), to described
Latch (64) exerts a force downwards.
7. pulling-on piece clamping device (60) according to claim 6, it is characterised in that: further include cover board (65), the cover board
(65) it is installed on the driving device (61), and to cover the section L word of the rear surface of the driving device (61) and lower surface
Shape.
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 CN106514641A (en) | 2017-03-22 |
| CN106514641B true 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 |
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| CN (1) | CN106514641B (en) |
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| WO2015068263A1 (en) * | 2013-11-08 | 2015-05-14 | Ykk株式会社 | Pull tab supply device in slider assembly machine |
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| JP2926295B2 (en) * | 1993-08-24 | 1999-07-28 | ワイケイケイ株式会社 | Slider puller mounting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106514641A (en) | 2017-03-22 |
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