JPH03267224A - Separating/grasping method for stacked material - Google Patents

Abstract

PURPOSE:To securely prevent the deformation and falling-down of a stacked material by constituting the device in such a way that both end surface parts of the stacked material are held between clamp claws in the width direction and also both end parts of the stacked material are held from below by separation claws. CONSTITUTION:The uppermost layer of a stacked material A1 is pressed from below by a member which has been formed separately from a pair of clamps 1, and both a pair of clamp claws 1 and a pair of separation claws 7 as they are superposed are moved in the width direction toward the stacked materials A. Thereby a pair of separation claws 7 hold between them both the end surface parts of the lower stacked material A2 in the width direction, and also a pair of clamp claws 1 hold between them both the end parts of a desired stacked material. And, in the condition as they are, a pair of clamp claws 1 and separation claws 7 are lifted, and also the separation claws 7 are turned in the direction they are retracted from the lower stacked materials, and a desired stacked material A1 is separated from the lower stacked material A2, and at the time of the separation, the separation claws 7 are reversed, thereby the desired stacked material being grasped by the clamp claws 1 is held from below.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a separating/clipping device that grasps and separates laminated materials punched and laminated by a press or the like one by one.

[Conventional technology]

As this type of conventional technology, Japanese Patent Application Laid-Open No. 63-160928
There is a technology shown in the publication No.

The prior art has two pairs of clamp claws in which a pressing part and a grip part are integrally formed, and two pairs of separation claws. When thin laminated materials that have been punched out and stacked using a press are to be separated by grasping them one by one from above, the pair of clamp claws and separation claws are moved together to a position near the laminated materials. After that, the pressing parts of the pair of clamp claws press downward from the top layer of the laminated material and move on the top layer of the laminated material, so that the gripping parts grip the top layer of the laminated material from the width direction, and at the same time, The pair of separation claws also move along with the clamp claws to grab the second laminated material from the top in the radial direction.Next, while maintaining this state, both the pair of clamp claws and separation claws are slightly raised. Then, only the separation claw is lowered to separate the uppermost layer of laminated material from the second layered material, and the layered material held by the separation claw is stacked on top of the original layered material. Thereafter, the separation claw is retracted by a pair of clamp claws, and the clamp claw and separation claw are moved to a desired position, thereby transporting the laminated material gripped by the grip portion to the desired position.

[Problem to be solved by the invention]

By the way, the conventional separation/grasping method shown above is as follows:
The following points were not considered.

That is, in the prior art, the gripping parts of the pair of clamp claws grip the laminated material from the width direction, so when the thickness of the laminated material is thin, it not only deforms due to the gripping force of the gripping parts. , the laminated material also deforms due to its own weight, which causes the problem that the laminated material falls from the gripping portion. Also, when gripping laminated materials, the pressing parts of the pair of clamp claws move horizontally while pressing downward from the top layer of the laminated materials, which is effective for correcting warps that occur in the top layer of laminated materials. However, there was a problem in that the laminated material was damaged.

In view of the above-mentioned problems, an object of the present invention is to provide a method for separating and grasping laminated materials that can reliably prevent the laminated materials from being deformed or falling, and that does not cause damage to the laminated materials. Our goal is to provide the following.

[Means to solve the problem]

In order to achieve the above object, in the method of the present invention, the uppermost layer of laminated material is pressed from below by a member formed separately from the pair of clamp claws, and the pair of clamp claws and the pair of separation claws The two sides are moved from the width direction towards the laminated material with the two stacked together, and the pair of separation claws clamp and grasp both end surfaces of the laminated material in the radial direction of the lower laminated material, and the pair of clamp claws are used to remove the desired part of the laminated material. After gripping both end surfaces of the laminated material, raise the pair of clamp claws and separation claws while keeping the same position, and rotate the separation claw in a direction to retreat from the lower laminated material to lower the desired laminated material. It is characterized in that the desired laminate is separated from the laminate, and at the time of separation, the separating claw reverses itself to hold the desired laminate held by the clamp claw from below.

[Effect]

In the method of the present invention, as described above, the clamp claws grasp both end surfaces of the uppermost layer of laminated material, and the separation claws hold both ends of the laminated material from below, thereby preventing the laminated material from deforming or falling. This can be reliably prevented. Furthermore, since the member simply presses against the laminated material when gripping the laminated material, it does not move on the laminated material unlike in the prior art, and therefore there is no risk of damaging the laminated material.

(Example) An example of the present invention will be described below with reference to FIGS. 1 to 7.

In the separating and gripping device of the embodiment for carrying out the method of the present invention, two pairs of clamping claws 1 grip the uppermost layer of the laminated material A1, and two separating claws 7 grip the uppermost layer of the laminated material A1. After separating the laminated material A1 from the other laminated materials A, the clamp claw l and the separation claw 7 are moved to a desired position by a moving means (without moving water) in the same state. , roughly divided into two clamp claws
, a pair of separating claws 7, a holding means for the separating claws, and a driving means.

A pair of clamp claws 1 are used to grasp the uppermost layer of laminated material AI one by one, and as shown in Fig. 1, each has a substantially rectangular shape, with its lower tip end. It has a tapered shape and protrudes forward so as to have a thickness that is approximately the same as the thickness of one sheet of laminated material A, and its tapered bottom surface is formed as a horizontal surface. In addition, each clamp claw l has a guide 3 provided on the frame 2 at its lower part on both sides.
, and is attached to the front flange surface of a gripping cylinder 15, which serves as a driving means to be described later. The frame 2 has a substantially rectangular frame, and is raised and lowered by a vertical cylinder 13 of a driving means, which will be described later.
In addition, a pressing piece 4, a spacer 5, and a spacer fixing screw 6 are provided at the front portion in order to press the laminated material A downward when descending.

The pair of separation claws 7 are the clamp claws l of the top layer of the laminated material A.
When grasping I, both end surfaces of the lower laminated material A2 below it are pinched and grasped from the width direction, and the laminated material A1 is separated from the lower laminated material A2, each having a clamp claw. The tip 7a has a tapered shape so as to have an upside-down shape, and the tip 7a is formed horizontally. The length of the tip 7a of each separation claw 7 is set to be longer than the length of the tip of the clamp claw 1 when it comes into contact with the clamp claw 1.

On the other hand, as shown in FIGS. 3 and 4, the holding means for the separating claws is such that one arm 8a provided on the reversing piece 8 is inserted into both sides of each separating claw 7. other arm 8b
is the guide hole l provided at the tip side on both sides of the return arm 9.
O, and its reversal piece 8 and arm block 1
The zero reversing piece 8, which urges the separating claw 7 against the clamping claw 1 by the spring force of the spring 12 compressed in one direction, has arms 8a and 8b extending laterally on both sides. 8a is loosely fitted into the opposite position of the separation claw 7, and the arm 8a
The separation claw 7 is held rotatably around the center. Although not shown in FIG. 1, the return arm 9 is in the shape of a trowel, and a guy F3 is inserted into the frame 2 along the length direction to connect the rear part 2a of the frame 2 and the clamp claw 1. placed in between. The spring 12 is inserted into the guide 3 inside the return arm 9 and is inserted into the reversing piece 8.
and the arm 11, and as shown in FIG. 5(a), when the separating claw 7 is in a rotated position with a certain distance away from the clamping claw 1, its spring force is compressed. When the separating claw 7 is pressed against the clamping claw l as shown in FIG. 2(b), the separating claw 7 rotates in the direction of the arrow about the arm 8b of the reversing piece 8 as shown in FIG. ing. Therefore, in order to allow the separating claw 7 to rotate, it is formed so that its center of gravity is located below the center, or the hole into which the arm 8b of the reversing piece 8 is inserted is selected to be higher than the center of gravity. ing.

Therefore, the holding means for the separation claw are the reversing piece 8 and the return arm 9.
, the spring 12 normally urges the separation claw 7 so that it can move in the same direction as the movement direction of the clamp claw 1 and rotate by the spring force of the spring 12.

On the other hand, the driving means has a vertical cylinder 13 that raises and lowers the frame 2, a horizontal cylinder 14 that moves the frame 2 in the horizontal direction, and a grip cylinder 16 that drives the clamp claw l and the separation claw 7, respectively. . Although the upper and lower cylinders 13 are not shown in detail, there is a bearing structure 1 in the lot.
The frame 2 is attached to the frame 2 through the laminate material 7, and when the laminate material AI is grasped, the frame 2 is lowered along the vertical guide 18, and the clamp claw 1 is raised after grasping the laminate material A1. 1 and the separation claw 7 are moved up and down. The frame 2 is also attached to the horizontal cylinder 14 via the bearing structure 17, and the clamp claw l and separation claw 7 are moved horizontally along the slide guide 19 by driving after the upper and lower cylinders 13 have been raised. That's what I do.

