JP2005153040A - Gripping device for cylinder block - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gripping device for a cylinder block capable of gripping workpieces of a plurality of types even though it has a simple structure without requiring a slide rail or the like and without consideration on a one-sided expansion phenomenon and air leakage or the like. <P>SOLUTION: The gripping device 10 for a cylinder block is composed of a gripping mechanism 11 and a positioning means 12. The positioning means 12 is a member which brings down a pair of positioning pieces 37 from a substrate 15, inserts it to a sleeve 45, and regulates the lateral movement to the cylinder block 13 with a pair of the positioning pieces 37 in order to execute the positioning. The positioning piece 37 has the following constitution. The positioning piece 37 is a laminated body 36 formed by laminating pieces of a plurality of sizes so as to match with the magnitude of pitches of the sleeve 45. The laminated body 36 is made to selectively face the sleeve by using a laminated body moving means 34 provided to the substrate 15. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a cylinder block gripping apparatus that can grip a cylinder block having a plurality of sleeves and that can grip a cylinder block corresponding to a plurality of types of cylinder blocks.

Conventionally, as a mechanism for gripping a workpiece, there is known a workpiece gripping mechanism including a pair of gripping portions that can be expanded and contracted in the axial direction at the tip of a robot hand and a spacing adjusting portion of the workpiece gripping portion that adjusts the spacing between the gripping portions. (For example, refer to Patent Document 1).
JP 2002-283263 A (FIG. 1)

Patent document 1 is demonstrated based on the following figure.
FIG. 10 is a diagram for explaining the basic principle of the prior art. The workpiece gripping mechanism 100 is provided with a first gripping portion 113 fixedly attached to a common plate 112, a rail 114, a slider 115, and a moving means 117. It is a component composed of the second gripping part 116 and the like that are movably attached.

  And the 1st holding part 113 consists of the bracket 118 and the balloon 119 provided in the front-end | tip of this bracket 118, Although the balloon 119 is deflated in a figure, it can be inflated as shown by an imaginary line with a gas pressure. Expanded parts. The second grip 116 is also composed of a bracket 121 and a balloon 122.

  The second gripping portion 116 is moved until the required distance L1 is reached by the rail 114 and the slider 115 forming the interval adjusting portion of the workpiece gripping mechanism, and is lowered to the portion where the first and second gripping portions 113 and 116 are gripped. Next, the workpiece 125 is gripped by inflating the balloon 119 and the balloon 122 which are a pair of gripping portions that can be expanded and contracted in the gripping axis direction.

However, in such a gripping part, when the workpiece model is changed and the sleeve pitch changes, it is necessary to change the distance between the first and second gripping parts 113 and 116 using the moving means 117. Therefore, the slide rail 114 and the like are also required.
Furthermore, according to the gripping means using the balloons 119 and 122, it is necessary to always consider the so-called one-inflation phenomenon in which one of the two balloons does not expand depending on the frequency of use, air leakage, and the like.

  It is an object of the present invention to provide a cylinder block gripping device that can grip a plurality of types of workpieces while not requiring consideration for a single expansion phenomenon, air leakage, etc., and having a simple structure without a slide rail or the like. And

  According to the first aspect of the present invention, a cylinder block having a plurality of sleeves is to be gripped, a substrate is placed on the upper surface of the cylinder block, a lifting / lowering claw driving means is mounted on the substrate, and the lifting / lowering claw driving means is lowered freely. In the gripping device of the type in which the lifting / lowering claw is inserted into the sleeve and hung on or near the lower end of the sleeve, and the cylinder block is sandwiched between the lifting / lowering claw and the substrate, the gripping device lowers the pair of positioning pieces from the substrate. In addition, one positioning piece is inserted into the sleeve, the other positioning piece is inserted into another sleeve, and the substrate is positioned relative to the cylinder block by restricting lateral movement relative to the cylinder block with the pair of positioning pieces. The positioning piece has a first pin for a cylinder block having a small sleeve pitch. And a second piece for a cylinder block having a larger sleeve pitch is laminated from the bottom to the top to form a laminated body in which two or more pieces are laminated. It is characterized in that it is configured to selectively face the sleeve using the provided laminate moving means.

  In the invention according to claim 1, the positioning piece is a laminated body in which a plurality of pieces corresponding to the pitch size of the sleeve are laminated from the bottom to the top, and this laminated body is selected using a laminated body moving means provided on the substrate. It was configured to face the sleeve.

