CN107112127A - Wire rod grasping device and wire rod holding method - Google Patents
Wire rod grasping device and wire rod holding method Download PDFInfo
- Publication number
- CN107112127A CN107112127A CN201680003445.2A CN201680003445A CN107112127A CN 107112127 A CN107112127 A CN 107112127A CN 201680003445 A CN201680003445 A CN 201680003445A CN 107112127 A CN107112127 A CN 107112127A
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- China
- Prior art keywords
- wire rod
- pair
- sliding bar
- manipulator
- main part
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/0003—Apparatus or processes specially adapted for manufacturing conductors or cables for feeding conductors or cables
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Coil Winding Methods And Apparatuses (AREA)
- Wire Processing (AREA)
Abstract
Wire rod grasping device (10) possesses：A pair of holding pieces (11,12), they are closer to each other, so as to clamp the wire rod (9) being present between them；Spring (26), by a pair of holding pieces (11,12), close direction or the direction separated each other are pushed to each other for it；And drive device (43), it makes a pair of holding pieces (11,12) overcome the active force of spring (26) and separate or approach each other, and drive device (43) possesses：Make a pair of holding piece (11,12) separation or close cam (44) and the motor (45) for making cam (44) be moved to arbitrary position.
Description
Technical field
The present invention relates to the wire rod grasping device and wire rod holding method for coiling apparatus etc..
Background technology
JP2000-331860A is disclosed, and as the wire rod grasping device for coiling apparatus etc., is possessed：Wire gripper
A pair of holding pieces, by a pair of holding pieces spring that close direction is pushed to each other and overcome the active force of spring and make one
The fluid-pressure cylinder separated to holding piece.
In recent years, in coiling apparatus, the roundabout end portion treatment for playing the wound wire rod of execution from wire rod is developed
Untill coiling apparatus.Therefore, in the grasping device of wire rod used in such coiling apparatus, it is desirable to forbid wire rod relative
The movement of piece is held in a pair, makes a pair of holding pieces wire rod can be made circuitous with together being moved by the wire rod of a pair of holding piece clampings
Return, and piece is held by using a pair and wire rod is held with weaker power so as to allow relative to a pair of holding pieces of wire rod
It is mobile, thus, it is possible to make wire rod slide while stretching wire rod between a pair of holding pieces.
However, in a pair of holding pieces existing grasping device close to each other to hold wire rod is made using spring, in order to
Change the hold held to wire rod, it is necessary to will be replaced towards the spring that in a direction close to each other a pair are held with piece force
For the different spring of spring constant.Wire rod is held thus, for example being difficult to arbitrarily change in the state of plant running
Hold.
The content of the invention
It is an object of the invention to provide can easily change hold wire rod hold wire rod grasping device and
Wire rod holding method.
According to the mode of the present invention there is provided a kind of wire rod grasping device, it has：Manipulator, the manipulator has：
The sliding bar set in the way of it can be retreated relative to main part；It is arranged at aforementioned body portion and can be with above-mentioned sliding bar
Into or exit accordingly it is closer to each other come wire gripper a pair of holding pieces；And by above-mentioned sliding bar to from aforementioned body
The spring that the direction that portion is exited is pushed；And drive device, it is arranged at the installing plate for being provided with above-mentioned manipulator, and makes above-mentioned
Sliding bar overcomes the active force of above-mentioned spring and enters aforementioned body portion, so that above-mentioned a pair of holding pieces are driven, above-mentioned driving dress
Putting has：Action bars, its one end faces the jag of above-mentioned sliding bar, and is arranged at the above-mentioned peace in the extension of above-mentioned sliding bar
Fill plate；Cam, it engages with the other end of aforesaid operations bar；And motor, it makes above-mentioned cam displacement to arbitrary position.
According to one mode of others of the present invention there is provided a kind of wire rod holding method, it possesses：A pair of holding pieces, it
It is closer to each other, so as to clamp the wire rod being present between them；Spring, it is by above-mentioned a pair of holding pieces close side towards each other
To and the two directions of direction for separating each other in the direction of either one push；Cam, it overcomes the effect of above-mentioned spring
Power drives above-mentioned a pair of holding pieces；And motor, it makes above-mentioned cam displacement to arbitrary position, by using said motor
Make above-mentioned cam displacement to change the hold of above-mentioned a pair of holding pieces.
Brief description of the drawings
Fig. 1 is the sectional view for the wire rod grasping device for representing the 1st embodiment of the present invention, and is the line A-A along Fig. 4
Sectional view.
Fig. 2 is that the wire rod grasping device for representing the 1st embodiment of the present invention holds the sectional view of the state of wire rod.
Fig. 3 is that the wire rod grasping device for representing the 1st embodiment of the present invention weaker holds the section view of the state of wire rod
Figure.
Fig. 4 is the side view of the wire rod grasping device of the 1st embodiment of the present invention.
Fig. 5 is the side view of the state of the manipulator movement for the wire rod grasping device for representing the 1st embodiment of the present invention.
Fig. 6 is the top view of the wire rod grasping device of the 1st embodiment of the present invention.
Fig. 7 is the structural map of the manipulator of the wire rod grasping device of the 1st embodiment of the present invention.
Fig. 8 A are illustrated for the bracing wire of wire rod of the wire rod grasping device to the 1st embodiment based on the present invention
Figure.
Fig. 8 B are illustrated for the bracing wire of wire rod of the wire rod grasping device to the 1st embodiment based on the present invention
Figure.
Fig. 8 C are illustrated for the bracing wire of wire rod of the wire rod grasping device to the 1st embodiment based on the present invention
Figure.
