JPH0347715Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a finger opening/closing mechanism in a manipulator, and in particular grips a workpiece in a forging forming machine, such as a screw head, and positions the gripped workpiece between the tools of a press. This invention relates to a finger opening/closing mechanism in a manipulator for handling such as.

[Prior Art] Conventionally, an operating section at one end of a pair of fingers for clamping a workpiece is actuated via an operating rod as the ram of a forging machine reciprocates, and a claw section at the other end is operated. A finger mechanism in a manipulator that opens and closes is known.

Taking as an example the forging forming machine disclosed in Japanese Patent Application Laid-open No. 60-87944 and Japanese Utility Model Application No. 60-71447 shown in Figs. A plurality of dice D' (D1, D2,...
...not shown) are arranged horizontally, and each die D' and a punch (E1, E2, E2,
. . . (not shown) are transferred by a plurality of manipulators and forged in order.

The manipulator is provided with a first gear A1 having a vertical axis above an intermediate position between the adjacent dice D' of the die block D, and both front and rear ends of the first gear A1 are pivoted by links A4. and the second gear A3 is rotated by a rocking body A2 that causes rocking of the first gear A1 at a fixed angle with equal left and right rocking angles about the axis of the first gear A1 in conjunction with the reciprocating motion of the ram. freely supporting the second gear A3
At the lower end of the support shaft B1 fixed at the center of
A workpiece that supports a pair of fingers B4 and B5, and that allows the first gear A1 and the second gear A3 to move between an engaged position where they are close to each other and a non-engaged position where they are spaced apart from each other, and that is protruded from one of the dies. The object G is held between the fingers and turned 180 degrees with the gears in mesh, or in front of the other adjacent die D while maintaining the original posture with the gears out of mesh. The structure is such that it can be transferred to

The conventional finger mechanism for holding the workpiece G of this manipulator is, as shown in FIG.
The upper ends of the fingers B4 and B5 are rotatably supported by shafts B31 and B32 on a bracket B3 fixed to the lower end of the bracket B3, and their respective lower ends form claws or clamping parts that grip the workpiece G. At the same time, partial gears B41 and B51 facing each other are formed at the upper end of each, and a lever mechanism C
, an operating rod B6 operated by a cam C3 interlocked with the ram drive device is slidably inserted into the tube shaft B1, and the racks B61 and B62 formed at the lower end of the operating rod B6 are connected to the Double partial gear B4
1, configured to mesh with B51.

[Problem to be solved by the invention] However, according to such a manipulator, the finger mechanism part is operated via the operating rod B6,
As the ram reciprocates, the fingers B4 and B5
The workpiece G can be clamped or released by rotating oppositely and opening/closing, but the fingers B4 and B5 that have once released the clamped workpiece
As is clear from the figure and Fig. 5, while maintaining the open state of the finger gripping part, by utilizing the slight height difference raised by the circular arc rotation, and releasing it earlier, the die D _2, move over the workpiece G positioned at 2 and retreat to the immediately previous die D ₁ , or move to another die D ₃ to prepare for the next stroke. In order to allow for dimensional changes due to size and forging, and to obtain a sufficient elevation difference so that either finger gripping part does not interfere with the operation of the adjacent manipulator, the rotation radius has been adjusted. need to be increased. However, in this case, the distance between the ram, manipulator, and die must be correspondingly large, and related components such as links, lever mechanisms, and ram strokes must also be made longer, which means that the distance between the ram, manipulator, and die must be longer. This not only affects the stability of the machine, but also limits the minimum workpiece size that can be handled by momentum.

In view of this need, this invention has been developed by modifying only the finger mechanism without increasing the rotation radius by increasing the size of the lever mechanism C or the dimensions of the fingers B4 and B5, and by modifying only the finger mechanism, The object of the present invention is to increase the difference in height between elevation and descent, regardless of the predetermined opening degree of the section.

[Means for Solving the Problems] In order to achieve the above object, this invention uses a pair of fingers to clamp the workpiece through the vertical movement of the operating rod in conjunction with the reciprocating movement of the ram of the forging forming machine. A finger mechanism in a manipulator that operates each operating end of a member to open and close a claw at the other end, wherein each of the finger members is pivotally connected to a pivot bracket that can slide up and down with respect to the operating rod, The bracket is moved up and down by a vertical movement in conjunction with the operation rod of the bracket, and is also rotated by the same vertical movement to open and close the other end claws that intersect and face each other from opposite sides. The bracket is pushed upward when the operating rod moves upward, and is moved upward by a pressing spring when the operating rod moves downward, until it reaches a certain position where the downward movement of the operating rod stops. To provide a finger mechanism in a manipulator, characterized in that it is biased to move downward in a follow-up manner.

