JPH0141551Y2 - - Google Patents

Description

[Detailed description of the invention] The present invention is a centering device for shafts or pipes, etc., in order to preset the opening/closing position of the gripping part corresponding to the diameter of the shaft or pipe (hereinafter referred to as the work).
The present invention relates to an opening/closing detection device for a centering device that optimizes the opening/closing position of a gripping portion corresponding to the diameter of a workpiece through electrical detection.

When a workpiece is gripped by a gripper using a reciprocating motion by a drive source such as a cylinder via a movement direction converting member 5, conventional centering devices are capable of accurate centering even when gripping various workpieces with different diameters. In this type of device (for example, Japanese Patent Publication No. 47-29836), when gripping several types of workpieces with different diameters, the opening/closing operation of the centering arm operates over the entire stroke regardless of the diameter of the workpieces. This method has the drawback of wasting extra time due to unnecessary operations for small parts.

The present invention was made to solve these problems, and its purpose is to arrange a plurality of dogs on the side of a movement direction changing member that reciprocates by the action of a cylinder, and to change the movement direction. A multiple limit switch is provided which simultaneously detects the positions of the plurality of dogs arranged on the movable table 3, which is the fixed side, by moving the conversion member 5. ON,
OFF combination signal and preset registered
The opening/closing detection device is installed in order to set the gripping arm to the optimum opening amount for the diameter of the workpiece when the combined ON and OFF signals match.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a plan view showing the apparatus of the present invention, showing a state in which a workpiece W is gripped.

That is, a movable table 3 is provided on the base 1 so as to be slidable by the action of a cylinder 2 fixed to the side surface of the base 1. Furthermore, a motion direction changing member 5 is provided on the movable base 3 so as to be slidable in the same direction as the sliding direction of the movable base while being guided by a dovetail groove G. That is, a cylinder 4 is fixed to the side end of the movable table 3, and the piston rod 6 of the cylinder 4 is screwed onto one end of the movement direction changing member 5.

Further, a roller 7 is rotatably supported on a central protrusion that is integrated with the movement direction changing member 5.

Furthermore, a pair of gripping arms 8 are swingably supported on a shaft 9 provided at one end of the movable table 3, facing each other on both sides with the central protrusion in between. Rollers 10 and 11 are rotatably supported at both ends of the pair of gripping arms 8, and the gripping arms 8 are suspended from each other by tension springs 12.

Further, each roller 11 supported by the end of the gripping arm 8 on the spring 12 side is in contact with a curved surface R formed on the slope of the motion direction changing member 5. This curved surface R is such that the rollers 10, 10 supported at the ends of the pair of gripping arms 8 and the roller 7 at the central protrusion of the movement direction changing member 5 are moved equally toward the center of the workpiece W by the action of the cylinder 4. Configured to move. That is, even if the diameter of the workpiece W changes variously, when gripping the workpiece W, the centering movement can be performed so that the workpiece W is always concentric.

In the workpiece centering device described above, dog seats 13 and 14 are provided on both sides of the motion direction changing member 5.
to be fixed. A plurality of grooves (not shown) are formed in the dog seats 13 and 14 in parallel to the moving direction of the movement direction changing member 5, and a plurality of screw holes (not shown) are bored in these grooves. Further, the movement direction changing member 5 is arranged opposite to the dogs D1 and D2.
Limit switches S1 and S2 having a plurality of detection heads in a direction perpendicular to the direction of movement of the limit switches S1 and S2 are fixed on a movable table 3.

That is, the upper dogs D ₂ , D' ₂ , D'' ₂ of the movement direction changing member 5 shown in FIG.
D ₁ , D′ ₁ , and D″ ₁ are used exclusively for loosening the gripping arm 8.