Fig. 8 D are illustrated for the bracing wire of wire rod of the wire rod grasping device to the 1st embodiment based on the present invention
Figure.
Fig. 9 is the sectional view corresponding with Fig. 1 for the wire rod grasping device for representing the 2nd embodiment of the present invention.
Figure 10 is that the wire rod grasping device for representing the 2nd embodiment of the present invention holds the sectional view of the state of wire rod.
Figure 11 is that the wire rod grasping device for representing the 2nd embodiment of the present invention weaker holds the section view of the state of wire rod
Figure.
Embodiment
Referring to the drawings, the wire rod grasping device of embodiments of the present invention is illustrated.
The embodiment ＞ of ＜ the 1st
1~Fig. 7 of reference picture, is illustrated to the wire rod grasping device 10 of the 1st embodiment of the present invention.
As shown in Fig. 1 and Fig. 4, wire rod grasping device 10 possesses to be present between them by closer to each other to clamp
A pair of holding pieces 11,12 of wire rod 9.In the present embodiment, a pair of holding pieces 11,12 are installed on horizontal motion manipulator 20
A pair of mobile stations 21,22.
As shown in fig. 7, manipulator 20 possess a pair of mobile stations 21,22, side by side can be reciprocal for a pair of mobile stations 21,22
The main part 23 that movably sets, in the way of it can be slided along the direction orthogonal with the moving direction of a pair of mobile stations 21,22
The sliding bar 24 for being arranged at main part 23 and be accommodated in main part 23 inside and both ends respectively by sliding bar 24 and mobile
Platform 21,22 pivot suspensions and pars intermedia are by a pair of handle components (not shown) of the pivot suspension of main part 23.
For the manipulator 20, if sliding bar 24 enters main part 23, a pair of handle components difference (not shown)
Rotate, a pair of mobile stations 21,22 are separated each other.On the other hand, if sliding bar 24 is exited from main part 23, a pair (not shown)
Handle component is rotated round about respectively, and a pair of mobile stations 21,22 are closer to each other.
If that is, making the sliding bar 24 for entering main part 23 be exited from main part 23, being arranged at a pair of movements
A pair of holding pieces 11,12 of platform 21,22 and a pair of mobile stations 21,22 are together closer to each other, if there is wire rod 9 between them
(Fig. 1~Fig. 3), then wire rod 9 clamped by a pair of holding pieces 11,12.
In addition, wire rod grasping device 10 possesses：Make a pair of holding pieces 11,12 close direction, i.e. a pair of clampings to each other
The first helical spring 26 as spring that the direction that piece 11,12 is closed is pushed.First helical spring 26 is configured at from manipulator
The periphery for the sliding bar 24 that 20 main part 23 is protruded.The jag of sliding bar 24 is provided with the end for the first helical spring 26
The pressing cover 27 of portion's locking.Therefore, the first helical spring 26 with the state compressed be clipped on main part 23 with pressing cover 27 it
Between, pushed by extending force by cover 27 is pressed to the direction away from main part 23, the slip of pressing cover 27 will be installed in end
Bar 24 is pushed to the direction exited from main part 23.
As shown in FIG. 1 to 3, wire rod grasping device 10 possesses：Installing plate 13 for being installed on coiling apparatus etc..Machinery
Hand 20 is mounted the pivot suspension of plate 13 via turntable 14.Turntable 14 has：The pivot of plate 13 is directly mounted via bearing 16
The cylindrical portion 14a of supporting and be arranged at cylindrical portion 14a a side end installation sheet 14b.Manipulator 20 is via slide unit
15 are installed on installation sheet 14b.
Slide unit 15 has：Overlapping fixed plate 15a and movable platen 15b, is provided with fixed plate 15a and supplies movable platen
The parallel guide rail 15c of 15b both sides engaging.So, movable platen 15b relative to fixed plate 15a can prolong along guide rail 15c
The mode for the direction movement stretched is set.Fixed plate 15a is so that cylindrical portion of the direction relative to turntable 14 of guide rail 15c extensions
The mode of 14a orthogonality of center shaft is installed on installation sheet 14b.
As shown in figure 4, the ora terminalis of a side of fixed plate 15a on movable platen 15b moving direction is provided with for movable
The first stopper member 28 that the short edge of a plate 15b side is abutted, fixed plate 15a's on movable platen 15b moving direction
The ora terminalis of the opposing party is provided with the way of the ora terminalis of a movable platen 15b side is abutted with the first stopper member 28 to movable
The little spring 29 that plate 15b is pushed.
Interior threaded part 31 formed by internal thread hole insertion is installed in the ora terminalis of fixed plate 15a the opposing party.Small bullet
Spring 29 is helical spring, and is inserted in the way of one end is abutted with the ora terminalis of movable platen 15b the opposing party in interior threaded part 31.
In addition, the internal thread hole in interior threaded part 31 is screwed with stove bolt 32 in the way of the other end with little spring 29 is abutted.
That is, the state that little spring 29 compresses is clipped between movable platen 15b and stove bolt 32.Therefore, by changing stove bolt
32 are screwed into depth relative to interior threaded part 31, change the decrement of little spring 29, are assigned so as to change little spring 29
Give movable platen 15b active force.In addition, the part in Fig. 4 shown in reference 33 prevents from screwing togather with interior threaded part 31
The nut that stove bolt 32 loosens.
So, movable platen 15b makes the ora terminalis of a side be abutted with the first stopper member 28 by the active force of little spring 29.
