JP2988503B2 - 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 used for a work holding portion of a positioning jig for positioning and holding a work.

[0002]

2. Description of the Related Art Positioning jigs are used in the automotive industry.
It is used in assembly processes such as spot welding. By the way, in the automobile industry, in recent years, since the needs of users have become extremely diversified, the production method of automobiles has shifted to high-mix low-volume production. Therefore, it is common to assemble many types of vehicle bodies on the same line, and the positioning jigs are also correspondingly provided with a plurality of clamping devices corresponding to different shapes of the workpieces of each type and a work flowing on the line. In accordance with the above, a structure is used which has a switching device for arranging a necessary clamping device in a use position and moving an unnecessary clamping device to a storage position which does not hinder work.

[0003] In the clamp device, a work is clamped between a receiving portion provided on a frame main body and a clamp portion provided on a tip end of a clamp arm rotatably supported by the frame main body. In order to prevent the position of the work from shifting in the state, the receiving portion and the clamp portion are formed in a shape that matches the shape of the work in the sandwiched state. Further, a driving means for rotating the clamp arm is attached to the frame body.

The switching device is, for example, a device composed of a number of cylinders corresponding to the number of clamping devices (see, for example,
(See FIG. 8 on page 793 of “Automotive Technology Vol. 39, No. 7,” published on January 1), and those constituted by a rotation index.

[0005]

However, in the above-described conventional positioning jig, a clamp device is required in a number corresponding to the type of the work to be supported. Expensive. Also,
Since a switching device is required in addition to a plurality of clamping devices, a very large installation space is required. Furthermore, the number of clamp devices that can be installed is limited to avoid the above-mentioned equipment costs, installation space problems, and interference between adjacent clamp devices and between the clamp device and other devices such as welding guns. There are limits to the types of work that can be performed.

SUMMARY OF THE INVENTION An object of the present invention is to provide a clamp device which has been made in view of the above-mentioned problems and which can respond to various kinds of works by a single device.

[0007]

Therefore, in the clamping device of the present invention, the work is held between the spherical receiving piece and the clamp piece, and the clamp piece is moved to an arbitrary position with respect to the receiving piece. The above-mentioned object is achieved by being supported by a parallel link mechanism as much as possible.

That is, in the clamp device of the present invention, a workpiece is sandwiched between a spherical receiving piece provided on a frame main body and a spherical clamp piece provided on a parallel link mechanism attached to the frame main body. A clamp device for positioning and holding, wherein the parallel link mechanism is rotatable with a hinge so that a first vertical link, a second vertical link, a first horizontal link, and a second horizontal link form a parallelogram. The first vertical link or the first horizontal link is provided with the clamp piece, and the clamp piece is disposed so as to face the receiving piece, thereby forming the second vertical link. A hinge linking the first vertical link and the second horizontal link is coupled to the frame main body, and the frame main body is provided with a vertical link driver for rotating one of the first vertical link and the second vertical link. If adopted a configuration in which the transverse link drive means for rotating one of said first lateral link and the second lateral link is provided.

[0009]

When one of the first vertical link and the second vertical link is rotated by operating the vertical link driving means, both of them rotate in conjunction with each other while maintaining a parallel state, and both horizontal links are parallel. The clamp piece moves while maintaining the state, and the clamp piece moves substantially in the extending direction of both lateral links.

On the other hand, by operating the horizontal link driving means, the first
When one of the horizontal link and the second horizontal link is rotated, both rotate in conjunction with each other while maintaining the parallel state, and both vertical links move while maintaining the parallel state, so that the clamp pieces are substantially Move in the extending direction of the vertical link.

As described above, since the clamp piece can be moved in two directions in the vertical and horizontal directions of the parallel link mechanism based on the operation of the parallel link mechanism, the frame body is arranged at a predetermined position, and the work is received by the receiving piece. In the supported state, the clamp piece is moved to a required position, and a work of any shape can be held between the receiving piece and the clamp piece. At this time, since the receiving piece and the clamp piece are formed in a spherical shape, at least one point can be held in contact with a work of any shape and a spherical shape can be formed on the corner of the work. Can be brought into contact with each other, whereby the positioning can be reliably performed.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, a configuration of a clamp device according to a first embodiment will be described with reference to FIGS. FIG. 3 is an overall view showing a positioning jig using the clamp device of the present embodiment. This positioning jig includes a clamp device A, a clamp drive device B, and a controller C.