The positioning means is a means composed of a laminate moving means and a laminate attached to the substrate, and is simply configured. That is, the laminate moving means is a member having a function of changing the position of the laminate with respect to the lower surface of the substrate.
When changing the model, it is only necessary to change the position of the laminate with respect to the substrate by the positioning means, and positioning corresponding to a plurality of types of workpieces can be easily performed while having such a simple structure. Furthermore, there is an advantage that consideration for air leakage or the like is unnecessary.

The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. The drawings are viewed in the direction of the reference numerals.
FIG. 1 is a side view of a gripping device for a cylinder block (hereinafter referred to as a block) according to the present invention. The gripping device 10 for a cylinder block includes a gripping mechanism 11 and positioning means 12.

  The gripping mechanism 11 slides from the substrate 15 in contact with the upper surface 14 of the block 13, the gripping column member 16 raised from the substrate 15, the pressing plate 17 fixed on the gripping column member 16, and the pressing plate 17. Left and right lifting / lowering claw driving means 19 suspended with the sliding rod 18 facing downward, a connecting member 22 attached to the tip of the sliding rod 18 by a fastening member 21, and a lifting / lowering claw pin 23 on the connecting member 22 Elevating elevating claws 24L, 24R, a long hole 25 opened in the middle of the elevating claws 24L, 24R, a guide pin 27 penetrating through the elongate hole 25, suspended from the elevating claw driving means 19, and a guide pin 27 and a lower arm 28 for supporting 27.

On the other hand, the positioning means 12 includes a side arm member 31 mounted on the substrate 15, a stacked body moving means 34 that fixes the rod portion 32 that slides on the side arm member 31 so as to face downward, and the rod portion 32. The connection piece 35 previously attached and a positioning piece 37 formed by laminating a plurality of pieces to form a laminated body 36 and attaching to the connection piece 35 to correspond to each sleeve size of the workpiece.
In addition, the column member 41 was raised from the substrate 15, the upper plate 42 was attached to the upper end portion of the column member 41, and the arm 43 of the transfer conveyor was attached to the upper surface of the upper plate 42.

  The positioning means 12 lowers the pair of positioning pieces 37 from the substrate 15, inserts one positioning piece 37 into the sleeve 45, and inserts the other positioning piece 37 into another sleeve 45. It is a member that positions the substrate 15 with respect to the block 13 by restricting lateral movement with respect to the block 13.

  The positioning piece 37 is formed by laminating a first piece 46, a second piece 47, and a third piece 48 having the largest pitch from the bottom to the top in order from the smallest pitch to the largest size of the sleeve 45. The laminated body 36 was configured to selectively face the sleeve using the laminated body moving means 34 provided on the substrate 15.

  FIG. 2 is a bottom view of a positioning piece according to the present invention. The positioning piece 37 includes a first piece 46 for a block having a small sleeve 45 pitch and a second piece 47 for a block having a larger sleeve pitch. And the third piece 48 for the block having the largest sleeve pitch.

  The imaginary line block 13 shows the block having the largest sleeve pitch, and indicates that the sleeve 45 of this block has been positioned by the third piece 48 of the positioning piece 37 forming the positioning pieces 46, 47, 48. Show.

  FIG. 3 is a principle view of the positioning means. A side arm member 31 is attached on the substrate 15, and a laminated body moving means 34 is attached to the side arm member 31 with the rod portion 32 facing downward. The laminated body 36 was fastened by the fastening means 38 via the connection piece 35 to the tip. In the drawing, it is shown that the third piece 48 of the laminated body is in a position where the block of the corresponding model can be positioned.

  When the laminated body 36 is raised by the stroke S by the laminated body moving means 34, the position shown by an imaginary line is obtained, and the first piece 46 of the laminated body is a position where the block of the corresponding model can be positioned.

As described above, the positioning means 12 is simply configured by means including the laminate moving means 34 and the laminate 36 attached to the substrate 15. That is, while having such a simple configuration, the stack moving means 34 can easily perform positioning corresponding to a plurality of types of workpieces by changing the position of the stack 36 with respect to the lower surface 49 of the substrate.
In the present embodiment, the laminate moving means 34 is an air cylinder, but is not limited to this means. For example, a laminate moving means using a hydraulic cylinder or an electric motor can be appropriately selected.

FIG. 4 is an operation diagram of the block positioning laminate.
In (a), when positioning the block having the sleeve diameter D1, the rod portion 32 of the laminate moving means is raised, and the first piece 46 of the laminate having a size close to the sleeve diameter D1 is aligned with the sleeve 45a. Can be positioned.