In overlapping fixed plate 15a and movable platen 15b both sides, in the state of movable platen 15b is abutted with the first stopper member 28, energy
It is enough for be arranged at inserting hole 15d, 15e of the insert of pressing cover 27 of sliding bar 24 fixed plate 15a and movable platen 15b substantially in
Entreat insertion fixed plate 15a and movable platen 15b and formed.
On the other hand, the main part 23 of manipulator 20 is installed on installation platelet 20a via stove bolt 14c, wherein, install small
Plate 20a is installed on movable platen 15b.Herein, the moving direction of a pair of holding pieces 11,12 is the mobile side relative to movable platen 15b
To orthogonal direction.That is, can be pressed from both sides via the installation platelet 20a manipulators 20 for being installed on movable platen 15b along with a pair
Hold the moving direction of piece 11,12 and the direction movement that the two directions of the moving direction of sliding bar 24 are orthogonal.In addition, sliding bar
24 central shaft turns into the state consistent with cylindrical portion 14a central shaft.That is, being installed on rotation via slide unit 15
The manipulator 20 of platform 14 rotates jointly with turntable 14, therefore as the state that can be rotated relative to installing plate 13, becomes
It is mounted the state of the pivot suspension of plate 13.
In addition, the little spring 29 pushed to movable platen 15b is helical spring, therefore as depicted by the full line arrows in figure 5
Like that, the bearing of trend and machinery for the wire rod 9 that movable platen 15b can overcome the active force of little spring 29 and be clamped along manipulator 20
Hand 20 is common relative to fixed plate 15a movements.In order that the amount of movement of bearing of trend of such manipulator 20 towards wire rod 9 not into
More than setting, the second stopper member 36 limited the amount of movement of manipulator 20 is provided with.
Second stopper member 36 has：One end 37a is installed on the crankshaft cheek 37 and one for the crank-like for installing platelet 20a
The L-type that end 38a is installed on installation sheet 14b abuts plate 38.Crankshaft cheek 37 abuts plate 38 with L-type to move regulation in manipulator 20
Configure the mode for the other end 38b abuttings that the other end 37b of crankshaft cheek 37 abuts plate 38 with L-type in the case of more than value.Respectively
Inserting hole 15d, 15e as shown in Figure 5, are formed as abutting the other end of plate 38 with L-type in the other end 37b of crankshaft cheek 37
The size that 38b can also be inserted in the state of abutting for pressing cover 27.In addition, the portion in Fig. 4 and Fig. 5 shown in reference 39
Part is whether to abut L-type to the other end 37b of crankshaft cheek 37 to abut the detection sensor that the other end 38b of plate 38 is detected
39.The detected value of detection sensor 39 inputs control device (not shown).
In addition, as shown in FIG. 1 to 3, being provided with installing plate 13 makes turntable 14 rotate to the servo of arbitrary position
Motor 18.Servo motor 18 makes its rotary shaft 18a relative to cylinder with the position of distance as defined in only left from cylindrical portion 14a
The mode that portion 14a rotary shaft is parallel is installed.The rotary shaft 18a of servo motor 18 is provided with belt wheel 17b.In addition, across
Installing plate 13 and the cylindrical portion 14a of the side opposite with manipulator 20 is provided with belt wheel 17a.Between these belt wheels 17a, 17b
Extension is wound with band 17c.
If the driving of servo motor 18 rotates rotary shaft 18a, the rotation is via belt wheel 17a, 17b and with 17c transmission
To cylindrical portion 14a, manipulator 20 is common in rotary moving towards arbitrary position with turntable 14.
Herein, the part shown in the reference 19a in figure is the erecting bed 19a for installing servo motor 18, and with
The mode parallel relative to installing plate 13 is installed on installing plate 13 via installation foot 19b.Peaces of the erecting bed 19a towards installation foot 19b
Dress is carried out by bolt 19c as shown in Figure 6.In addition, in the peace across erecting bed 19a and the side opposite with turntable 14
Dress plate 13, which is erected, is provided with screw thread platform 19d.Screwed part 19e that front end is contacted with erecting bed 19a and installing plate 13 abreast spiral shell
Line is installed on screw thread platform 19d.
Therefore, if loose bolts 19c rotates screwed part 19e, it can make what screwed part 19e front end was contacted
Erecting bed 19a is moved.Moreover, by bolt 19c being fastened in desired position, can make servo motor 18 with from turntable
14 modes for separating desired interval are configured at installing plate 13.
In addition, being configured with the cylindrical portion 14a of turntable 14：One end can be with being arranged at the pressing cover 27 of sliding bar 24
The action bars 41 of abutting and the second helical spring 42 for pushing action bars 41 to the direction away from sliding bar 24.If overcoming
The active force of two helical springs 42 and move action bars 41, then the end of action bars 41 27 is abutted with pressing cover.If further
Move action bars 41, then the sliding bar 24 for being provided with pressing cover 27 overcomes the active force of the first helical spring 26 and enters main body
Portion 23, moves the common direction left to each other of a pair of mobile stations 21,22 and a pair of holding pieces 11,12 of manipulator 20.
Wire rod grasping device 10 is further equipped with：A pair of holding pieces 11,12 are made to overcome the active force of the first helical spring 26
And the drive device 43 separated.Drive device 43 has：The direction that driving a pair of holding pieces 11,12 makes them separate to each other is moved
Dynamic cam 44 and the motor 45 for making cam 44 be moved to arbitrary position.