The clamping device A is shown in FIGS.
As shown in (1), it comprises a base 1, a frame main body 2, a parallel link mechanism 3, a vertical link driving means 4 and a horizontal link driving means 5.

The frame main body 2 is composed of two identically shaped flat plates which stand upright on the base 1 at predetermined intervals. In the frame main body 2, at the upper corner in FIG. 1, one protruding piece 21 is protruded obliquely upward at the center between the flat plates constituting the frame main body 2. One spherical receiving piece 22 is provided at the tip.

The parallel link mechanism 3 includes a first vertical link 3
1 and the second vertical link 32, the first horizontal link 33, and the second horizontal link 34 are connected by four hinges 35, 36, 37, and 38. An arm 311 is provided so as to protrude.
At one end, a clamp piece 312 is provided. The parallel link mechanism 3 is disposed between the two flat plates constituting the frame main body 2 so that the clamp piece 312 can move facing the receiving piece 22 of the frame main body 2. The second vertical link 32 and the second horizontal link 3
4 is connected to the upper portion of the frame main body 2. Further, as shown in FIG.
The vertical link 31 and the second vertical link 32 are disposed on both sides of the first horizontal link 33, and the second horizontal link 34 connects the first vertical link 31 and the second vertical link 32. It is arranged on both sides of it. The second vertical link 32 is formed of a triangular plate having a planar shape, and is provided such that one side of the triangle is parallel to the first vertical link 31. One clamp piece 312 is provided at the center between the first vertical links 31, 31 so as to face the receiving piece 22.

The vertical link driving means 4 is a means for inputting a driving force to the second vertical link 32 to rotate both the vertical links 31 and 32 in the horizontal direction in FIG. Arm 41 provided along the outer surface of the frame main body 2, a first motor 43 (see FIG. 3) for rotating the arm 41 via a speed reducer 42,
Vertical link 44 connecting the tip of the second vertical link 32
It is composed of The first motor 43 is a forward / reverse type motor such as a servo motor or a stepping motor. As shown in FIG. 32 is rotated to the clamp piece 312 side (the left side in the drawing), and at the time of reverse rotation in the direction of the arrow B, the second vertical link 32 is connected to the clamp piece 312 via the arm 41 and the third vertical link 44.
(To the right in the drawing). Note that the third vertical link 44 is
One end is disposed between the second vertical links 32, 32.

The horizontal link driving means 5 is used to input a driving force to the second horizontal link 34 to rotate the two horizontal links 33 and 34 in the vertical direction in FIG. Arm 51 provided along the outer surface of the frame body 2, a second motor 53 for rotating the arm 51 via a speed reducer 52,
It comprises a fourth vertical link 54 connecting one end of the vertical link 31 and one end of the second horizontal link 34. Also,
The second motor 53 is of a forward / reverse type such as a servo motor or a stepping motor, and as shown in FIG. When the link 34 is rotated upward, the second horizontal link 34 can be rotated downward via the arm 51 and the fourth vertical link 54 at the time of reverse rotation in the direction of arrow B. The fourth vertical link 54 has one end disposed between the first vertical link 31 and a hinge 55 connecting the fourth vertical link 54 and the arm 51 to the frame body 2. There is formed an escape hole 23 for sliding.

As shown in FIG. 3, the clamp driving device B comprises a horizontal driving mechanism 6 for moving the clamping device A in the horizontal direction and a vertical driving mechanism 7 for moving the clamping device A in the vertical direction. Have been.

The horizontal drive mechanism 6 includes a third motor 62 for rotating the clamp device A via a speed reducer 61,
A first arm 63 supporting the third motor 62;
A fourth motor 65 for swinging the first arm 63 via a speed reducer 64, a second arm 66 supporting the fourth motor 65, and swinging the second arm 66 via a speed reducer 67 A fifth motor 68 to be moved, and the fifth motor 68
And a bracket 69 supporting the bracket 8. The bracket 69 is slidably mounted along a guide shaft 81 fixed vertically to the base 8.

The third motor 62 is of a forward / reverse type, and can rotate the clamp device A in an arbitrary direction. The fourth motor 65 and the fifth motor 68 are also of the forward / reverse type, and the first arm 63
In addition, the second arm 66 can be swung in any direction.

