JPH0445315B2 - - Google Patents

Description

[Detailed Description of the Invention] (1) Technical Field of the Invention The present invention relates to a device for moving a workpiece in a production line etc. in which various manufacturing devices (or machines) are arranged, and in particular, it relates to a device for moving a workpiece in a production line etc. in which various production devices (or machines) are arranged, and in particular, it relates to a device for moving a workpiece in a production line etc. in which various production devices (or machines) are arranged. In order to take out a flat workpiece having a window hole from one device and transfer it to the other device for loading, an opening/closing gripping claw that can expand from inside the window hole of the workpiece and grip the inner edge of the window hole. The present invention relates to an inner diameter chuck device having an inner diameter chuck device.

(2) Background of the technology For example, in the manufacture of magnetic disks, etc., circular flat workpieces are processed through each process on the manufacturing line. In this case, in order to take out the workpiece from one device and move it to the other device, the workpiece may be gripped and moved using a window hole provided in the workpiece. As such a gripping device, an inner diameter chuck device is sometimes used, in which a plurality of gripping fingers capable of opening and closing are arranged in parallel on the arm head of a pick-up arm having n degrees of freedom, and gripping claws are provided at the tips of the fingers. many. In this case, in one device, the workpiece is
The plane part thereof is vertically disposed in a suspended manner by a supporting member (loading finger) which faces the inner chuck device and engages with the window hole. On the other hand, the gripping claws of the internal chuck device enter the window hole of the workpiece, expand and engage with the inner edge of the window hole, thereby holding and removing the workpiece. Therefore, the gripping fingers and gripping claws of this type of inner diameter chuck device have a simple structure, the gripping operation is not hindered by the workpiece support member of the mating device, and the shape of the window hole of the workpiece (for example, circular, square, etc.) It is desirable to have a structure that can be easily adapted to different sizes.

(3) Prior Art and Problems Conventional internal chuck devices have three gripping fingers, each of which has a gripping claw attached to its tip, and uses a three-point support system. It is often done. In other words, a pair of left and right gripping claws are arranged above, and another gripping claw opposite to these is arranged below (sometimes the gripping claws are arranged upside down).In this way, the three grasping claws Therefore, the conventional inner diameter chuck device has the following problems. In other words, in order for the gripping claw to enter the window hole of the workpiece, the size of the window hole must be larger than a certain degree; It is necessary to align the parts, but this is difficult; if the shapes or sizes of the holes in the workpieces are significantly different, a single chuck device cannot be used for all of these workpieces; There are problems such as complexity;

(4) Purpose of the Invention In view of the problems of the prior art described above, the purpose of the present invention is to provide a device with a simple structure and easy alignment of gripping claws;
To provide an inner diameter chuck device for a flat workpiece with a window hole, which can chuck the workpiece with a single chuck device regardless of the shape and size of the window hole in the workpiece.

(5) Structure of the Invention In order to achieve this object, according to the present invention, a flat workpiece with a window hole is suspended and supported by a supporting member so that the plate surface is in a substantially vertical state. In an internal chuck device that grips a workpiece by expanding a plurality of gripping claws from inside the window hole and chucking the inner edge of the window hole, a pair of gripping fingers are placed at a position facing the window hole of the workpiece. Disc-shaped gripping claws are arranged horizontally and parallel to each other vertically, and each of the gripping fingers has a disc-shaped gripping claw at the front end thereof, so that the plate surface of the gripping claw is perpendicular to the axis of the grasping fingers in the same vertical plane. annular engagement grooves extending continuously along the circumferential surface are provided on the outer peripheral surface of each of the gripping claws, and the gripping fingers are supported by a substrate movable in a horizontal direction toward the workpiece; One is fixed to the substrate, and the other is attached so that it can move up and down in the vertical direction with respect to the substrate, so that the distance between it and the fixed gripping claw can be changed, and both gripping claws are inserted into the window hole of the workpiece when grasping the workpiece. By moving the movable gripping claw in the direction away from the fixed gripping claw in the same vertical plane, the workpiece is engaged in the engagement groove of the movable gripping claw, and the workpiece is removed from the support member. There is provided an inner diameter chuck device for a flat workpiece with a window hole, characterized in that, by further moving the fixed gripping claws in the same direction, the engaging grooves of the fixed gripping claws engage with the inside of the workpiece to hold the workpiece.

(6) Embodiments of the invention Hereinafter, embodiments of the invention will be described in detail based on the drawings.

1 to 4 are diagrams showing embodiments of the present invention.