In (b), when positioning the block having the sleeve diameter D2, the rod portion 32 of the stacked body moving means is lowered. Then, the lower surface end face of the third piece 48 of the laminated body hits the upper surface of the cylinder block, the rod part 32 can be pushed up, and the second piece 47 of the laminated body can be arranged at a predetermined position.
That is, the second piece 47 of the laminated body having a size close to the sleeve diameter D2 can be aligned with the sleeve 45b and positioned.
In (c), when positioning the block having the sleeve diameter D3, the rod portion 32 of the laminate moving means is moved up and down, and the third piece 48 of the laminate having a size close to the sleeve diameter D3 is adjusted to the sleeve 45c. Can be positioned.

  In this case, the stack moving means used is an air cylinder that controls the two positions of the rising end and the falling end, but in addition to the rising end and the falling end, the rising end and the falling end are used as necessary. It is possible to use an air cylinder of a type that can control the three positions of the intermediate point between the ends.

FIG. 5 is a side view of the gripping means according to the present invention. The substrate 15 is placed on the upper surface of the block 13, the lifting / lowering claw driving means 19 is mounted on the substrate 15, and is lowered from the lifting / lowering claw driving means 19 so as to be raised and lowered. The lifting / lowering claw 24 is inserted into the sleeve 45 and is hung on the vicinity of the lower end of the sleeve 45 or on the journal surface 51 to indicate that the block 13 is sandwiched between the lifting / lowering claw 24 and the substrate 15.
In the figure, the lifting claw 24R arranged on the right side grips the block 13.

  The lifting claws 24 are provided on the left and right sides of 24L and 24R. However, due to the difference in the inner diameter of the journal surface 51 and the position in the height direction of the block of the corresponding model, the inner diameter of the journal surface 51 of the block to be gripped, and It is gripped by either one of the right and left lifting claws 24L or 24R set in advance so as to match the position in the height direction.

Returning to FIG. 1, the lifting claw 24 </ b> L disposed on the left side grips the block 13.
Although the lifting / lowering claw 24L arranged on the left side shows the state of gripping the block 13, the inner diameter of the journal surface 51 shown in FIG. 5 can be obtained by utilizing either the left / right lifting / lowering claw 24L or 24R having different specifications. And a block having a different specification from the position in the height direction can be gripped.
The operation of the lifting / lowering claw 24 that holds a plurality of types of blocks will be described in detail with reference to FIG.

  6 is a cross-sectional view taken along line 6-6 in FIG. 5. A connecting member 22 is attached to the tip of the sliding rod 18 of the lifting / lowering claw driving means 19 via a fastening member 21, and a claw pin 23 is attached to the connecting member 22. The lifting / lowering claw 24 is rotatably attached via the guide pin 27 and the guide pin 27 is passed through the long hole 25 opened in the middle of the lifting / lowering claw 24, and the left and right sides of the guide pin 27 are suspended from the lifting / lowering claw driving means 19. This shows that the lower arm 28 slidably holds the both side surfaces 26 of the elevating claw 24.

7 is a cross-sectional view taken along the line 7-7 in FIG. 6. The elevating claw 24 is attached to the tip of the connecting member 22 via the claw pin 23, and the guide pin 27 is installed in the elongated hole 25 opened in the middle portion of the elevating claw 24. Install it through. This guide pin 27 was fixed to the lower arm 28.
When the lifting / lowering claw 24 is lifted / lowered by the lifting / lowering claw driving means 19, the lifting / lowering claw 24 moves in accordance with the lifting / lowering movement of the lifting / lowering claw 24 due to the interaction between the elongated hole 25 and the guide pin 27 having a required length and shape. It is possible to control the position and angle of the toe surface 52 that is formed at the tip and contacts the journal surface 51 of the workpiece.

FIG. 8 is an operation diagram of the lifting / lowering claw, and the corresponding lifting / lowering claw 24 and the elongated hole 25 of the lifting / lowering claw are configured so that a plurality of types of blocks can be gripped.
(A)-(c) shows holding the block whose journal diameter is D1.
(D) indicates that a block having a journal diameter D, which is a model different from this model, is gripped.

