JP2000136015A - Feed method of work and gripper feed device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To drive by a high speed and control the stroke of a feed by grasping and feeding a work by a chuck, then grasping by a cramp arm operated by a drive table and moving in a straight line and feeding a variable table by an actuator. SOLUTION: A work 27 is pitch-fed by a slider 7 and chuck arm 10 and then grasped by the cramp consisting of a cramp bearing 23 and variable table 24 anew and fed correctingly by an actuator 26. In other words, the feed stroke of the movable table 24 as well as the work 27 can be controlled by controlling the drive of the actuator 26. Thus, by combining the feed using the cam favorable to a high speed feed with the feed using the actuator favorable to a control feed, the controlled feed with a high speed is obtained and this action can be realized.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work feeding method and a gripper feed device, and more particularly to a work feed method and a gripper feed device capable of controlling a work feed stroke.

[0002]

2. Description of the Related Art A conventional cam-driven gripper feeder has the advantages of a cam drive that has a smooth operation with no impact due to a cam curve, has little load fluctuation, and has good repetition accuracy. It is known as an advantage of a gripper feed device using a cam drive system. In addition, the movable range of each working end, that is, the stroke is determined by the cam drive, so that another operation can be started before the operation is completed. Driving is easy.

On the other hand, in the gripper feed device using the actuator drive system, the advantage of the actuator drive that the feed stroke can be easily controlled is as it is.
It is known as an advantage of a gripper feed device using an actuator drive system.

[0004]

However, in the gripper feed device of the cam drive type, the feed stroke by the cam drive is fixed by the lift amount of the cam, so that the feed stroke cannot be controlled.

Further, in the gripper feed device of the actuator drive type, when the high-speed drive is stopped, an impact is involved, and the operation time is uncertain. Therefore, other operations are started after the operation of the gripper feed device is completed. Therefore, there is a surface that is not suitable for high-speed driving as a system.

Since cam drive and actuator drive have contradictory characteristics, it has been conventionally difficult to satisfy both high-speed drive and feed stroke control.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above drawbacks and to provide a method which enables both high-speed driving and control of a feed stroke, and a gripper feed device which embodies the method.

[0008]

According to the present invention, a workpiece is gripped and fed by a rotating cam and a chuck driven by a cam follower, and then the movable table and other rotating cams and cam followers. The workpiece can be gripped by the clamp arm operated by the actuator and fed by linearly moving the movable table by an actuator.

Further, the present invention has first to third cams and a cam follower that rotate in synchronization with each other, and the first cam, a slider that reciprocates linearly by the cam follower, and a second cam. A third arm including a chuck arm operated by the cam follower, a chuck opened and closed by the chuck arm and the slider, and a gripper for gripping and feeding the workpiece, and a third arm operated by the cam follower;
Provided is a gripper feed device including a movable table linearly moved by an actuator, and a clamp that is opened and closed by the movable table and a clamp arm, and that grips and feeds a work.

[0010]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a configuration diagram of a gripper feed device according to the present invention. The configuration and operation of the gripper feed device will be described with reference to FIG. In FIG. 1, the first cam shaft 1, the second cam shaft 12, and the third cam shaft 18
Rotate synchronously. (In the following description, the expressions of “first,” “second,” and “third” are omitted except where particularly necessary.) By rotating the cam 13 with the cam shaft 12 as the axis, The linearly driven follower 16 reciprocates linearly. A linear motion shaft 15 guided by a linear motion guide 17 is attached to the linear motion follower 16. The chuck arm 10 makes a swinging motion with the swinging fulcrum 9 as a fulcrum through the cam follower 11 in contact with the linearly driven follower 16. Chuck arm 1
Numeral 0 constitutes a chuck together with the slider 7 and has a function of holding or releasing the work 27.

On the other hand, the swing arm 4 having the swing fulcrum 3 as a fulcrum by rotating the cam 2 about the cam shaft 1 as an axis,
It swings through a cam follower 5 in contact with the cam 2.
Through the swing motion of the cam follower 6 at the other end of the swing arm 4, the slider 7 guided by the linear guide 8 reciprocates linearly. The slider 7 has a chuck arm 10
At the same time, it is configured to hold the work 27 and perform pitch feed, that is, constant stroke feed.

The rotation of the cam 19 about the cam shaft 18 causes the clamp arm 21 having the swing fulcrum 20 as a fulcrum to swing through a cam follower 22 in contact with the cam 19. The clamp formed by the clamp bearing 23 disposed at the other end of the clamp arm 21 and the movable table 24 has a function of gripping or releasing the work 27.

The movable table 24 is guided by a linear guide 25 and is connected to an actuator 26. The work 27 gripped by the clamp including the clamp bearing 23 and the movable table 24 is corrected and fed by moving the movable table 24 by the actuator 26.

As described above, the work 27 is mounted on the slider 7.
And a pitch feed by the chuck arm 10, and subsequently gripped again by the clamp including the clamp bearing 23 and the movable table 24.
The correction feed is performed by 6. That is, the actuator 2
6, the movable table 24,
Accordingly, the feed stroke of the work 27 can be controlled.

[0016]

EXAMPLES The details of this embodiment will be described below with reference to examples.

FIGS. 2 and 3 are a timing diagram and an operation explanatory diagram, respectively, of an example in which the gripper feed device is applied to punching by a press.

The press employs a slider crank mechanism. The angle shown in FIGS.
Degree.

As described with reference to FIG. 1, the slider is constituted by the slider 7 and the chuck arm 10, and the movable table 24 and the clamp bearing 23 constitute the clamp.

At a press angle of 0 °: the press starts to descend at the top dead center, the chuck closes, and the work 27 is gripped.
The clamp starts to open.

At a press angle of 30 degrees: the clamp is in the process of opening, but the work 27 is released and the chuck starts pitch feeding.

At a press angle of 60 degrees: During the pitch feed operation by the chuck, the clamp is completely opened, and the movable table 24 starts returning to the home position.

At a press angle of 90 degrees: During the pitch feed operation by the chuck, the movable table 24 is returning to the origin.

At a press angle of 120 degrees: During the pitch feed operation by the chuck, the clamp starts to close, and the movable table 24 completes the return to origin.

At a press angle of 150 degrees: pitch feed by the chuck is completed, the clamp is in the process of closing, the upper mold 29 starts to contact the work 27, and punching is started.

At a press angle of 180 degrees: the punching is completed at the bottom dead center, the clamp is closed and the work 27 is closed.
And the chuck begins to open.

At a press angle of 210 degrees: the upper mold separates from the work 27, the chuck begins to return and is in the process of opening, but the work 27 is released. The movable table 24 of the clamp starts to move, and correction feeding of the work 27 starts.

At a press angle of 240 degrees: the chuck is in the return operation, has finished opening and is in the process of correction feeding by means of the movable table 24.

At a press angle of 270 degrees: The chuck is in a return operation and is in the process of correcting and feeding by the movable table 24.

At a press angle of 300 degrees: the chuck is returning and starts to close, completing the correction feed with the movable table 24.

At a press angle of 330 degrees: the chuck has completed its return operation and is in the process of closing.

At a press angle of 360 degrees: the same state as at a press angle of 0 degrees. The following is a repetitive operation.

As described above, the constant and large pitch feed is performed at a high speed by the cam drive, and then, during the return stroke of the cam, an arbitrary stroke is fed by the actuator, thereby at a high speed and The feed stroke can be controlled.

[0034]

As described above, according to the present invention,
By combining feed using a cam that is advantageous for high-speed feed and feed using an actuator that is advantageous for control feed, high-speed and controlled feed can be performed, and a gripper feed device that realizes this operation can be realized. .

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a gripper feed device according to the present invention.

FIG. 2 is a timing chart when the gripper feed device is applied to punching by a press.

FIG. 3 is an explanatory diagram of an operation when the gripper feed device is applied to punching by a press.

[Explanation of symbols]

 1, 12, 18 cam shaft 2, 13, 19 cam 3, 9, 20 swing fulcrum 4 swing arm 5, 6, 11, 14, 22 cam follower 7 slider 8, 17, 25 linear guide 10 chuck arm 15 straight Active shaft 16 Linear driven follower 21 Clamp arm 23 Clamp bearing 24 Movable table 26 Actuator 27 Work 28 Lower mold 29 Upper mold

Claims (2)

[Claims] 1. A workpiece is gripped and fed to a chuck driven by a rotating cam and a cam follower, and then moved by a movable table and another rotating cam and a clamp arm operated by the cam follower. And feeding the movable table by linearly moving the movable table by an actuator. 2. A slider having first to third cams and cam followers rotating in synchronization with each other, a slider reciprocating linearly by the first cam and the cam followers, the second cam and the cams A chuck arm that is operated by a follower, a chuck that is opened and closed by the chuck arm and the slider, and grips and feeds a work; a clamp arm that is operated by the third cam and the cam follower; Movable table,
And a clamp which is opened and closed by the movable table and the clamp arm and grips and feeds the work.