JPH0135829Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a loader device in which a workpiece holding finger at the tip of the arm opens and closes in conjunction with the forward and backward movement of the arm.

In a working machine, a loader device is known in which an arm is moved forward and backward in order to transfer a workpiece to another location, and a workpiece holding finger at the tip of the arm is opened and closed in conjunction with the forward and backward movement. A rod is slidably provided inside the arm, and when the rod slides back and forth, the fingers are opened and closed. It is conventionally known that the forward and backward movements of the arm and the opening and closing of the fingers accompanying this movement are performed by the rotation of a single rotary cam. is used as a cam surface for advancing and retracting the arm, and by forming a cam protrusion on the side surface of the rotary cam that opens and closes the finger,
The side of the rotating cam was used to open and close the fingers.

In the above-mentioned conventional technology, when the work sequence and work timing of the work machine are changed and it becomes necessary to change the opening/closing timing of the finger with respect to the forward and backward movement of the arm, the arm and the above-mentioned rod are The operations are not completely unrelated, and the rod moves back and forth with respect to the arm based on the arm moving forward and backward, so in order to change the opening and closing timing of the fingers, a rotary cam is used. The shape of the cam must be changed, and therefore the rotary cam does not have the flexibility to change the finger opening/closing timing.Also, the rotary cam is connected to the arm and rod, and the arm and rod cannot be moved forward or backward, or slid back and forth. The link mechanism that allows
There was a problem that required a large number of parts.

The present invention has been developed in view of the above-mentioned conventional problems and to effectively solve them.

The purpose of this invention is to be able to be constructed with a small number of parts,
Therefore, the structure is simplified, and even if the opening/closing timing of the fingers changes, there is no need to change the overall shape of the rotating cam, and the rotating cam is adaptable to changes in the opening/closing timing of the fingers. The present invention provides a loader device having the following features.

In order to achieve this objective, the present invention forms a cam groove on the side surface of the rotating cam and uses the cam groove as a cam groove for advancing and retracting the arm, and the shape can be easily changed by attaching protrusions etc. The outer circumferential surface of the rotary cam is a cam surface for opening and closing the finger, and furthermore, a link for advancing and retracting the arm connected to the cam groove and a link for opening and closing the finger connected to the cam surface are arranged side by side and mutually pivoted. The two links are connected to each other, and both links are rotatable about the connecting part at approximately the same position as a fulcrum, and by rotating the two links without changing their relative positional relationship, the arm can move forward and backward without opening or closing the fingers. When the link for opening and closing the finger rotates with respect to the link for advancing and retracting the arm using the shaft-mounted connection part as a fulcrum, the finger can be made to perform the opening and closing motion, and the above-mentioned The device is characterized in that the opening and closing timing of the fingers can be arbitrarily set without being restricted by the forward and backward movement of the arm and its position by the cam surface.

A preferred embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

Figure 1 is a cross-sectional side view of the main part, a view taken from the 2nd arrow in Figure 1,
4-4 line sectional views are shown in Figures 2 and 4, and
A view from arrow 3 in the figure is shown in FIG.

A disc-shaped rotary cam 1 is housed in a housing case 4 consisting of a case body 2 and a case lid 3, and is rotated by a drive shaft 5 connected to a motor. An arm 6 is inserted into and held in a boss portion 2a integrally formed in the case body 2 so as to be freely advanced and retracted diagonally up and down, and inside the arm 6, a rod 7 whose top portion 7a protrudes from an opening at the upper end of the arm is freely slidable. The finger 8 at the tip of the arm opens and closes when the rod 7 slides back and forth with respect to the arm 6. Rod 7
is constantly urged upward by the spring 9, and when the rod 7 is retreating upward in this way, the fingers 8 are closed to grip the workpiece.

A cam groove 10 having a concave cross section is formed in the side surface 1a of the rotary cam 1, and the cam groove 10 is a cam groove for moving the arm 6 forward and backward. The outer peripheral surface of rotating cam 1 is cam surface 1
1, and the cam surface 11 is a cam surface for opening and closing the finger 8. In the illustrated example, the cam surface 11 has a base circle 11a of approximately half the circumference, and a protrusion of approximately half the remaining circumference that is larger in diameter than the base circle 11a. It consists of a circle 11b.

A roller 13 rotatably attached to a link 12 is inserted into and engaged with the cam groove 10, and one end of the roller link 12 is connected to the case lid 3 by a shaft 14 as shown in FIG. The inner end of an intermediate link 15 inserted into the case 4 from the opening 2b of the case body 2 is connected to the end by a shaft 16. A longitudinally intermediate portion of an arm advancing/retracting link 17 is connected to the outer end of an intermediate link 15 protruding from the case 4 via a shaft 18.
As shown in FIG. 2, the base end 17a of the case body 2 is slidably inserted into and supported by a support tube 20 rotatably attached to the shaft 19 in the bracket portion 2c of the case body 2. The tip 17b of the link 17 for advancing and retracting the arm is the second
As shown in the drawings and FIG. 3, it is connected by a shaft 22 to an L-shaped bracket 21 connected to the upper end 6a of the arm 6.

From the above configuration, the arm advance/retreat link 17 whose tip 17b is connected to the upper end 6a of the arm 6 is connected to the cam groove 10 via the link mechanism 23 consisting of the roller link 12 and the intermediate link 15, so that the rotating cam 1 When the roller link 12 rotates around the shaft 14, the forward/backward link 17 rotates around the shaft 19 due to the operation of the intermediate link 15, so that the arm 6 moves forward and backward.
In this embodiment, the connecting portion between the case body 2 and the link 17 for advancing and retracting the arm by the shaft 19 is made slidable by inserting the link base end 17a into the support tube 20, as the link 17 rotates. This is to absorb changes in the distance between the shaft 19 and the upper end 6a of the arm, but by slidably connecting the link tip 17b to the upper end 6a of the arm, the same operation as described above can be ensured and the distance between the shaft 19 and the upper end 6a can be absorbed. Therefore, the link base end 17a can be directly connected to the main body case 2.

As shown in Fig. 1, the bracket part 2d of the case body 2
One end of the swing link 24 is swingably connected to the shaft 25, and the other end of the swing link 24 has a roller 2 that comes into contact with the cam surface 11 on the outer circumferential surface of the rotary cam 1.
6 is rotatably attached. Swing link 24
is provided with a protrusion 24a that protrudes laterally, and the protrusion 24a
As shown in FIG. 2, a base end 27a of a finger opening/closing link 27 is connected to a by a shaft 28. The tip 27b of the finger opening/closing link 27 faces the top 7a of the rod 7 as shown in FIGS. 1 and 3. With the above configuration, the finger opening/closing link 27 is connected to the cam surface 11 via the swing link 24, which has one end connected to the case body 2 and the other end contacting and engaging with the cam surface 11.

As is clear from FIGS. 1 and 2, the link 17 for advancing and retracting the arm and the link 27 for opening and closing the finger are spaced apart from each other in the axial direction of the drive shaft 5 of the rotary cam 1 and are arranged side by side, one on top of the other, and are connected to each other by the shaft 29. The intermediate portions of the links 17 and 27 in the longitudinal direction are pivotally connected to each other.
Further, the connecting portion between the case body 2 and the link 17 for advancing and retracting the arm by the shaft 19, and the connecting portion between the swing link 24 and the finger opening/closing link 27 by the shaft 28 are approximately separated in the axial direction of the drive shaft 5. are located at the same location. The two connecting portions may be spaced apart in the axial direction of the drive shaft 5 and arranged at exactly the same position.

Next, we will discuss the operation.

When the rotary cam 1 rotates in the direction of arrow A in FIG. By rotating counterclockwise as a fulcrum, the arm 6 retreats upward and reaches the top dead center. As the roller link 12 rotates counterclockwise due to further rotation of the rotary cam 1, the arm 6 advances downward and reaches the bottom dead center. Since the roller 26 is in contact with the base circle 11a of the cam surface 11 through approximately half a rotation of the rotating cam 1, the swinging link 24 does not swing, and the finger opening/closing link 27 is connected to the shaft 29 as a link for moving the arm forward and backward. 17, and the connection part with the swinging link 24 by the shaft 28 is at approximately the same position as the connection part between the case body 2 and the arm advance/retreat link 17 by the shaft 19, so the finger opening/closing link 27 is The shaft 28 is used as a fulcrum to perform the same rotational movement as the link 17 for advancing and retracting the arm, so that the relative positional relationship between the two links 17 and 27 does not change, and the two links 17 and 27 rotate while maintaining the overlapping and parallel state. Link 17,
27 to the arm 6 and the rod 7 inside it.
move forward and backward as one, and the fingers 8 do not open or close.