The gripping cylinder 15 is a double-acting, double-shaft cylinder with rods at the front and rear.One rod is connected to the front part of the frame 2 where the pressing piece 4, spacer 5, etc. are located, and the other rod is connected to the rear part. connected. Further, the clamp claw 1 is attached to the front flange surface of the gripping cylinder 15, and the arm block 11 is attached to the rear flange surface. The lower part of the arm block 11 passes through the guide 3 in the return arm 9 of the holding means. As described above, this gripping cylinder 15 has the clamping claw l attached thereto and the arm block 11 has inserted the guide 3 in the return arm 9, so when it is driven forward, as shown in FIG.
From a) to the same rI! 1(b), both the clamp claw 1 and the separation claw 7 are moved forward along the guide 3, and the tip 7a of each separation claw 7 is moved by the spring force of the spring 12 to both end surfaces of the lower laminated material A2. The tip of each clamp claw 1 also clamps and grips both end surfaces of the uppermost layer laminate A1 from the width direction.

Therefore, the driving means moves both the pair of clamp claws l and the separation claws 7 to the laminated material A by driving the upper and lower cylinders 14.
The upper and lower cylinders 1 are lowered to a certain position, and by driving the grip cylinder 15, both the clamp claw l and the separation claw 7 grasp the uppermost layered material AI and the lower layered material A2, respectively.
3 is raised, the clamp claw 1 raises the uppermost layer of laminated material A2 while grasping it, and the separation claw 7 moves the lower laminated material A2 to the reversing piece 8 as shown in FIG. 1(c).
By rotating in the direction to retreat from the lower laminated material A2
At this time, the separation claws 7 return to a predetermined position as shown in FIG. 2(d) due to the spring force of the spring 12, and hold both ends of the laminated material A1 from below.

Therefore, when the separating claw 7 is separated from the clamping claw l, the holding means rotates by its own weight around the arm 8b of the reversing piece 8, and when it rotates, it is biased against the clamping claw l by the spring force of the spring 12. When it comes into contact with the clamp claw l, it is reversed and returns to its original position.

Furthermore, when the uppermost layered material AI, in which the uppermost layered material A1 is gripped by the clamp claw l and the separation claw 7, is conveyed to a desired position, the drive means
In order to place I at a desired position, a release cylinder 16 is provided for releasing the pair of separating claws 7 from holding the laminated material A1. As shown in FIGS. 4 and 6, the release cylinder 16 has a rod that passes through the arm l and is connected to the rear part of the return arm 9, and is disposed inside the return arm 9. When the AI is transported to the supply position, the return arm 9 is driven to move back and the separation claw 7 is separated from the clamp claw 1, and the separation claw 7 rotates under its own weight and separates from the bottom of the laminate AI. , the holding on the laminated material A1 is released.

The gripping pawl can be adjusted by rotating the screw shaft 20 passing through the bearing structure 17 in FIG. 1 by operating the fine adjustment knob 21, or by moving the entire frame 2 by operating the adjustment handle 22 shown in FIG. 1 and the separation claws 7 are adjusted to accommodate changes in the length of the laminated material A.

Next, an embodiment of the method of the present invention will be described in connection with the operation of the separation/grasping device of the embodiment.

First, the frame 2 is lowered by driving the upper and lower cylinders 13 of the driving means, and as shown in FIG. Both the pair of clamp claws l and the separation claws 7 in 2 move to a position where they face the laminated material A. Next, the gripping cylinder 16 is driven, and the pair of clamp claws l and the separation claws 7 are moved as shown in FIG. 1(b). 1 and the separation claw 7 are moved from the axial direction with respect to the laminated material A, the tip of the separation claw 7 first hits both end surfaces of the lower laminated material A2 below the uppermost layered material AI, and the lower laminated material Both end surfaces of A2 are clamped and grabbed, and the tips of the clamp claws 1 abut against both end surfaces of the uppermost layered material AI, and both end surfaces of the laminated material A1 are gripped and gripped.

At this time, when the separating claw 7 hits the lower laminated material A2, it is separated by a certain distance by the return arm 9 and reversing piece 8 of the holding means as the clamp claw l moves forward.

Then, in this state, when the clamp claw 1 and the separation claw 7 are slightly raised by driving the upper and lower cylinders 13, the clamp claw 1 is moved upwardly toward the laminated material A as shown in FIG. 1(C).
1 while lifting up, the separating claw 7 releases the lower laminated material A.
2, rotate in the direction of retreating from the lower laminated material A2.

That is, at the time when the separating claw 7, the reversing piece 8, and the lower laminated material A2 have not yet been raised, the dimensional relationship of λ1.12 as shown in FIG. Since the reversal frictional force μFJ12 between the separating claw 7 and the laminated material A2 is larger than that, the separating claw 7 remains horizontal and does not rotate, and when the separating claw 7 rises,
The reversing force Fll becomes larger than the reversing frictional force μF12, and the reversing force causes the separating claw 7 to move as shown in FIG. 7(b).
rotates in the direction of retreating from the laminated material A2. Therefore, when the clamp claw 1 and the separation claw 7 rise, the uppermost layer of laminated material A
1 from the lower laminated material A2 and release the grip on the lower laminated material A2.