Fig. 1 shows an inner diameter chuck device (hereinafter referred to as an inner diameter chuck device) 1 for a flat workpiece with a window hole according to the present invention.
2 is a diagram schematically showing a state in which the device A is attached to the device A, and devices B, C, and D related to the device A. Device A
takes out the workpiece 30 from devices B and C and device D
Loading is performed on the In the same figure, a pick-up arm 11 is fixed to the upper end of a rotary drive shaft 13 that projects upward from a base 12, and is capable of pivoting in the horizontal direction by the drive shaft 13.
Moreover, it is mounted so as to be able to extend and contract in the axial direction by means of a cylinder 14. The lower surface of the base 12 is slidably fitted to the guide rails 15, 15', and the guide rails 15, 1 are connected to each other by a drive cable 16.
5' so that it can reciprocate in the X-axis direction. The inner diameter chuck device 10 of the present invention is attached to the tip of the arm 11, that is, the head portion.
The inner diameter chuck device 10 has a pair of gripping fingers 17, 17' which are arranged above and below and are movable to open and close, and disk-shaped gripping claws 18, 18 are inserted into the tips of the gripping fingers 17, 17', respectively. ' to check the inner diameter of the inner edge of the window hole 30a of the workpiece 30.
Holds 0. Work 30 in the figure is window 1 of device B.
9, it is suspended in the air by loading fingers (support members) 28, 28'.

2 is a perspective view of the inner diameter chuck device 10 shown in FIG. 1, and FIG. 3 is a perspective view of the inner diameter chuck device 10 shown in FIG.
It is a figure which shows the side view A and the front view B. In these figures, a substrate 20 is vertically fixed to the tip of the pick-up arm 11. A support plate 21 is fixed upright on the lower front surface of the substrate 20, and a fixing plate 23 is fixed vertically to the center of the front end surface of the support plate 21. Note that an opening 21a for inserting the cylinder 23 is provided in the center of the plane of the support plate 21. Grip fingers 1 are placed on the upper front surface of the fixing plate 22.
7' is fixed and protrudes forward, and a disc-shaped gripping claw 18' is rotatably inserted into the tip of the gripping finger 17'. On the other hand, guide plates 24 and 2 are disposed facing each other at the upper and middle portions of the front surface of the board 20.
4' is fixed upright. The guide plates 24, 24' are provided with guide holes 24a, 24'a, 24b and 24'b, spaced apart in the front-rear direction and penetrating in the vertical direction, and arranged in a straight line in the vertical direction. Guide bars 25 are installed in the guide holes 24a and 24'a.
Guide bars 2 are inserted into the guide holes 24b and 24'b.
5' is slidably inserted. Information board 24,
A gripping finger fixing plate 26 is fixed to the guide bars 25 and 25' between the guide bars 24'. Therefore, the fixed plate 26 is movable in the vertical direction between the guide plates 24 and 24'. Grip fingers 1 are placed on the front end surface of the fixing plate 26.
7 is fixed and protrudes forward, and a disc-shaped gripping claw 18 is rotatably inserted into the tip of the gripping finger 17. Note that the gripping claws 18, 18' are the gripping fingers 17, 1.
7' may be fixedly inserted. Gripping claw 18,1
8' are formed in the same shape, and annular engagement grooves 18a and 18'a are provided on the outer circumferential surface of each of the grooves 8' and continuously extending along the circumferential surface. 'a' are arranged so as to be aligned with the same vertical plane orthogonal to the axes of the gripping claws 18, 18'. A mounting bracket 27 is disposed below the guide plate 24' in parallel with the guide plate 24' and is fixed onto the base plate 20. The front end of the bracket 27 ends before the guide bar 25, and an opening 27a is provided at the base end for allowing the guide bar 25' to pass through. A cylinder (pneumatic or hydraulic) 23 is vertically arranged and fixed on the front end side of the bracket 27. The piston rod 23a of the cylinder 23 has its tip (upper end) 23b fixed to the gripping finger fixing plate 26 through an insertion hole 24'c provided in the guide plate 24'. Therefore, the guide bar 25,
25' in parallel in the vertical direction. Along with this, the gripping claws 18 and 18' move to open and close each other, and as shown by the two-dot chain line in FIG.
Check 0 for the inner diameter. As explained above, this inner diameter chuck device 10 has gripping fingers 17, 17'.
By configuring the gripping claws as a pair of upper and lower gripping claws, alignment of the gripping claws 18, 18' is very easy, and the structure can be simplified.