The present invention also provides a finger mechanism in the manipulator, in which the bracket is arranged on the operating rod 3.
By opening a gap 7 between the two, when the operating rod 3 moves upward, it is pushed with a delay, and when the operating rod 3 moves downward, the stopper 21 causes the operating rod 3 to follow the downward movement to a certain position before the downward movement stop point. To provide a finger mechanism in a manipulator characterized by the following features.

[Function] The finger mechanism in the manipulator with the above configuration allows the finger to slide up and down with respect to the operating rod.
In addition, it is pivoted to a pivot bracket that moves up and down following the up and down movement of the finger, and when the operating rod moves up, the bracket moves up and down, so that the opening operation of the finger claw is independent of the up and down movement. When the operating rod is moved downward, the bracket is urged by the action of the spring to follow the downward movement to a certain position where the operating rod stops moving downward, so that the claw portion stops moving downward. The closing movement starts regardless of the timing, and the up-and-down movement of the finger and the opening/closing movement are separated into separate steps, and even if the operating rod is operated at the same time, the movement can be adjusted independently, so the upward stroke The height difference is increased by changing only the finger, and the turning radius of the finger does not need to be extended, and the upward movement height difference is increased regardless of the opening/closing operation of the finger, without simply relying on the rotation of the finger like in the conventional mechanism. be able to.

The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

[Embodiment] FIGS. 1 to 3 each show an embodiment of the finger mechanism of this invention, and the manipulator 1
This is the configuration around the main part fingers in the closed and open states. In the figure, reference numeral 3 denotes an operating rod, which moves up and down in accordance with the reciprocating movement of the ram of a forging forming machine (not shown), and at the same time rotates around the axis by means of a sector gear mechanism at its upper end. Guide sleeve 2 held upright on
It is loosely fitted.

The guide sleeve 2 is fitted to the operating rod 3 through a spline or the like (not shown) so that it can rotate integrally and slide up and down, and its lower end bulges out in the radial direction to form a horizontal groove in the center passing through the diameter. The bracket 22 is slidably rotatable from the lower end surface of the mounting seat 10 and is constantly pressed downward by the spring 11 via the contact ring 23, and its upper end is attached to the mounting seat 10.
A ring collar-shaped stopper 21 is provided to extend a predetermined length from the upper end surface to limit the downward sliding stroke.

The operating rod 3 has a lower end extending into the bracket 22 from within the guide sleeve 2, and is formed into an operating portion 31 which has a U-shape that opens downward and is slidably fitted in the bracket 22 so as to be movable up and down. ing. Note that the lower limit of the downward stroke of the operating rod 3 is such that the guide sleeve 2 is placed above the operating portion 31 by the spring 11.
Bracket 2 when pressed to its lower limit with
It is positioned so as to form a gap 7 with the inner end of 2. This gap 7 may not be present at all, and is adjusted as necessary so that the opening degree becomes the maximum at a specific height up to the size of the workpiece G and the upper limit of the upward movement.

6 is a finger, and the bracket 22
and the operating portion 31, each operating end portion 61
A pair of finger members 6 with 1,621
It consists of 1,62. Finger members 61, 62
The outer ends of the operating ends 611 and 621 are pivotally connected to both ends of the groove of the bracket 22 by pivot pins 612 and 622, respectively, and the inner ends with a space between them are connected to the outer ends of the operating portion 31. It is inserted and locked by retaining pins 613 and 623 near both ends inside the opening. At this time, the retaining pins 613, 62
Locking ends 614 and 61 with each operation part 31 on both sides of 3
5, 624 and 625 are finger members 61, 6
Since the rotation of 2 causes movement in the rotation radial direction, the locking holes 314 and 325, 316 and 317 of the operating part 31 inserted into these are elongated holes whose long axes are along the rotation radial direction. It has been formed.

The finger members 61 and 62 intersect with each other, and the other end portions opposite to the operation ends 611 and 621 form claw portions 63 and 64 (in this example, by a replaceable screw connection method) facing each other, When the finger members 61, 62 are rotated, the claws 63, 64
open and close oppositely to release or grasp the workpiece G.