The arrangement of these dogs D ₁ , D ₂ ... on the sheet is based on the limit switch S ₁ , S ₂ depending on the workpiece diameter.
If set in combination, ON, OFF signal 0,
The operation switching valve of the cylinder 4 can be switched at a predetermined position by matching the combination signal of 0 and 1 according to the diameter of the workpiece, which is preset and registered in the command signal control device. That is, as the movement direction changing member 5 moves, a signal such as 0100 or 1001, for example, is transmitted when the limit switch is pressed on the dog in sequence. This signal is made to correspond to the diameter of the workpiece, and when the workpiece is in question, the movement of the movement direction converting member 5 is changed to limit the amount of opening and closing of the gripping arm.

The above is the explanation of the structure of the present invention, and the operation thereof will be explained next.

The moving position of the gripping arm 8 according to the diameter of the predetermined workpiece being transported is selected by switching a switch set in advance by a combination of docks.

When the movement direction changing member 5 moves forward under the action of the cylinder 4, the roller 11 of the gripping arm 8 moves along the curved surface R. Accordingly, the gripping arms 8 each swing about the shaft 9, gripping the workpiece with the respective rollers 10 and 11, and centering the workpiece W.

Next, when the switching valve is switched and the movement direction converting member 5 is moved backward by the action of the cylinder 4, the gripping arm 8 begins to open by the action of the spring 12, and is preliminarily adjusted to the minimum opening corresponding to the diameter of the workpiece W. A signal is issued at the dog position set to

Subsequently, the switching valve switches, and the movement direction changing member 5 stops at that position.

Therefore, by setting the opening/closing position of the gripping arm by combining and arranging the dogs corresponding to each work W, the amount of opening/closing relative to the work W can be kept to the minimum necessary.

For this reason, it becomes possible to shorten the opening/closing time and improve the operating rate. Furthermore, since the arrangement of the dogs D1 and D2 can be freely rearranged by removing the bolts, it is possible to finely adjust the amount of opening and closing of the arms according to the shape of the workpiece, expanding the range of use.

When a workpiece W is gripped by the gripping arm 8, the diameter of the workpiece can be determined by a combination of detection signals, and the type of workpiece can also be identified, so that it can also be used as a workpiece detection device.

As stated above, the present invention is not limited to the configuration shown in the embodiments, and modifications are expected without departing from the technical idea of the present invention as described in the claims. .

[Brief explanation of the drawing]

Fig. 1 is a plan view showing the device of the present invention, Fig. 2 is a view taken from arrow B showing the arrangement of the dogs on the starting side, Fig. 3 is a view taken from arrow C showing the arrangement of the dogs on the loosening side, and Fig. 4 is the same as that shown in Fig. 1. It is an AA sectional view. In the figure, 1... base, 3... moving table, 4...
... Cylinder, 5 ... Movement direction changing member, 8 ... Grip arm, 9 ... Shaft, 7, 10, 11 ... Roller, 13, 14 ... Dog seat, D ₁ , D' ₁ ,
D″ ₁ , D ₂ , D′ ₂ , D″ ₂ ...Dog, G...Dovetail groove,
R...Curved surface, _S1 , _S2 ...Limit switch, W...
…work.

Claims (1)

[Scope of utility model registration request] A movable table 3 slidably provided on the base 1, a movement direction converting member 5 slidably provided on the movable table 3, a drive source 4 for moving the movement direction converting member 5, A contact member located at the center of the movement direction changing member and in contact with the gripped member W; and a contact member located on the moving table 3 that engages with the cam surface of the movement direction changing member 5 and are symmetrical with the contact member 7 in between. A centering device comprising a pair of gripping arms 8 that are swingably supported and one end of which abuts a gripped member W includes a plurality of detected objects D that are adjustable on the movement direction changing member 5; , a detection object S provided on the movable table 3 in order to identify the positional relationship with the gripped member by the movement of the plurality of detection objects D by the combination of the detection objects D, and the detection object The gripping arm opening/closing position when the detection signal detected by S and the detected object D matches a preset signal is set as the optimum opening/closing amount of the gripping arm corresponding to the diameter of the gripped member W. An opening/closing detection device for a centering device, characterized in that: