JP2601533Y2 - Clamping device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a clamp device, and particularly to a high output power suitable for gripping heavy objects such as steel materials .
One relates to a clamp device of a small form.

[0002]

2. Description of the Related Art Generally, a clamp device is described in a literature (INTERNAT
IONAL ENCYCLOPEDIA OF ROBOTICS Aplications and Aut
11 using the link mechanism shown in FIG. 8 to FIG. 10 described in FIG.
Is used as it is. FIG. 8 shows a clamp device of a slider mechanism. When a piston 111 such as a hydraulic cylinder is moved rightward in the drawing, the piston 1
11 are connected by pin 112 to and fixed support A1, A2
In swingably supported crank 113, 114 is rotating <br/>, gripping members 115, 116 which is fixed to the distal end of the crank 113 and 114 is operated in the closing direction (direction of the arrow Y).
Figure 9 is a clamping device of the swing block mechanism, when the piston is moved 121 such as a hydraulic cylinder the left side, fixed linked crank 122 to the piston 121,
123 moves to the left. With this movement, the fixed fulcrum A
3, while being supported rotating freely proximal in A4, <br/> the direction in which the lever 124 and 125 coupled in pivotally node 3, 3 'at the tip of the crank 122 and 123 approach each other times to transfer. As a result, the grip members 126 and 127 fixed to the tips of the levers 124 and 125 operate in the closing direction (Y in the arrow direction).

[0003] Figure 10 is a clamping device of the parallel link mechanism, moving the piston 131 such as a hydraulic cylinder the left side, have intermesh with the rack gear 132 has been made cut in attached to the piston 131, and fixed support A5 , A6
Pinion gear 133 supported by the arrow direction (Z direction)
To twice rotation. This rotation, based on the pinion gear 133
Each pin linked levers 135, 136 and parallel link end 134 and 137 are rotating, the lever 134 to 1
The gripping members 138 and 139 joined to the distal end of the 37 operate in the closing direction (Y in the arrow direction). FIG. 11 shows a clamping device including a gripper that slides. When a piston 141 such as a hydraulic cylinder is moved to the right in the figure, a gripping member 142 attached to the piston 141 is moved to the right, and another gripping member 143 fixed to the piston 141 is moved. In the closing direction (arrow direction Y).

[0004]

However, first, in the constructions of FIGS. 8 to 10 described above , when the output of one cylinder or the like (or the output from an alternative mechanism) allows the article to move freely, a plurality of outputs are required. Although there is an advantage that the article can be gripped at the point of action and the output can be increased by the link, when one point of action (one gripping member) is fixed, the other point of action (the other gripping member) is also fixed. Because the fixed thing
The product cannot be gripped. Also, for example , with the clamp device of FIG.
As shown in FIG. 12, which is an explanatory diagram when the same surface is pressed ,
It is not suitable for a case where a certain surface M of the article 118 is pressed and gripped at a plurality of points (a ) and ( b). That is , when one surface N of the article 118 is fixed by the reference plate surface 119, the other surface M is moved to the plurality of gripping members 115, 11
Since the gripping members 115 and 116 when pressed by 6 it does not operate separately, one of the gripping member 115 when the abutment, not press not a face M at the other gripping member 116. At this time, a plurality similarly even when there are variations such as parallelism or thickness of the other surface M (i), the surface M without pressing at the point of application of (b), the article weight, etc. There is a problem that flickering cannot be performed sufficiently. Second, in the configuration shown in FIG. 11 , when a large output is required to use the output of the cylinder or the like as it is, the output of the cylinder or the like or the rotary actuator must be increased accordingly. not, therefore gripping device with <br/> device profile becomes larger it is that a problem to the large formulated. Also, when gripping an article at multiple points of action,
A plurality of output devices corresponding to the plurality of gripping is required, the same gripping device itself that problem to a large formulated. In particular, when gripping the H-shaped steel of Steel Joint part etc., is the heavy H-beam, and for grasping the shape is complicated, the conventional gripping device there is a problem that can not be reliably grip the H-beams .

[0005] The present invention includes a purpose of providing the focus on the problems of the prior art, high output compact to grip the weight of steel material, and a plurality of clamping devices which can be simultaneously gripped in correspondence with the point you.