At this time, when the separating claw 7 releases its grip on the lower laminated material A2, it is urged toward the clamping claw 1 by the spring force of the spring 12 of the holding means, and rotates in the opposite direction as described above by coming into contact with the clamping claw 1. By returning to the original position, both ends of the uppermost layered material AI are held from below.

In the method of the present invention, as described above, the clamp claws 1 grip both end surfaces of the uppermost layered material A1, and the separating claws 7 hold both ends of the layered material A2 from below, so that the layered material A1 is not deformed. , can reliably prevent it from falling.

Further, since the pressing piece 4 of the frame 2 simply presses the laminated material A1, it does not move on the laminated material unlike the prior art, and there is no fear of damaging the laminated material Al.

After grasping the uppermost laminated material AI as described above, the laminated material AI is raised to a certain height by driving the upper and lower cylinders 13, then the horizontal cylinder 14 is driven, and it is simultaneously lowered by driving the upper and lower cylinders 13. Finally, by driving the gripping cylinder 13 and the return cylinder 16, the clamp claw l and the separation claw 7 are operated, thereby conveying the laminated material AI to a desired position. In that case, the clamp claw 1 is
1, the return arm 9 of the holding means is moved backward against the spring force of the spring 12 by driving the return cylinder 16 in advance, and the separation claw 7 is separated from the clamp claw 1 as shown in FIG. Since it rotates in the direction of releasing the hold on the laminated material AI, the laminated material AI can be reliably positioned at the supply position, and the laminated material AI will not shift.

Furthermore, as described above, the apparatus of the present invention is constituted by a pair of clamp claws 1, a pair of separation claws 7, a holding means, and a driving means, so that the above method can be carried out accurately.

〔Effect of the invention〕

As described above, according to the method of the present invention, the clamp claws clamp and grip both end surfaces of the laminated material from the width direction, and
Since the separating claws are configured to hold both ends of the laminated material from below, it is possible to reliably prevent the laminated material from deforming or falling, and since the laminated material is simply pressed, As a result, there is no risk of damaging the laminated material, which has the effect of increasing reliability.

[Brief explanation of drawings]

FIGS. 1(a) to 1(e) show the main parts of an embodiment of a laminated material separating and gripping device for carrying out the present invention, and FIGS.
a) is an explanatory diagram when the laminated material is pressed, the same figure (b) is an explanatory diagram when the laminated material is grabbed, the same figure (c) is an explanatory diagram when the clamp claw and the separation claw are raised, The same figure (d) is an explanatory diagram showing the relationship between the clamp claw and the separation claw when conveying the laminated material, the same figure (e) is an explanatory diagram showing the conveyance state of the laminated material, and Fig. 2 is the separation/gripping device. 3 and 4 are an exploded view and assembly view showing the holding means, and FIG. 5 (a)
) is an explanatory diagram when the separating claw is separated from the clamping claw, Figure (b) is an explanatory diagram when the separating jaw is urged by the clamping claw, and Figure (c) is an explanatory diagram showing the rotating state of the separating claw. An explanatory view, FIG. 6 is a perspective view showing when the return cylinder of the holding means is driven, and FIG.
Figures (a) and (b) are explanatory diagrams when the separating claws are holding the lower laminated material and explanatory diagrams when the separating claws are raised and retreated from the lower laminated material. l...Clamp claw, 4...Pushing piece, 7...Separation claw, 8...Reversing piece, 9...Returning arm, 12...
- Spring, 13...Vertical cylinder, 14...Horizontal cylinder, 15...Gripping cylinder, 16...Returning cylinder.

Claims (1)

[Claims] 1. A pair of clamp claws clamps and grips the desired laminated material from the axial direction, and a pair of separation claws clamps the lower laminated material next to the desired laminated material from the width direction. A method for separating and grasping laminated materials in which the lower laminated material held by the separating claws and the desired laminated material held by the clamp claws are separated and the desired laminated material is conveyed includes a pair of clamps and a separate material. The uppermost layer of laminated material is pressed from below by a member formed in the uppermost layer, and the pair of clamp claws and the pair of separation claws are moved from the width direction toward the laminated material while keeping them overlapped, and the pair of separation claws grips both end surfaces in the width direction of the lower laminated material among the laminated materials, and
After the pair of clamp claws clamp and grasp both end surfaces of the desired laminated material, the pair of clamp claws and separation claws are raised in that state, and the separation claws are rotated in a direction to retreat from the lower laminated material. , a laminate characterized in that the desired laminate material is separated from the lower laminate material, and at the time of separation, the separating claw reverses motion to hold the desired laminate material gripped by the clamp claw from below. How to separate and grasp materials.