The vertical drive mechanism 7 includes the bracket 6
9, a third arm 71, a bearing 72 supported by the third arm 71, a bolt 73 vertically supported by the bearing 72, a belt 74 and a speed reducer 75. And a nut 77 screwed with the bolt 73. The sixth motor 76 is supported by a third arm 71, and the nut 77 is fixed to the base 8. The sixth motor 76 is of a forward / reverse type, and raises the bolt 73 along the nut 77 at the time of forward rotation, and the bolt 73 along the nut 77 at the time of reverse rotation.
Can be lowered.

That is, in the clamp driving device B, when the clamp device A is rotated by the operation of the third motor 62, the direction of the clamp device A changes and the fourth motor 65
The first arm 63 and the second arm 63
When the arm 66 is swung, the position of the clamp device A moves on a horizontal plane. Incidentally, since the first arm 63 and the second arm 66 are provided between the clamp device A and the bracket 69, the degree of freedom of movement is increased as compared with the case of a single arm, and the clamp device A is moved linearly. It is also possible.

When the bolt 73 is raised by the operation of the sixth motor 76, the third arm 71 moves the guide shaft 81.
When the bolt 73 is lowered by the operation of the sixth motor 76, the bracket 69 moves the guide shaft 81.
, And the position of the clamping device A decreases accordingly.

The controller C controls the first to sixth motors 43, 53, 62,
65, 68, and 76 are controlled, the work holding position of each work of the work flowing on the line is stored in advance, and the code number attached to the work flowing on the line is read and clamped. By moving the apparatus A to a position corresponding to the work, the receiving piece 22 is arranged at a predetermined position to support the work, and the clamp piece 312 is moved to a predetermined position to thereby support the receiving piece 2.
Positioning is performed by holding the work supported by 2.

Next, with reference to FIGS. 1, 4 and 5, the operation when the clamp piece 312 is moved to clamp the work between the receiving piece 22 and the clamp piece 312 as described above will be described.

That is, the clamp piece 3 with respect to the receiving piece 22
The movement of 12 is performed by operating the vertical link driving means 4 or the horizontal link driving means 5, and the first motor 43 of the vertical link driving means 4 is driven to rotate the arm 41 to the right (or left). If you do, the third
The second vertical link 32 connected by the vertical link 44 rotates to the right (or left) in the figure, and accordingly, the first horizontal link 33 slides to the right (or left) in the figure, and the clamp piece 312. Moves to the right (or left) in the figure with respect to the receiving frame 22.

On the other hand, the second motor 5 of the horizontal link driving means 5
3 to drive the arm 51 to the right (or left) in the figure.
, The second horizontal link 34 connected via the fourth vertical link 54 rotates to the right (or to the left) in conjunction therewith, and the first vertical link 31 moves upward ( Or, it slides down), and the position of the clamp piece 312 moves upward (or downward) with respect to the receiving piece.

When the driving of the first motor 43 of the vertical link driving means 4 is stopped, the second vertical link 32 is fixed. When the driving of the second motor 53 of the horizontal link driving means 5 is stopped, the second Since the horizontal link 34 is fixed, the clamp piece 312 is fixed at the stop position.

As described above, the receiving piece 22 and the clamp piece 312 are formed in a spherical shape, and
1, 2 and 3 can move freely in the up, down, left, and right directions in FIGS. 1, 4, and 5, so that the work can be pinched and positioned according to any shape of the work.

FIG. 6 is an explanatory view showing a positioning state, in which (a) to (k) show both pieces 22, 31.
2 is an example in which the flanges of works w having different shapes are sandwiched. In this case, each of the pieces 22 and 312 abuts the two points of the respective spherical portions on the work w.
The movement of the work w is more reliably restricted and the positioning is performed more reliably than when the work w is held at one point. Also, (m) to (s) in FIG.
This is an example in which the clamp piece 312 is held in contact with one point of the clamp piece 312 in this state. In (m), not only the receiving piece 22 but also the projecting piece 21 is used to make contact with the work w. Also, (t) and (u) represent both pieces 2
This is an example in which the work w is held at one point of each of 2 and 312. Since the clamp piece 312 slides substantially vertically and horizontally in FIGS. 1, 4, and 5, as shown in both figures,
Even if there is an obstacle s near the work w, the clamp piece 312 can be moved without being obstructed by the obstacle s.

Next, the configuration of the clamp device of the second to fifth embodiments will be described with reference to FIGS. In describing each embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. Regarding the operation, the description of the common points with the first embodiment will be omitted, and only the differences will be described.