Cam 44 is plane cam 44, and the motor 45 for making cam 44 be moved to arbitrary position is servo motor 45.In plectane
The plane cam 44 of shape, the rotary shaft 45a of servo motor 45 is provided with the position of off center.Servo motor 45 is so that it rotates
Axle 45a is installed on installing plate 13 relative to the mode of cylindrical portion 14a orthogonality of center shaft.Prejudicially it is arranged at servo motor 45
The periphery of rotary shaft 45a plane cam 44 all the time with the ends contact from the cylindrical portion 14a action bars 41 protruded.
In addition, as shown in Fig. 1~Fig. 6, installing component 47 in the way of blocking the end of action bars 41 via pillar 46 to pacify
Loaded on installing plate 13.The axis hole 47a (Fig. 4) of the orthogonality of center shaft relative to cylindrical portion 14a is formed with installing component 47.In axle
Hole 47a inserts the rotary shaft 45a for having servo motor 45.
In addition, in installing component 47, be formed with the position opposed with the end of action bars 41 intersect with axis hole 47a and
The slit 47b of a side opening opposite with action bars 41.In addition, installing component 47 be formed with slit 47b be open and
The section shape of the side opening of action bars 41 is the elongated hole 47c of long round shape.
Plane cam 44 is installed on the rotary shaft 45a by slit 47b, and can be constituted by slit 47b and elongated hole 47c
Space intrinsic displacement, and the ends contact of its periphery all the time with action bars 41.
Next, being illustrated to the wire rod holding method of the wire rod grasping device of said structure.
Wire rod grasping device 10 has the servo motor 45 for making cam 44 be moved to arbitrary position as described above, therefore
The displacement of cam 44 is made by servo motor 45, the hold thus, it is possible to change a pair of holding pieces 11,12.
Specifically, in order to hold wire rod 9, first, as shown in figure 1, the swing offset of cam 44 is made by servo motor 45,
So that action bars 41 is moved towards manipulator 20.So, if make action bars 41 overcome the second helical spring 42 active force and
Mobile, then the end of action bars 41 is contacted with the pressing cover 27 of manipulator 20.If making action bars 41 further mobile, it is provided with
The sliding bar 24 of pressing cover 27 overcomes the active force of the first helical spring 26 and enters main part 23, makes a pair of mobile stations 21,22
Moved with the common direction left to each other of a pair of holding pieces 11,12.So, it is formed with confession between a pair of holding pieces 11,12
The space that wire rod 9 passes through.
As shown in figure 1, a pair of holding pieces 11,12 away from each other in the state of, the shape opened of i.e. a pair of holding pieces 11,12
Under state, wire rod 9 is set to enter between a pair of holding pieces 11,12.Pass through the submitting wire rod 9 for making to be arranged at coiling apparatus (not shown) etc.
Nozzle movement or enter wire rod 9 by moving wire rod grasping device 10 itself.
Then, in the state of wire rod 9 enters between a pair of holding pieces 11,12, cam 44 is made again by servo motor 45
Secondary swing offset, so as to make action bars 41 be moved towards the side of cam 44 by the active force of the second helical spring 42.If action bars
41 move to the direction away from manipulator 20, as shown in Fig. 2 the end of action bars 41 is moved to the pressing cover 27 from manipulator 20
Separation, then make sliding bar 24 be exited from main part 23 by the active force of the first helical spring 26.If sliding bar 24 is from main part
23 exit, then a pair of holding pieces 11,12 and a pair of mobile stations 21,22 turn into state closer to each other, i.e. a pair of holding pieces jointly
11st, 12 state closed.
So, it is present in the wire rod 9 between a pair of holding pieces 11,12 by the active force of the first helical spring 26 to compare
Strong power is clamped by a pair of holding pieces 11,12.That is, the effect that a pair of holding pieces 11,12 pass through the first helical spring 26
Power and it is closer to each other, therefore a pair of clampings are present in clamp by chucking power corresponding with the active force of the first helical spring 26
Wire rod 9 between piece 11,12.
In the case where wire rod 9 is flexible, as shown in Fig. 2 enlarged drawing, the section of wire rod 9 is deformed due to elasticity,
The interval A of a pair of holding pieces 11,12 is smaller than the diameter of wire rod.
Herein, as described above, wire rod grasping device 10 can make a pair of holding pieces of opening 11,12 by servo motor 45
Cam 44 be moved to arbitrary position.Therefore, if making the displacement of cam 44 by servo motor 45, if as shown in figure 3, maintaining behaviour
The end for making bar 41 separates tight preceding state from sliding bar 24, then is present in wire rod 9 and Fig. 2 between a pair of holding pieces 11,12
Shown situation compares, and is clamped by the active force of the first helical spring 26 in slightly compressed state.Change speech
It, the wire rod 9 being present between a pair of holding pieces 11,12 is compared with the situation shown in Fig. 2, with a pair of holding pieces 11,12 somewhat
The state of opening is clamped.Therefore, as shown in Fig. 3 enlarged drawing, the interval B of a pair of holding pieces 11,12, which is more than, passes through the first spiral shell
Revolve the active force of spring 26 and make a pair of holding pieces 11, Fig. 2 of 12 wire grippers 9 interval A.
So, in the state of before being separated tightly from sliding bar 24 in the end of action bars 41, in the flexible situation of wire rod 9
Under, as shown in Fig. 3 enlarged drawing, the section of wire rod 9 is deformed due to elasticity, but is compared with the situation shown in Fig. 2, wire rod 9
The deformation of section is smaller.That is, being compared with the situation shown in Fig. 2, wire rod 9 turns into the shape held by weaker chucking power
State.In other words, if in the elastic range of wire rod 9, can be according to the first spiral by making the swing offset of cam 44 and changing
The active force of spring 26 is based more on the chucking power of a pair of holding pieces 11,12 to become.