When the rotary cam 1 continues to rotate, the roller 26 rides on the protrusion circle 11b of the cam surface 11, so the swing link 24 rotates counterclockwise about the shaft 25 in FIG. As a result, the finger opening/closing link 27 rotates clockwise relative to the arm advancing/retracting link 17 about the pivot connection portion of the shaft 29 . As a result, the link tip 27b presses the rod top 7a, causing the rod 7 to slide forward relative to the arm 6, and the finger 8 to open. When the rotary cam 1 completes one revolution and the roller 26 starts contacting the base circle 11a from the protrusion circle 11b of the cam surface 11, the rod top 7a is moved by the link tip 27b.
Since the pressing force is released, the rod 6 slides upward by the elastic force of the spring 9, and the fingers 8 close to clamp the workpiece.From then on, the same operation as described above is repeated to clamp the workpiece. The arm 6 retreats upward together with the finger 8 that has been moved.

When arm 6 reaches top dead center, finger 8
If it becomes necessary to open and close the finger 8, it is sufficient to attach a protrusion to the center of the base 11a of the cam surface 11, and depending on the attachment position of the protrusion, the finger 8 can be opened and closed when the arm moves back and forth. The opening/closing timing of the fingers 8 can be set arbitrarily. Even when arbitrary opening/closing timings are set in this way, when the finger 8 is not opened or closed, the arm advancement/retraction link 17 and the finger opening/closing link 27 do not change in their relative positions when the shaft 19,
28 as a fulcrum, and the finger 8
The finger opening/closing link 27 rotates relative to the arm advance/retreat link 17 about the shaft 29 only when opening/closing the arm. This is achieved by arranging the connecting portion between the case body 2 and the link 17 and the connecting portion between the swing link 24 and the link 27 at substantially the same position.

The cam profile of the rotary cam 11 shown in the drawing is an example of the shape of the cam surface 11. For example, the rotary cam 1 is manufactured in a perfect circular shape, and the finger opening/closing timing is adjusted according to the work order and work timing of the work machine. If the protrusion to be determined is removably attached to the appropriate location on the outer circumferential surface, changes in the work order, etc. can be dealt with by changing the attachment position of the protrusion, and the same rotary cam can be used with versatility. It will be possible to have the following.

As is clear from the above description, the present invention can be constructed by assembling a small number of parts, such as links for advancing and retracting the arm and links for opening and closing the fingers, while maintaining a predetermined positional relationship. The number of points is small and the structure is simple.Furthermore, even if the opening/closing timing of the fingers is changed, a protrusion can be attached.Since the outer peripheral surface of the rotating cam is used as the cam surface for opening/closing the fingers, the overall general shape of the rotating cam can be changed. This can be dealt with without changing the rotary cam, and the rotary cam can be given flexibility to change the opening/closing timing.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, in which Fig. 1 is a cross-sectional side view of the main part, Fig. 2 is a view taken along the arrow 2 in Fig. 1,
Figure 3 is a view from arrow 3 in Figure 2, Figure 4 is a view from arrow 4 in Figure 1.
- It is a 4 line sectional view. In the drawing, 1 is a rotary cam, 4 is a case, 6 is an arm, 7 is a rod, 8 is a finger, 10 is a cam groove, 11 is a cam surface, 17 is a link for advancing and retracting the arm,
23 is a link mechanism, 24 is a swing link, and 27 is a finger opening/closing link.

Claims (1)

[Scope of utility model registration request] In a loader device, a rod is slidably provided inside an arm that moves forward and backward, and a finger for holding a workpiece at the tip of the arm opens and closes as the rod slides back and forth. A cam groove is formed, and the outer circumferential surface of the rotary cam is used as an opening/closing cam surface of the finger, and an arm advancing/retracting link whose end is rotatably connected to the case of the rotary cam and moves the arm forward and backward is connected to the cam. A finger opening/closing link is connected to the groove via a link mechanism and slides the rod to open/close the finger. One end is swingably connected to the case and the other end is in contact engagement with the cam surface. The case is connected to the cam surface via a dynamic link, and the arm advancement/retraction link and the finger opening/closing link are overlapped and arranged side by side to mutually pivot and connect, and the arm advancement/retraction link is connected to the case. A loader device characterized in that a connecting portion between the swing link and the finger opening/closing link is arranged at substantially the same position.