To explain the operation of the finger mechanism configured as described above, as shown in FIG. 1, when the operating rod 3 is moved downward, the guide sleeve 2 is also urged downward by the spring 11, The stopper 21 touches the operating part 31 of the mounting seat 1 and moves downward together.
It stops when it hits 0. The operating rod 3 continues to move downward until the bracket 2 of the guide sleeve 2 has stopped.
2, the operating ends 611, 621 of the finger members 61, 62 pivotally connected to
62 is rotated in the direction of arrow P around pivot pins 612 and 622. As a result, the finger members 61 and 62 close the claw portions 63 and 64 at the other end facing each other, and can grip the workpiece G at the lower limit of the downward movement.

Next, when the operation rod 3 is moved upward, the operation part 31 starts first because the gap 7 is opened between it and the bracket 22, and the dowel pin 613,
623 to pull up the operating ends 611, 621 of the finger members 61, 62 in the direction of arrow Q in FIG. 3, thereby rotating the finger members 61, 62 around the pivot pins 612, 622,
The claw parts 63 and 64 at the other end are made to open facing each other. The operating rod 3 continues to be moved upward, and the operating section 31
When the bracket 22 comes into contact with the bracket 22, the bracket 22
is moved upward, thereby compressing the spring 11 and moving the finger members 61 and 62 toward the pivot pin 6.
12,622, it starts to pull up and stops when it reaches the upper limit of the upward stroke.

[Effects of the invention] As can be seen from the above embodiment, in the finger mechanism of the manipulator of this invention, the operating ends 611, 621 of the claw portions 63, 64 of the finger 1 are rotated by the operation of the operating rod 3. At the same time, the finger members 61 and 62 are also moved up and down, and when handling the workpiece G in accordance with the forging forming process, the guide sleeve moves up and down following the operation rod 3 with a slight delay. 2, and the finger members 61 and 62 are pivotally connected thereto,
While the center of rotation is used for opening and closing, the operation for opening and closing is performed using the operating rod 3, so that opening and closing and vertical movement operate separately and in conjunction with each other. It is also possible to change the delay regardless of both operations.

Therefore, if it is necessary to increase the upward movement height difference of the finger mechanism of one of the manipulators in response to various sizes of workpieces and shape expansion during forming, this method can be used without changing the size of the lever mechanism. It is only necessary to modify the finger mechanism by using a structure like this.

[Brief explanation of drawings]

Fig. 1 is a partial longitudinal cross-sectional side view showing the configuration of an embodiment of the finger mechanism (closed state) in the manipulator of this invention, Fig. 2 is a cross-sectional view taken along the line - - in Fig. 1, and Fig. 3 is a cross-sectional view taken along the line shown in Fig. 1. FIG. 4 is a partially cutaway plan view of the configuration of an example of a forging machine, and FIG. 5 is a cross-sectional view taken along the line -- in FIG. 4.

Claims (1)

[Claims for Utility Model Registration] 1. Operating end portions 611 of each of the pair of finger members 61 and 62 for clamping the workpiece G through the vertical movement of the operating rod 3 as the ram of the forging forming machine reciprocates. , 621, the claw portion 6 at the other end is activated.
3, 64 is a finger mechanism in the manipulator 1 that opens and closes the finger members 61, 64.
62 are pivotally connected to pivot brackets 22 which are capable of vertically sliding with respect to the operating rod 3, and are moved up and down by the vertical movement of the brackets 22 in conjunction with the operating rod 3, and the same vertical movement operation is performed. By the rotation of the bracket 22, the other end claws 63 and 64, which intersect and face each other from opposite sides, are opened and closed. When the operating rod 3 moves downward, the pressing spring 11
1. A finger mechanism in a manipulator, characterized in that the finger mechanism is biased to follow the downward movement of the operating rod 3 to a certain position while reaching the downward movement stop point of the operating rod 3. 2 By creating a gap 7 between the bracket 22 and the operating rod 3, the bracket 22 is pushed with a delay when the operating rod 3 moves upward, and the stopper 2 is pushed when the operating rod 3 moves downward.
1. A finger mechanism in a manipulator according to claim 1, wherein the finger mechanism of the manipulator is configured to follow and move downward to a certain position before the downward movement stop point of the operating rod 3. 3 The finger members 61 and 62 are connected to the retaining pin 6
The engagement holes 314, 315 and 316, 317 are formed into elongated holes with the open long axes of the lower end of the operating rod 3 along the rotation radius direction. A finger mechanism in a manipulator according to claim 1, which has been registered as a utility model.