In the clamping device according to the second embodiment shown in FIG. 7, the first horizontal link 33 and the second horizontal link 34 are members whose lengths are longer than the first vertical link 31 and the second vertical link 32. It is formed with. Therefore, the clamp piece 312 is
It can be moved in a wider range in the vertical direction than in the horizontal direction.

In the clamping device of the third embodiment shown in FIG. 8, the first vertical link 31 and the second vertical link 32 are formed of members longer than the first horizontal link 33 and the second horizontal link 34. Therefore, the clamp piece 312 can move more in the horizontal direction than in the vertical direction. In this embodiment, the second horizontal link 34 of the parallel link mechanism 3 is directly rotated by the motor 53 of the horizontal link driving means 5 without passing through the link and the arm.

The clamping device according to the fourth embodiment shown in FIG. 9 is an example in which the arm 41 of the vertical link driving means 4 is provided in the direction of the horizontal link driving means 5 contrary to the first embodiment. .

In the clamping device according to the fifth embodiment shown in FIG. 10, the vertical link driving means 4 is disposed between the parallel link mechanism 3 and the horizontal link driving means 5, and the third vertical link 44 and the second vertical link This is an example in which a third horizontal link 45 connecting the link 32 is set. In the fifth embodiment, the dimensions of the entire clamp device in the left-right direction in the drawing are reduced.

Although the embodiment of the present invention has been described in detail with reference to the drawings, the specific structure is not limited to this embodiment, and there are design changes and the like without departing from the gist of the present invention. Are also included in the present invention. For example, in the embodiment, the example in which the clamp piece 312 is provided integrally with the first vertical link 31 is shown, but the clamp piece may be formed integrally with the first horizontal link 33.

[0037]

As described above, in the clamping device according to the present invention, the work is held between the spherical receiving piece and the clamp piece, and the clamp piece is arbitrarily positioned with respect to the receiving piece. Since it is supported by the parallel link mechanism so that it can move to the position, the clamp piece can be moved to an arbitrary position with respect to the receiving piece of the frame body and fixed, so that a single clamp device can Can be held, and only one clamping device and a single device for moving the clamping device are required, and the effect of reducing equipment costs and installation space can be obtained. In addition, interference between the clamping devices, Interference between the clamp device and another device such as a welding gun can be avoided, and the effect of improving workability can be obtained.

[Brief description of the drawings]

FIG. 1 is a side view showing a clamp device according to a first embodiment.

FIG. 2 is a sectional view taken along line II-II of FIG.

FIG. 3 is a view showing a positioning jig using the clamp device of the first embodiment.

FIG. 4 is an operation explanatory view of the clamp device of the first embodiment.

FIG. 5 is an operation explanatory view of the clamp device of the first embodiment.

FIG. 6 is an explanatory diagram showing a work positioning state by the clamp device of the first embodiment.

FIG. 7 is a structural explanatory view of a clamp device according to a second embodiment.

FIG. 8 is a structural explanatory view of a clamp device according to a third embodiment.

FIG. 9 is a structural explanatory view of a clamp device according to a fourth embodiment.

FIG. 10 is a structural explanatory view of a clamp device according to a fifth embodiment.

[Explanation of symbols]

 2 Frame main body 22 Receiving piece 3 Parallel link mechanism 31 First vertical link 32 Second vertical link 33 First horizontal link 34 Second horizontal link 35, 36, 37, 38 Hinge 312 Clamping piece 4 Vertical link driving means 5 Horizontal link drive means

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B23Q 3/06

Claims (1)

(57) [Claims] A clamping device for positioning and holding a workpiece between a spherical receiving piece provided on a frame body and a spherical clamping piece provided on a parallel link mechanism attached to the frame body. The parallel link mechanism is configured such that a first vertical link, a second vertical link, a first horizontal link, and a second horizontal link are rotatably connected by a hinge so as to form a parallelogram, In addition, the clamp piece is provided on the first vertical link or the first horizontal link, and the clamp piece is disposed so as to face the receiving piece so that the second vertical link and the second horizontal link are connected to each other. A hinge connected to the frame main body, a vertical link driving unit configured to rotate one of the first vertical link and the second vertical link, and the first horizontal link and the second horizontal link to the frame main body; Sideways Clamping apparatus characterized by a transverse link drive means for rotating one of the click is provided.