In (a), it is shown that the raising / lowering claw 24 is lowered and inserted into the sleeve of the block, and the toe surface 52 of the raising / lowering claw is brought close to the journal surface 51. At this time, the angle of the toe surface 52 with respect to the horizontal direction is θ.
In (b), when the elevating claw 24 is raised, the elongated hole 25 formed in the elevating claw 24 is guided by the reference guide pin 27, and the toe surface 52 rises and changes its direction. The angle of the toe surface 52 with respect to the horizontal direction is 0 (zero).

In (c), when the lifting / lowering claw 24 is further raised, the journal surface 51 is gripped at an angle of zero.
In (d), the journal diameter is D, but D <D1 indicates that the block 13 is gripped.

When the lifting / lowering claw 24 is raised, the elongated hole 25 formed in the lifting / lowering claw 24 is guided by the reference guide pin 27, and the toe surface 52 is raised.
A plurality of types of blocks can be gripped by the gripping mechanism 11 in which the long hole 25 having such a length and shape and the guide pin 27 are combined.
Returning to FIG. 1, it is possible to further expand the target model by selectively utilizing the two right and left lifting claws 24L and 24R.

FIG. 9 is an operation diagram of the cylinder block gripping device.
In (a), it is shown that the gripping device 10 is set above the block 13. At this time, the right and left lifting claws 24 of the gripping mechanism are lowered and are in a non-gripping position.
Here, the positioning piece 37 of the positioning means 12 is raised with respect to the lower surface 49 of the substrate so that the first piece 46 of the positioning piece 37 fits into the sleeve 45 of the block.

In (b), it is shown that after the adjustment of the positioning means 12 is completed, the lower surface 49 of the substrate on which the arm 43 of the conveyor is attached to the arm 43 of the conveyor is lowered to the upper surface 14 of the block.
The first pieces 46 of the positioning pieces 37 provided on the left and right are fitted into the sleeve 45 of the block, and the substrate 15 is positioned with respect to the block 13.

In (c), it is shown that the lifting / lowering claw driving means 19 corresponding to the corresponding model of the gripping mechanism 11 is raised and the block 13 is gripped by applying the toe surface 52 of the lifting / lowering claw to the journal surface 51.
One cycle of operation is completed by raising the gripping device 10 that grips the block 13.

When changing the model, it is only necessary to change the position of the laminated body 36 with respect to the substrate 15 by the positioning means 12, and it is possible to easily perform positioning corresponding to a plurality of types of workpieces with such a simple structure. According to the gripping device of the present invention, consideration for air leakage or the like is not necessary.
The laminated body according to claim 1 may be a stepped member cut out from a block.

  The cylinder block gripping device of the present invention is suitable for a device for gripping cylinder blocks of a plurality of types of engines.

It is a side view of the holding device of the cylinder block concerning the present invention. It is a bottom view of the positioning piece which concerns on this invention. It is a principle diagram of the positioning means. It is an effect | action figure of the laminated body for block positioning. It is a side view of the holding means according to the present invention. FIG. 6 is a sectional view taken along line 6-6 of FIG. FIG. 7 is a cross-sectional view taken along line 7-7 in FIG. 6. It is an effect | action figure of a raising / lowering nail | claw. It is an effect | action figure of the holding apparatus of a cylinder block. It is a figure explaining the basic principle of the prior art.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Clamping device of cylinder block, 11 ... Holding mechanism, 12 ... Positioning means, 15 ... Substrate, 18 ... Sliding rod, 24 ... Lifting claw, 25 ... Long hole, 27 ... Guide pin, 32 ... Rod member, 34 ... Rod member 36 ... Laminated body 37 ... Placement piece 46 ... First piece 47 ... Second piece 48 ... Third piece 51 ... Journal surface 52 ... Toe surface

Claims (1)

A cylinder block having a plurality of sleeves is to be gripped, a substrate is placed on the upper surface of the cylinder block, a lifting claw lowered from the base is freely inserted into the sleeve, and hung at or near the lower end of the sleeve. In the gripping device of the type that sandwiches the cylinder block with the substrate,
The gripping device lowers a pair of positioning pieces from the substrate and inserts one positioning piece into the sleeve, and inserts the other positioning piece into another sleeve. Positioning means for positioning the substrate with respect to the cylinder block by restricting the movement of
Two or more positioning pieces may be laminated in a form in which a first piece for a cylinder block with a small pitch of the sleeve and a second piece for a cylinder block with a larger pitch of the sleeve are stacked from the bottom to the top. A cylinder block gripping device comprising a laminate in which a larger number of pieces are laminated, and the laminate is selectively faced to a sleeve using a laminate moving means provided on a substrate.

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