JPH0320021Y2 - - Google Patents

Description

[Detailed description of the invention] "Industrial application field" This invention relates to a product detection device for a finger clamper used in a robot line that conveys products from mold to mold in a press machine, and uses vacuum cup air. This allows the product to be held and detected at the same time, making it particularly effective when the space between the upper and lower molds is narrow.

"Conventional Technology" Conventionally, finger clampers used in robot lines that transport products from one mold to another in a press machine are equipped with a limit switch, a proximity switch, etc. on the fingers to detect the clamped product. was.

``Problems to be solved by the invention'' In the conventional detection device described above, the height of the clamper is increased by the height of the limit switch, proximity switch, etc. installed on the finger, so the distance between the upper and lower molds is If the space is narrow, for example, in a deep drawing die, when the upper die is at its upper limit, the distance between it and the lower die is narrow;
There was a drawback that the finger interfered with the mold. Although there are some that are slightly lower in height, such as proximity switches, they also have the disadvantage of being complicated to include an electric circuit for control, making them difficult to handle.

The purpose of the present invention is to eliminate these drawbacks, to create a structure that requires only the height of the fingers, and that is easy to structure and handle.
An object of the present invention is to provide a product detection device for a finger clamper.

"Means and actions for solving the problem" The finger clamper product detection device of the present invention has the following features:
A vacuum cup is provided in place of the holding member on one of the pair of fingers, and the product is held between the holding member of the finger and the vacuum cup, and the product is sucked and held by the vacuum cup to which vacuum air is supplied.At the same time as the vacuum cup sucks the product, the vacuum air circuit is closed. A vacuum sensor detects an increase in the degree of vacuum of the product and sends a product detection signal. Since the vacuum cup is used with a diameter that is within the height of the finger, the height of the finger clamper does not increase, and there is no problem in clamping the product even if the gap between the upper and lower molds is narrow. It is attached to the base of the machine and has a simple structure, making it easy to handle.

Embodiment FIGS. 1 and 2 show the structure of a finger clamper 1 according to the present invention. The finger clamper 1 is used by being attached to a feed bar 2 of a robot (not shown) that conveys products from one press mold to another, and is supplied with pressurized air from a pipe (not shown) provided in the feed bar 2. . The finger clamper 1 is provided with a pair of fingers 3, 3 at the tip thereof, and the fingers 3, 3 are pivotally connected to vertical fulcrum pins 4, 4 provided at the intermediate portion, and open and close while facing each other horizontally. A product holding member 5 is attached to the inside of the tip of one of the fingers 3, and a small vacuum cup 6 is attached to the inside of the other finger 3, facing the holding member 5 and sucking and holding the product. The bases of the fingers 3, 3 are bent inward from the pivot points of the fulcrum pins 4, 4, and have U-shaped grooves 7 at their tips, respectively.

An air cylinder 8 facing toward the tip is provided in the middle part of the finger clamper 1, and a piston 9 is fitted therein. A piston rod 10 is provided in the distal direction of the piston 9 so as to pass through the end plate of the air cylinder 8 in an airtight manner, and a vertical pin 11 is provided at the distal end of the piston rod 10 to connect the U of each of the fingers 3, 3.
It is engaged with the groove 7. The air cylinder 8 has a pressure chamber at the tip end of the piston 9, and a pressure air supply port 1.
2, the base side of the piston 9 is a cylinder chamber open to the atmosphere, and houses a spring 13 that urges the piston 9 toward the tip. Figure 1 shows the supply port 12
The figure shows a state in which pressurized air is supplied to
When the air is exhausted from the piston 9, the piston 9 is urged by the spring 13 and moves toward the tip, and the pin 11 pushes the U-shaped groove 7 of the fingers 3, 3, opening the pair of fingers 3, 3.

A vacuum generator 14 is provided in the feed bar 2 adjacent to the base of the finger clamper 1, and when pressurized air is supplied from piping (not shown) of the feed bar 2, vacuum air is supplied to the vacuum air circuit 15. The vacuum air circuit 15 is connected to the vacuum cup 6 of the finger 3, and the vacuum sensor 1 is attached near the vacuum generator 14.
It is branched into 6 and connected.

In FIG. 3, the air cylinder 8 and vacuum generator 14 of the finger clamper 1 are connected to a pressure air source 18 via a solenoid valve 17. The figure shows a state in which a command signal is input to the solenoid valve 17 and it is switched open and pressure air is supplied, and the piston 9 of the air cylinder 8 moves back and closes the fingers 3, 3 to clamp the product (not shown). do. At the same time, the vacuum generator 14 blows out the supplied pressure air from the bench lily tube and supplies vacuum air to the vacuum air circuit 15. Therefore, the vacuum cup 6 clamps and holds the product by suction, and the vacuum air circuit 15 increases the degree of vacuum and operates the vacuum sensor 16 to output the suction signal 19, thereby detecting that the finger clamper 1 has clamped the product.

When the command signal of the solenoid valve 17 turns OFF, the solenoid valve 17 switches to exhaust, and the spring 13 of the air cylinder 8
moves the piston 9 forward and the fingers 3, 3 open to release the product. At the same time, the vacuum air in the vacuum air circuit 15 is exhausted, and the vacuum air in the vacuum cup 6 is exhausted.
releases the product, and the adsorption signal 19 of the vacuum sensor 16 turns OFF, indicating that the product is not clamped.

"Effects of the Invention" As is clear from the above description, according to the present invention, since a vacuum cup is provided on one of the fingers, it is possible to attract and hold the product and also to transmit a suction signal to detect clamping of the product. Since the outer diameter of the vacuum cup can be accommodated within the height of the finger, there is no need to increase the height of the finger clamper, and there is no interference even if the distance between the upper and lower molds is narrow. Pressure air supplied to the finger clamper can be used, and the structure is simple and easy to handle. The practical effects and benefits are great.

[Brief explanation of drawings]

FIG. 1 is a partially sectional plan view of a finger clamper according to an embodiment, FIG. 2 is a side view thereof, and FIG. 3 is a necessary air circuit diagram. 1 is finger clamper, 2 is feed bar, 3
is a finger, 4 is a fulcrum pin, 5 is a holding member, 6 is a vacuum cup, 7 is a U-shaped groove, 8 is an air cylinder, 9 is a piston, 10 is a piston rod, 11
12 is a supply port, 13 is a spring, 14 is a vacuum generator, 15 is a vacuum air circuit, 16 is a vacuum sensor, 17 is a solenoid valve, 18 is a pressure air source, and 19 is an adsorption signal.

Claims (1)

[Scope of utility model registration request] In a product detection device for a finger clamper used in a robot line that conveys products from mold to mold in a press machine, a product detection device is installed inside one finger of the finger clamper instead of a product holding member to clamp the product. Vacuum cup that adsorbs together with
A product detection device for a finger clamper, comprising a vacuum air sensor provided in a vacuum air circuit that supplies vacuum air to the vacuum cup.