So, can be according to cam for the wire rod grasping device 10 and wire rod holding method of present embodiment
44 displacement, i.e. sliding bar 24 are driven, so that a pair relative to the advance and retreat of main part 23 to a pair of holding pieces 11,12
Interval variation between holding piece 11,12.Therefore, it is possible to become the hold for the wire rod 9 for being based more on a pair of holding pieces 11,12.Separately
Outside, the displacement of cam 44 can easily be changed using servo motor 45, therefore in wire rod grasping device 10 and wire rod
In holding method, it is capable of the hold of easily change and adjustment holding wire rod 9.
If as a result, by a pair of holding pieces 11,12 than wire gripper 9 strongly, forbidding relative to a pair of the folders of wire rod 9
The movement of piece 11,12 is held, makes a pair of holding pieces 11,12 and the wire rod 9 held jointly mobile, then the wire rod 9 of clamping can be entered
Row bracing wire.Herein, the manipulator 20 of wire rod grasping device 10 is supported by the pivot as to rotate relative to installing plate 13, therefore logical
Overdrive servo motor 18, manipulator 20 is rotated and mobile, for example can be as shown in Fig. 8 A dotted arrow, to line
Material carries out bracing wire with arc-shaped.
In addition, in wire rod grasping device 10, manipulator 20 can along the moving direction with a pair of holding pieces 11,12 and
The orthogonal direction in the two directions of the moving direction of action bars 41, the extension of wire rod 9 i.e. clamped by a pair of holding pieces 11,12
Direction movement.If thus, for example, carrying out bracing wire to the wire rod 9 that a pair of holding pieces 11,12 are held as Fig. 8 A, thereafter such as
Fig. 8 B are pulled like that, then as shown in figure 5, manipulator 20 overcomes the active force of little spring 29 and moved towards the direction of the opposing party.This
When wire rod 9 be pulled by assigning the equal power of active force of manipulator 20 with little spring 29.
If manipulator 20 is moved to the direction of the opposing party, the other end 38b that L-type abuts plate 38 and then can be with crankshaft cheek
37 other end 37b is abutted.Therefore, manipulator 20 can not be moved further towards the direction of the opposing party.Moreover, the state passes through inspection
Sensor 39 is surveyed to detect.Therefore, if detecting that crankshaft cheek 37 abuts the abutting of plate 38 with L-type by detection sensor 39
When, release by the clamping of a pair of holding pieces 11,12 pairs of wire rods 9, then can apply the active force pushed with little spring 29 in wire rod 9
Terminate the bracing wire of wire rod 9 in the state of equal power.
If in addition, as shown in Fig. 2 by a pair of holding pieces 11,12 than wire gripper 9 strongly, forbidding, wire rod 9 is relative
Further pulled in the state of the movement of a pair of holding pieces 11,12, then as shown in Figure 8 C, can also make wire rod 9 in bracing wire
Midway is for example torn in the vicinity of pin 8.
On the other hand, if as shown in figure 3, being allowed by a pair of holding pieces 11,12 with weaker power wire gripper 9
The movement of relative to a pair of holding pieces of wire rod 9 11,12.So, if allowing moving and making a pair of holding pieces 11,12 for wire rod 9
It is mobile, then as in fig. 8d, it can also make the wire rod 9 clamped by a pair of holding pieces 11,12 side between a pair of holding pieces 11,12
Slide and become stretching.
The embodiment ＞ of ＜ the 2nd
Next, reference picture 9 is illustrated to Figure 11 to the wire rod grasping device 10 of the 2nd embodiment of the present invention.With
Under, it is pair attached with the 1st embodiment identical structure mark identical by with being illustrated centered on the 1st embodiment difference
Icon is remembered and omitted the description.
For the manipulator 20 of wire rod grasping device 10, if sliding bar 24 enters main part 23, a pair of mobile stations
21st, 22 (Figure 10) closer to each other, if sliding bar 24 is exited from main part 23, a pair of mobile stations 21,22 separate (Fig. 9) each other.
Therefore, as shown in Figure 10, if making sliding bar 24 enter main part 23, it is arranged at the one of a pair of mobile stations 21,22
Common closer to each other with a pair of mobile stations 21,22 to holding piece 11,12, if there is wire rod 9 between them, wire rod 9 is by one
Holding piece 11,12 is clamped.
In addition, being configured at shape of the first helical spring 26 of the periphery of the sliding bar 24 protruded from main part 23 to be compressed
State is clipped between main part 23 and pressing cover 27.First helical spring 26 will press cover 27 to away from main part by extending force
23 direction is pushed, and sliding bar 24 is pushed to the direction exited from main part 23.Therefore, as shown in figure 9, wire rod grasping device
10 the first helical spring 26 is used as the spring for making direction displacement that a pair of holding pieces 11,12 separate to each other and function.
It is configured with the cylindrical portion 14a of turntable 14：One end can be abutted with being arranged at the pressing cover 27 of sliding bar 24
Action bars 41 and by action bars 41 to away from sliding bar 24 direction push the second helical spring 42.
The drive device 43 of wire rod grasping device 10 possesses：Make the close direction driving to each other of a pair of holding pieces 11,12
Cam 44 and cam 44 is moved to the servo motor 45 of arbitrary position.Cam 44 is plane cam 44, in discoideus plate
Cam 44 installs the rotary shaft 45a of servo motor 45 from the position of center bias.Servo motor 45 is so that its rotary shaft 45a is relative
Installing plate 13 is installed in the mode of cylindrical portion 14a orthogonality of center shaft.Prejudicially it is arranged at the rotary shaft 45a of servo motor 45
Plane cam 44 periphery with from cylindrical portion 14a protrude action bars 41 ends contact.
Next, being illustrated to the wire rod holding method of the wire rod grasping device based on said structure.
Wire rod grasping device 10 is identical with above-mentioned 1st embodiment, and possessing makes cam 44 be moved to desired position
Servo motor 45, therefore make the displacement of cam 44 by using servo motor 45, the holding of a pair of holding pieces 11,12 can be changed
Power.
Specifically, in order to hold wire rod 9, first, as shown in figure 9, servo motor 45 makes the swing offset of cam 44, pass through
The active force of first helical spring 26, makes action bars 41 be exited from main part 23, makes a pair of mobile stations 21,22 and a pair of holding pieces
11st, 12 common remote direction movement to each other.So, the space passed through for wire rod 9 is formed with a pair of holding pieces 11,12.
A pair of holding pieces 11,12 away from each other in the state of, in the state of i.e. a pair of holding pieces 11,12 open, make line
Material 9 enters between a pair of holding pieces 11,12.Moved by the nozzle for the submitting wire rod 9 for making to be arranged at coiling apparatus (not shown) etc.
Move or enter wire rod 9 by making wire rod grasping device 10 itself mobile.
Then, in the state of wire rod 9 enters between a pair of holding pieces 11,12, cam 44 is revolved by servo motor 45
Indexing is moved, and action bars 41 is overcome the active force of the second helical spring 42 and is moved in the way of close to manipulator 20.If in behaviour
Make after bar 41 contacts with the pressing cover 27 of sliding bar 24, further to move action bars 41 in the way of close to manipulator 20, then
Sliding bar 24 enters main part 23.If sliding bar 24 enters main part 23, a pair of holding pieces 11,12 and a pair of mobile stations 21,
22 is common closer to each other.
As a result, as shown in Figure 10, being present in the wire rod 9 between a pair of holding pieces 11,12 with making sliding bar
24 enter the power of main part 23, the corresponding chucking power of stronger power of the position of cam 44 i.e. to be kept by a pair of holding pieces
11st, 12 clamping.
Herein, in the case where wire rod 9 is flexible, as shown in Figure 10 enlarged drawing, the section of wire rod 9 is due to elasticity
Deformation, the interval A of a pair of holding pieces 11,12 is smaller than the diameter of wire rod.It is corresponding with the power that the cam to be made of servo motor 45 44 rotates
Ground produces the chucking power of wire gripper 9 between a pair of holding pieces 11,12.On the other hand, be present in a pair of holding pieces 11,12 it
Between wire rod 9 it is flexible, therefore produce the resistance with the chucking power confrontation of a pair of holding pieces 11,12.Therefore, wire rod 9
When resistance is equal with the chucking power of a pair of holding pieces 11,12, the swing offset of cam 44 stops.As a result, being present in one
Wire rod 9 between holding piece 11,12 is turned into and is clamped by chucking power corresponding with the power of the swing offset of cam 44 to be made
State.
So, also can be by the resistance of wire rod 9 even if making cam 44 continue swing offset by servo motor 45
As a pair of holding pieces 11,12 can not further towards state, i.e. cam 44 can not further rotate the state of displacement.This
When, wire rod 9 is clamped by stronger chucking power.
On the other hand, wire rod grasping device 10 can turn off the cam of a pair of holding pieces 11,12 by servo motor 45
44 are moved to arbitrary position.Therefore, as shown in figure 11, also can be considered as to make cam 44 because of the resistance of wire rod 9
Swing offset stop position it is tight before turn into make the state that the swing offset of cam 44 stops.
In this case, the wire rod 9 being present between a pair of holding pieces 11,12 by the swing offset with cam 44 accordingly
A pair of holding pieces 11,12 close to each other and be clamped.However, in this case, with the comparison shown in Figure 10, wire rod 9 such as Figure 11
Enlarged drawing shown in, in the state of a pair of holding pieces 11,12 are somewhat opened be clamped.That is, such as Figure 11 enlarged drawing
Shown, the interval B of a pair of holding pieces 11,12 in this case is more than the interval A shown in Figure 10 enlarged drawing.
So, in the case where wire rod 9 is flexible, the section of the wire rod 9 clamped by a pair of holding pieces 11,12 becomes
Shape.The deflection of the section of wire rod 9 is different according to the swing offset amount of cam 44, as shown in Figure 10 enlarged drawing, in wire rod 9
Section deformation it is larger in the case of, the chucking power of the wire rod 9 based on a pair of holding pieces 11,12 also becomes big, and such as Figure 11 is put
Shown in big figure, in the case of the deformation of the section of wire rod 9 is less, the chucking power of the wire rod 9 based on a pair of holding pieces 11,12
Diminish.If that is, in the elastic range of wire rod 9, to become one can be based more on according to the swing offset amount of cam 44
To the chucking power of holding piece 11,12.
As described above, in the wire rod grasping device 10 and wire rod holding method of present embodiment, according to cam 44
Displacement, i.e. sliding bar 24 a pair of holding pieces 11,12 are driven relative to the advance and retreat of main part 23 so that a pair of holding pieces
11st, the interval variation between 12.Therefore, it is possible to become the hold for the wire rod 9 for being based more on a pair of holding pieces 11,12.In addition, cam 44
Displacement can easily be changed by servo motor 45, therefore in the wire rod grasping device 10 and line of present embodiment
In material holding method, change and adjustment easily can be carried out to the hold for holding wire rod 9.
In addition, identical with above-mentioned 1st embodiment, manipulator 20 can be along the moving direction with a pair of holding pieces 11,12
And the orthogonal direction in the two directions of the moving direction of action bars 41, wire rod 9 i.e. clamped by a pair of holding pieces 11,12
The direction movement of extension.Therefore, also can be with the work with the imparting manipulator 20 of little spring 29 after bracing wire has been carried out to wire rod 9
Firmly equal power pulls wire rod 9.
More than, embodiments of the present invention are illustrated, but above-mentioned embodiment only shows the present invention's
A part for application examples, is not the purport for the specific structure that the scope of the technology of the present invention is defined to above-mentioned embodiment.
For example, in the above-described embodiment, a pair of holding pieces 11,12 close direction or are separated each other to each other
The spring 26 that direction is pushed is helical spring.Spring is not limited to beyond the helical springs such as helical spring or leaf spring
The spring of form, can be arbitrary form as long as can make a pair of opening and closings of holding piece 11,12.
In addition, in above-mentioned embodiment, plane cam 44 is used as cam.Replace, cam can also be that front is convex
(grooved cam), solid cam are taken turns, can be any form of cam as long as the aperture of a pair of holding pieces 11,12 can be changed.
In addition, in the above-described embodiment, servo motor is used as the motor for making cam 44 be moved to arbitrary position
45.As long as motor can make the swing offset of cam 44 to arbitrary position or the motor of other forms.
In addition, as shown in Fig. 9~Figure 11, in the form for closing a pair of holding pieces 11,12 by cam 44, with passing through
The power that the cam 44 to be made of servo motor 45 rotates accordingly produces the chucking power of wire gripper 9.Therefore, as servo motor 45,
Can also use can change the motor for the moment of torsion that cam 44 to be made rotates, by changing moment of torsion, thus become and be based more on a pair of folders
Hold the hold of the wire rod 9 of piece 11,12.
The application advocates the Patent 2015-125261 applied in Japan's patent Room on June 23rd, 2015 priority, should
Whole contents of application are by referring to introducing this specification.
Claims (according to the 19th article of modification of treaty)
1. a kind of wire rod grasping device, it is characterised in that possess：
Manipulator, it has：The sliding bar set in the way of it can be retreated relative to main part；It is arranged at the main part simultaneously
Can with the entrance of the sliding bar or exit accordingly it is closer to each other come wire gripper a pair of holding pieces；And will be described
The spring that sliding bar is pushed to the direction exited from the main part；And
Drive device, it is arranged at the installing plate for being provided with the manipulator, and the sliding bar is overcome the work of the spring
Firmly enter the main part, so that the pair of holding piece is driven,
The drive device has：
Action bars, its one end faces the jag of the sliding bar, and is arranged at the peace on the extended line of the sliding bar
Fill plate；
Cam, it engages with the other end of the action bars；And
Motor, it makes the cam displacement to arbitrary position.
2. wire rod grasping device according to claim 1, it is characterised in that
If the sliding bar is exited from the main part, the pair of holding piece is orthogonal with the advance and retreat direction of the sliding bar
Direction on movement closer to each other, so as to clamp the wire rod being present between them, if the sliding bar enters the main part,
Then the pair of holding piece is separated each other.
3. wire rod grasping device according to claim 1, it is characterised in that
If the sliding bar is exited from the main part, the pair of holding piece is orthogonal with the advance and retreat direction of the sliding bar
Direction on separate each other, if the sliding bar enter the main part, the pair of holding piece movement closer to each other so that
Clamping is present in the wire rod between them.
4. according to wire rod grasping device according to any one of claims 1 to 3, it is characterised in that
The manipulator with can along the moving direction with the pair of holding piece and the action bars moving direction this two
The mode of the orthogonal direction movement in individual direction is arranged at the installing plate,
The wire rod grasping device is further equipped with：
Little spring, it pushes the manipulator in the way of the manipulator is moved towards the direction of a side；
First stopper member, it forbids making the manipulator move rule towards the direction of a side because of the active force of the little spring
It is more than definite value；And
Second stopper member, it forbids the manipulator to overcome the active force of the little spring and moved towards the direction of the opposing party
It is more than setting.
A kind of (5. after modification) wire rod holding method of wire rod grasping device, the wire rod grasping device possesses：
Manipulator, it has：The sliding bar set in the way of it can be retreated relative to main part；It is arranged at the main part simultaneously
Can with the entrance of the sliding bar or exit accordingly it is closer to each other come wire gripper a pair of holding pieces；And will be described
Either one direction of a pair of holding pieces towards each other in close direction and the two directions of direction separated each other is pushed
Spring；
Cam, it overcomes the active force of the spring to drive the pair of holding piece via the sliding bar；And
Motor, it makes the cam displacement to arbitrary position,
The wire rod holding method is characterised by,
Make the cam displacement to change the hold of the pair of holding piece by using the motor.
Claims (5)
1. a kind of wire rod grasping device, it is characterised in that possess：
Manipulator, it has：The sliding bar set in the way of it can be retreated relative to main part；It is arranged at the main part simultaneously
Can with the entrance of the sliding bar or exit accordingly it is closer to each other come wire gripper a pair of holding pieces；And will be described
The spring that sliding bar is pushed to the direction exited from the main part；And
Drive device, it is arranged at the installing plate for being provided with the manipulator, and the sliding bar is overcome the work of the spring
Firmly enter the main part, so that the pair of holding piece is driven,
The drive device has：
Action bars, its one end faces the jag of the sliding bar, and is arranged at the peace on the extended line of the sliding bar
Fill plate；
Cam, it engages with the other end of the action bars；And
Motor, it makes the cam displacement to arbitrary position.
2. wire rod grasping device according to claim 1, it is characterised in that
If the sliding bar is exited from the main part, the pair of holding piece is orthogonal with the advance and retreat direction of the sliding bar
Direction on movement closer to each other, so as to clamp the wire rod being present between them, if the sliding bar enters the main part,
Then the pair of holding piece is separated each other.
3. wire rod grasping device according to claim 1, it is characterised in that
If the sliding bar is exited from the main part, the pair of holding piece is orthogonal with the advance and retreat direction of the sliding bar
Direction on separate each other, if the sliding bar enter the main part, the pair of holding piece movement closer to each other so that
Clamping is present in the wire rod between them.
4. according to wire rod grasping device according to any one of claims 1 to 3, it is characterised in that
The manipulator with can along the moving direction with the pair of holding piece and the action bars moving direction this two
The mode of the orthogonal direction movement in individual direction is arranged at the installing plate,
The wire rod grasping device is further equipped with：
Little spring, it pushes the manipulator in the way of the manipulator is moved towards the direction of a side；
First stopper member, it forbids making the manipulator move rule towards the direction of a side because of the active force of the little spring
It is more than definite value；And
Second stopper member, it forbids the manipulator to overcome the active force of the little spring and moved towards the direction of the opposing party
It is more than setting.
5. a kind of wire rod holding method, it is characterised in that possess：
A pair of holding pieces, they are closer to each other, so as to clamp the wire rod being present between them；Spring, it is by the pair of folder
Either one direction of the piece towards each other in close direction and the two directions of direction separated each other is held to push；Cam, its
Overcome the active force of the spring to drive the pair of holding piece；And motor, it makes the cam displacement to arbitrary position
Put,
Make the cam displacement to change the hold of the pair of holding piece by using the motor.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015125261A JP6460923B2 (en) | 2015-06-23 | 2015-06-23 | Wire holding apparatus and wire holding method |
| JP2015-125261 | 2015-06-23 | ||
| PCT/JP2016/066145 WO2016208339A1 (en) | 2015-06-23 | 2016-06-01 | Wire gripping device and wire gripping method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107112127A true CN107112127A (en) | 2017-08-29 |
| CN107112127B CN107112127B (en) | 2018-09-25 |
Family
ID=57586188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680003445.2A Active CN107112127B (en) | 2015-06-23 | 2016-06-01 | Wire rod grasping device and wire rod holding method |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6460923B2 (en) |
| KR (1) | KR102006011B1 (en) |
| CN (1) | CN107112127B (en) |
| WO (1) | WO2016208339A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111091934A (en) * | 2019-12-30 | 2020-05-01 | 季华实验室 | One-to-many wire bundle clamping method |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826774B (en) * | 2017-04-07 | 2023-07-28 | 深圳市爱康生物科技股份有限公司 | Mechanical gripper capable of continuously rotating |
| CN107685339A (en) * | 2017-08-29 | 2018-02-13 | 南阳理工学院 | A kind of mechanical grip for machine-building |
| TWI808983B (en) * | 2017-09-08 | 2023-07-21 | 日商索尼股份有限公司 | Manufacturing method of robot hand, robot device and electronic equipment |
| CN107954202A (en) * | 2017-10-26 | 2018-04-24 | 苏州立禾生物医学工程有限公司 | A kind of swing arm manipulator |
| CN109229597B (en) * | 2018-09-20 | 2024-02-09 | 内黄县阳光机械有限责任公司 | Rod tying robot |
| KR102261086B1 (en) * | 2018-12-20 | 2021-06-04 | 한국전자기술연구원 | Low-cost robot gripper capable of gripping force control |
| TWI727791B (en) * | 2019-12-20 | 2021-05-11 | 財團法人工業技術研究院 | Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same |
| US11685104B2 (en) | 2019-12-20 | 2023-06-27 | Industrial Technology Research Institute | Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same |
| TWI772991B (en) | 2020-12-02 | 2022-08-01 | 財團法人工業技術研究院 | Braiding path generation method and device, and dynamic correction method and braiding system |
| CN113511551A (en) * | 2021-04-25 | 2021-10-19 | 深圳技术大学 | Manipulator for packaging and assembling linear flexible body |
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- 2016-06-01 KR KR1020177011550A patent/KR102006011B1/en active IP Right Grant
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- 2016-06-01 CN CN201680003445.2A patent/CN107112127B/en active Active
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| JPH01261836A (en) * | 1988-04-12 | 1989-10-18 | Mitsubishi Electric Corp | Wire bonding device |
| JPH07176561A (en) * | 1993-12-21 | 1995-07-14 | Fujitsu Miyagi Electron:Kk | Wire bonder |
| JP2002224985A (en) * | 2001-01-31 | 2002-08-13 | Sunroots Kk | Electric motor chuck |
| CN1535336A (en) * | 2001-02-16 | 2004-10-06 | 艾罗帕股份有限公司 | Method for inserting weft threads |
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| CN111091934A (en) * | 2019-12-30 | 2020-05-01 | 季华实验室 | One-to-many wire bundle clamping method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016208339A1 (en) | 2016-12-29 |
| CN107112127B (en) | 2018-09-25 |
| JP6460923B2 (en) | 2019-01-30 |
| JP2017011106A (en) | 2017-01-12 |
| KR20170066494A (en) | 2017-06-14 |
| KR102006011B1 (en) | 2019-07-31 |
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