[0006]

Means for Solving the Problems To achieve the above object,
Therefore, the clamp device of the present invention
Hold the object between the materials or hold the object to be gripped
In a clamp device that presses and grips a reference member with a material
The center of the plate with two gripping members at the tip
When crossing each other and connecting the crossed parts with pins
In both cases, a telescopic device is installed between the rear ends of each plate
Use at least two or more clamping devices.
An object to be gripped by the ramp device from another direction
Or hold the object to be gripped with the gripping member.
Each of the clamp devices is attached to the turning member so as to be pressed against and held against the reference member, and the clamp device is located near the center of gravity of the article in a cross section perpendicular to the turning center axis of the turning member.
Each of the clamp devices is disposed at a predetermined distance from the center of rotation so that the center of rotation of the swing member is located.

[0007]

[Action] Next, in order to facilitate understanding of the above-described configuration, the present considered
The technical idea of the plan will be described with reference to the configuration of main links in FIG. 1 in the case of gripping by a gripping device and in FIG. 2 in the case of holding down the same surface of an object. In Figure 1, the cylinder 1 is composed of a piston 2 and the cylinder tube 3 which the proximal end of the rod 2a is fixed to the piston 2, shea
The proximal end of the rod 3a is fixed to the cylinder tube 3. The distal end of the rod 2a is connected to the base end of a support rod 6 supporting the gripping member 5 via a pin 4, and the distal end of the rod 3a is connected to a support rod 9 supporting the other gripping member 8 via a pin 7 . The proximal end is connected. Both support rods 6,
9 with front end is connected to the pin 10 together, the two support rods 6,9 is a pin 10 around twice rolling freely against the support rod 10a for supporting the pins 10. Support rod 10a
Is fixed to the gripping device main body 10b. The pins 10 may be separately provided for the support rod 6 and the support rod 9.
In the configuration of FIG. 1 described above, one gripping member 5 is fixedly provided at the distal end of a support bar 6 a having a base end fixed to the support rod 6, and the other gripping member 8 has a base end fixed to the support rod 9. The support bar 9a is fixed at the tip of the support bar 9a. Walls 4a and 7a for restricting the movement of the pins 4 and 7 are provided near the pins 4 and 7, respectively .

[0008] According to the configuration of FIG 1, the grip member 5 is connected to the piston 2 via the rod 2a, 6, etc., the other gripping member 8 cylinder Chu <br/> via the rod 3a, 9, etc. Piston 3 and cylinder tube 3
Since slide relative to each other and also one point of action (one of the gripping members) is fixed, the other point of action (the other of the gripping members) is movable, the object also moves the gripping member is not fixed is fixed The gripping members 5 and 8 of each other are tightened, and the object can be gripped. Incidentally, wall 4a, 7a are you compensate for both gripping members 5 and 8 fall between the predetermined position.

Next, the case of pressing the same surface of the object in FIG. 2 will be described. FIG. 2 has the same configuration as FIG. 1 , but FIG.
The two gripping members 11 and 12 are positioned on the same plane 13 of the article 13.
a, 13b. In addition, article 1
3 other hand the surface R of pressed against the reference plate 14 of the gripping device the article 13 is gripped.

Accordingly, if the surface R of the other side of the object 13 is fixed to the reference plate 14, a plurality of surfaces of hand operating point 1
3a, when the press at 13b, because the gripping members 11 and 12 are operated separately, the parallelism of the other side, even if there is variation or the like in the thickness multiple working points 13a, can be pushed in 13b. As shown in FIG. 1 or FIG.
Since 5, 8 (or 11, 12 ) operate independently of each other, the object can be easily gripped.

[0011]

Embodiments will be described below with reference to the drawings. FIG.
Fig. 2 is a partial cross-sectional side view of the clamp device according to the embodiment in a clamp open state. FIG. 4 is a partially sectional side view in a clamp closed state. In FIG. 3, the clamp device 100 includes a fixed grip 20 and a movable grip 30. The fixed grip 20 includes a main body plate and a support pin 25.