Figure 4 shows the workpiece 30 and gripping claw 1 in Figure 1.
8 and 18', including the loading fingers 28 and 28' of the counterpart device B. Figure A is a front view of the mating device B seen from the inner chuck device 10 side, Figure B is a sectional view taken along the line E-E in Figure A, Figure C is a detailed view of P section in Figure B, and Figure D is a section Q in Figure B. It is a detailed view. As shown in the figure, work 3
0 is suspended in the air with the window hole 30a engaged with the loading fingers 28, 28'. Gripping claw 1
8 and 18', after entering the window hole 30a, the gripping claw 18 rises and engages with the upper part of the window hole 30a (see Figure C), lifts the workpiece 30, and rises to the position shown by the two-dot chain line. , the lower part of the window hole 30a engages with the lower part of the gripping claw 18' (see Figure 2), and the workpiece 30
hold. In this case, as shown in Figures C and D, the engaging grooves 18a, 18'a of the gripping claws 18, 18'
Both sides of are formed into slopes 18b, 18'b,
It is designed so that the workpiece 30 is smoothly guided and engaged with the engagement grooves 18a, 18'a. Further, the engaging grooves 18a, 18'a are provided with consideration given to preventing the workpiece 30 from lateral wobbling. As is clear from FIG. Even if 30a is small, the workpiece 30 can be chucked to the inside diameter. On the other hand, as mentioned above, in the case of the prior art, the internal chuck device is configured with a pair of left and right gripping claws located above and another gripping claw located below. may not be able to chuck the workpiece 30 because it is obstructed by the loading fingers 28, 28'. In such a case,
Must be replaced with another internal chuck device.

(7) Effects of the Invention As explained above in detail, the inner diameter chuck device for a flat workpiece with a window hole of the present invention has a simple structure, easy alignment of the gripping claws, and a workpiece window hole. A single chuck device can easily chuck the inner diameter of a workpiece regardless of its shape and size;
There are significant effects such as the ability to reduce manufacturing costs.

[Brief explanation of drawings]

FIG. 1 is a diagram showing a state in which an inner diameter chuck device 10 for a plate-like workpiece with a window hole according to the present invention is attached to device A, and FIG. 2 is a diagram showing the inner diameter chuck device 1 shown in FIG. 1.
0, FIG. 3 is a side view A and front view B of FIG. 2, and FIG. 4 is a perspective view of the workpiece 30 in FIG. 1.
FIG. 4 is an explanatory diagram showing the relative positional relationship between the gripping claws 18 and 18', including the loading fingers 28 and 28' of the mating device B. 10... Inner diameter chuck device according to the present invention, 1
7, 17'...Gripping fingers, 18, 18'...Gripping claws,
18a, 18'a...Engagement groove, 18b, 18'b...
...Guide slope, 20...Substrate, 21...Support plate, 2
2, 26...Gripping finger fixing plate, 23...Cylinder,
23a... Piston rod, 24, 24'... Guide plate, 25, 25'... Guide bar, 27... Mounting bracket, 30... Flat workpiece, 30a...
...Window hole of flat workpiece 30.

Claims (1)

[Claims] 1. A flat workpiece with a window hole is suspended by a support member so that the plate surface is approximately vertical, and a plurality of gripping claws are expanded from inside the window hole to grasp the inner edge of the window hole. In an internal chuck device for gripping a workpiece, a pair of gripping fingers are vertically opposed and arranged horizontally and parallelly at a position facing the window hole of the workpiece, and a circular shape is attached to the front end of each gripping finger. A plate-shaped gripping claw is attached such that the plate surface of the gripping claw is perpendicular to the axis of the gripping fingers in the same vertical plane, and an annular shape is provided on the outer peripheral surface of each of the gripping claws and extends continuously along the peripheral surface. The gripping fingers are supported by a horizontally movable substrate toward the workpiece, one of which is fixed to the substrate, and the other is attached so as to be vertically movable with respect to the substrate. The distance between the fixed gripping claw and the fixed gripping claw can be changed, and the movable gripping claw is separated in the same vertical plane by a distance that allows both gripping claws to be inserted into the window hole of the workpiece when gripping the workpiece, and the movable gripping claw is moved in the direction away from the fixed gripping claw. By moving the movable gripping claw, the workpiece is engaged in the engagement groove of the movable gripping claw to remove the workpiece from the support member, and by further moving the movable gripping claw in the same direction, the engagement groove of the fixed gripping claw is engaged with the inside of the workpiece. An inner diameter chuck device for holding a flat workpiece with a window hole.