The main body plate portion includes a plate 21 attached to a turning device 72 (see FIG. 5) , which will be described in detail later, a main body plate 21a fixed to the plate 21, and an article 101 (hereinafter referred to as an H-shaped steel). If the not shown FIG. 5, to those shows the H-shaped steel 101 or the like of the steel Joint portion shown in FIG. 7
And a reference plate 23 fixed to a main body plate 21a for gripping and positioning the grip.
1 and a reinforcing plate 24 fixed to the main body plate 21a
Consists of A hole for the support pin 25 is formed in the main body plate 21a, and the support pin 25 is inserted into the hole in a pivotally tight manner. Support pins 25 are fixed to the plate 32 of the movable gripping part 30, which will be described in detail later, that holds the movable gripping part 30.

The movable gripping portion 30 includes a support plate portion 31 having a trapezoidal appearance, a pin 38, a link plate portion 40 having a substantially parallelogram shape, a cylinder 50, and a link portion 60 having a substantially triangular shape. Be composed. Support plate 3
1 is fixed to the main body plate 21a via the pins 25 as described above , and holds the link plate portion 40, the cylinder 50, and the link portion 60 with the pins 38, and is disposed with the main body plate 21a interposed therebetween. and two plates 32 which are a reinforcing plate 33 for reinforcing connects between these two plates 32, the reinforcing plate 33 and the plate 3
2 , a block 35 fixed to the plate 32 and fixed to the main body plate 21 a by bolts (not shown), and a stopper plate 36 fixed to the plate 32. The stopper plate 36, that gripping member 42 for holding the article 101 to be described in detail later have a possible hole 36a and out.

[0014] Pin 38 is inserted at both ends into a hole drilled in the two plates 32 is fixed, and the bushing (not shown) to the link plate 40 disposed inwardly between the two plates 32 It is closely inserted into and support the link plate 40 rotating freely. The link plate portion 40 includes two plates 41 having holes for the pins 38 and these two plates 41.
Article 10 reinforces connects between plates 41
1 can be abutted against a stopper 34, a gripping member 42 for holding the cylinder 1 and a cylinder bearing 43 fixedly mounted on two plates 41 for holding a trunnion-type cylinder 50 swingably.
And a stopper plate 44 fixed to the two plates 41.

[0015] Cylinder 50 is a trunnion 51 which is held twice rolling <br/> freely cylinder bearing 43, the cylinder tube 52 for housing a piston (not shown), a piston rod 53 connected to the piston, the piston rod 53 fixed to and supporting the link portion 60 rotating freely pin 5
5 The link portion 60 is swingably supported by a pin 38 via a bush (not shown), and a plate 61 disposed inward between the two plates 41 of the link plate portion 40, and one end of the plate 61. And a fixed holding member 62. A hole for the pin 55 of the piston rod 53 is formed in the other end of the plate 61, and a stopper 61a is provided substantially in the center so as to be able to contact the stopper plate 36.

As described above, in the present invention, the surface of the article to be gripped is pressed by the gripping members 5 and 8 (described in FIG. 1) to grip the article, or the articles are pressed by the gripping members 42 and 62 to press the article. The clamping device 100 grasps by pressing against the reference plate 23 facing the gripping members 42, 62 , and the one gripping member 42 and the other gripping member 62 are connected to one shaft (pin 38). are bridged between the link 60 to be connected to the link 40 and the other gripping member 62 to be connected to the gripping member 42 the expansion device one that outputs an operation such that rotation separately for. In the above-described embodiment , the cylinder 50 is used as the telescopic device. However, a configuration in which the cylinders slide relative to each other, such as a combination of a ball screw and a motor or a combination of a gear and a motor , may be used.

The operation of the above embodiment will be described. Figure 3 is a cylinder 50 in a time contraction observed state, showing a state in which no gripping the article 101. In FIG. 3, a fluid is sent from a fluid source (not shown) to the piston rod side of the cylinder 50 to move the piston rod 53 in the contracting direction. The movement of this, the link unit 60 is rotating in the clockwise direction to the pin 38 about. On the other hand, the link plate 40 is <br/> rotating counterclockwise pin 38 about the opposite.

As a result, the gripping members 42 and 62 are separated from the reference plate 23, so that the article 101 is not gripped. At this time, in FIG. 3, <br/> Me center of gravity of the link plate 40 and the link portion 60 is positioned on the right side of the pin 38, the link plate 40 and the link portion 60 is rotating in the clockwise direction as a whole The stopper plate 36 stops at a position where it comes into contact with the stopper 61a. Incidentally, when such a link plate 40 and the link portion 60 is attached to be inclined, Rutoki center of gravity located on the left side of the pin 38 is counterclockwise as a whole link plate 40 and the link portion 60 and rotation in the direction, the stopper plate 44 is stopped at the abutting position to strike <br/> Tsu path 34.

[0019] In the above configuration example, the position or the stopper plate 36 is in contact with the stopper 61a at a position where the stopper plate 44 comes into contact with the stopper 34, clockwise or and the link plate 40 in the counterclockwise direction since the link portion 60 is stopped even if the rotation, both gripping members 42,6
2 is separated from the reference plate 23 by a predetermined distance. Therefore, the article 101 can be easily inserted into the clamp device 100.

Next, an example in which the article 101 is gripped by the clamp device 100 will be described. The article 101 is clamped in a state shown in FIG.
Between the two holding members 42 and 62 and the reference plate 23 . When Ru feed fluid from a fluid source (not shown) on the bottom side of the cylinder 50, as shown in FIG. 4, the piston rod 5
3 is moved in the extending direction. The movement of this, the link section 6
0 is rotating to the pin 38 around in a counterclockwise direction. On the other hand , the link plate portion 40 is turned clockwise around the pin 38.
Turn over.

That is, both gripping members 42 and 62 approach the reference plate 23 and press the article 101 against the reference plate 23.
To be in a state of gripping. At this time, the holding member 42 presses the surface of the article 101 through the hole 36a, and the holding member 62
Is the article 10 at another position separated from the gripping member 42 by a predetermined distance.
Since the same plane 1 is pressed by an operation different from the operation of the gripping member 42 , the article 101 can be surely gripped. At this time, the holding reaction force of the two holding members 42 and 62 is received by the main body plate 21a via the pin 25 and the block 35 . still,
The reaction force applied from the block 35 to the main body plate 21a is separated by a predetermined distance between the block 35 and the pin 25.
As a result, the reaction force is small, and the strength and rigidity of the block 35 and the main body plate 21a can be reduced.

[0022] Next FIG. 5, FIG. 6, illustrating a positioner clamping device for automatic welding grip the H-beams 101 of Steel Joint part with click <br/> lamp apparatus 100 of the embodiment . FIG. 5 is a side view of the embodiment of the positioner clamp device 70 , and FIG. 6 is a front view. 5, positioner clamping device 70 includes a body portion 71 of the L-shaped type which is fixed to the floor or the like, is attached to the main body 71, and a gear or the like by a motor (not shown) to the turning center P around the body portion 71 Device 72 having a rotating member 78 driven and rotated through
And a set of two clamp devices 73 (hereinafter, referred to as clamp devices 73) attached to the turning member 78.

[0023] Both the clamping device 73, Kura <br/> pump apparatus 100 is two 1A of Example, 1B, together common play
Ru is configured the door 21 is attached to the pivot member 78. Among the clamping device 100, in one way of the clamping device 1A is moved in the gripping members 42 and 62 in the vertical direction relative to the Y-axis (parallel to the mounting surface of the reference plate 23 in the Y-axis), and the turning center P
Are fixed at a position separated by a predetermined distance La from the center. The clamping device 1B of another hand grip relative to the Y-axis member 42,6
2 is fixed in a parallel direction (the mounting surface of the reference plate 23 is parallel to the X-axis) and at a predetermined distance Lb from the turning center P.

[0024] Next will be described a case of gripping with positioner clamping device 70. The H-shaped steel 101 at the steel connection is suspended by a crane device (not shown) and the positioner clamp device 70 is used.
To the vicinity of Next, the H-shaped steel 101 is moved up and down while adjusting the position of the H-shaped steel 101 with a crane device so that the H-shaped steel 101 is at a predetermined position of the gripping members 42 and 62 of the positioner clamp device 70. H-beam 101 Ho <br/> pot Do et reaches a predetermined position, both the clamping device 1A, the gripping members 42, 62 the rotation of actuates the cylinder 50 of 1B
And hold the H-section steel 101.

At this time, as shown in FIG. 7 which is a partially enlarged view of FIG. 6 , the clamp device 1A which is separated by a predetermined distance La from the turning center P determines the position of the web surface 101a of the H-section steel 101. the reference plane, also click <br/> lamp device 1B from the turning center P separated by a predetermined distance Lb in order to abut against the positioning reference plane of the flange surface 101b of the H-beam 101, turning portions of the H-beam 101 <br The position of the center of gravity Q in the cross section perpendicular to the turning center axis of the material 78 becomes close to the turning center P of the clamp device 73, and stable turning can be obtained. Also, two clamping devices 1A, 1B
The clamping device 1A or the clamping device 1
Reference plate 23 or each of the two gripping members 42 of the B,
62 is the web surface 101a or the flange 10 first.
Even in contact with 1b, as described in the action, it
Gripping members les 42 and 62 and rotation, ensures H-beams 101
It can be held to.

[0026]

As has been described above devised], a clamp device according to the present invention, even if one of the action point is fixed, the other point of action move. Therefore, be object fixed gripping member which is not fixed is moved, so tightened is between one another of the gripping member, against independent multiple points in one output device
Can be gripped . Further, a large pressing force can be obtained from a relatively small output device by the leverage principle. Therefore, even when holding a large heavy, with since it only a small formulated possible gripping device interference between the robot can be avoided, it can be reliably gripped even large heavy because very Ru firmly thereby pressing the plurality of points An excellent effect is obtained.

[Brief description of the drawings]

FIG. 1 is an explanatory view of gripping an object by the clamp device of the present invention.

FIG. 2 is an explanatory view of an operation of pushing and holding the same plane of an object by the clamp device of the present invention.

FIG. 3 is a partial cross-sectional side view of the clamp device according to the embodiment in a clamp open state.

[4] partially sectional side view of the clamp closed state of FIG. 3 der
You .

FIG. 5 is a side view of a positioner clamp device using the clamp device.

FIG. 6 is a front view of FIG . 5 ;

FIG. 7 is a partially enlarged view of FIG. 6;

8 is an explanatory view of the clamping device of a conventional slider mechanism.

9 is a <br/> explanatory view of the clamping device of the conventional swing block mechanism.

10 is a <br/> explanatory view of the clamping device of the conventional parallel linkage.

FIG. 11 is an explanatory view of a conventional clamping device including a sliding gripper.

FIG. 12 is an explanatory diagram in a case where the same surface is pressed by the clamp device of FIG. 8;

[Explanation of symbols]

20: fixed grip, 21: plate, 23: reference plate, 25: support pin, 30: movable grip, 31: support plate, 38: pin, 40: link plate, 4
2: gripping member, 50: cylinder, 60: link part, 6
2: gripping member, 70: positioner clamp device, 71:
Main body, 72: swivel device, 100: clamp device, 10
1: Article.

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A 2-56538 (JP, U) JP-A 4-60629 (JP, U) JP-A 48-49680 (JP, U) 31324 (JP, B2) JP-B 52-17280 (JP, B2) JP-B 2-2497 (JP, Y2) JP-B 52-13656 (JP, Y2) JP-B 4-7867 (JP, Y2) 59-43063 (JP, Y2) (58) Field surveyed (Int. Cl. ⁶ , DB name) B23Q 3/06 B25J 15/08

Claims (1)

(57) [Scope of request for utility model registration] 1. An article to be grasped is sandwiched between grasping members to grasp the article.
The object to be held or gripped
In a clamp device that presses and grips, a central portion of a plate having two gripping members at the distal ends is held together.
And the pins are connected between the crossed parts.
In addition, a clamp with a telescopic device installed between the rear ends of each plate
Items to be gripped from different directions using at least two or more ramp devices
To be gripped or gripped by gripping between gripping members
Is pressed against the reference member with a gripping member so that it is gripped.
While attaching the respective clamping device to pivot member, so come pivot center of the pivot member in the vicinity of the center of gravity of the article in a cross-section perpendicular to the pivot axis of the pivot member, its
Each clamping device respectively from the pivot clamp device, characterized in that arranged therein in isolation by a predetermined amount.