JPH054186A - Work grip hand of loader - Google Patents

Abstract

PURPOSE:To enable gripping an angular work with high precision when the work grip hand of loader is used in, for example, a gantry loader. CONSTITUTION:One stationary pawl 21 and three movable pawls 22, 23 being contacted with four side faces of an angular work W are provided on the underside of a hand body 20. The movable pawls 22, 23 are supported on the hand body 20 via a slide member 25 in an openably/closably movable manner. There is provided an interlocking and opening/closing mechanism 24 causing the three movable pawls 22, 23 to be opened/closed by means of a pawl opening/closing cylinder 28 and a bell crank 27 while causing them to be interlocked with each other. The movable pawl 22 opposing the stationary pawl 21 is supported on the slide member 25 in such a manner as to be escapable with movement of a support shaft 32, and is energized toward the stationary pawl 21 by a spring member 33.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work gripping hand of a loader applied to a gantry loader for a machining center.

[0002]

2. Description of the Related Art In an FMS (Flexible Manufacturing System) including a machining center, a pallet pool device for supplying pallets to a pallet changer, a transfer machine, etc. are generally used as a work supply device.

These work supply devices have problems in that they require a large installation space and lack versatility. Therefore, it was considered to use a gantry loader. The gantry loader has a work gripping hand that can be moved up and down on a traveling body that travels along an erection rail, and is widely used as a work supply means for a lathe.

[0004]

However, the work-holding hand for a lathe can only hold a round object, and none of them can accurately hold a square work to be processed by a machining center.

An object of the present invention is to provide a work gripping hand of a loader having a simple structure capable of gripping a square work with high accuracy.

[0006]

A work gripping hand of a loader according to the present invention is provided with a rectangular work piece 4 on a lower surface of a hand body.
One fixed claw and three movable claws that are respectively in contact with the side surfaces are provided. Each movable claw is attached to the hand main body so that it can be opened and closed freely, and an interlocking opening / closing mechanism is provided to open and close these three movable claws in an interlocking manner. The movable claw facing the fixed claw is supported by the escape permitting mechanism so as to be able to escape from the fixed claw against the interlocking opening / closing mechanism, and is biased by the spring toward the fixed claw.

[0007]

According to this structure, when gripping the work, the work gripping hand is lowered on the rectangular work with each movable pawl open, and the movable pawl is closed by the interlocking opening / closing mechanism. As a result, the work is clamped in one direction by the fixed claw and the movable claw facing the fixed claw with the fixed claw as a reference, and is also clamped by the pair of movable claws in the direction orthogonal thereto. The interlocking opening / closing mechanism interlocks the three movable claws to close them. At this time, since the movable claw facing the fixed claw can elastically escape by the escape allowance mechanism, even if the individual workpieces have different width dimensions, they can be reliably clamped in the two orthogonal directions. Be seen.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. FIG. 4 is a partially cutaway side view showing the relationship between a gantry loader having this work gripping hand and a machining center.

The gantry loader 1 is configured such that a loader head 5 is vertically movable via a lifting rod 4 on a traveling platform 3 that travels along an erection rail 2, and the loader head 5 holds two work pieces. A hand 6 is provided. The elevating rod 4 may be installed on the traveling table 3 via a front-rear moving table (not shown) so as to be movable in a direction orthogonal to the traveling direction. The two work gripping hands 6 are attached to both ends of a swing arm 7 installed on the loader head 5 so as to be horizontally swingable. Can be replaced.

The machining center 9 is of a type in which a column 11 is installed on a rail 10 via a slide base (not shown) so as to be movable back and forth and left and right, and a spindle head 12 is installed on the column 11 so that it can be moved up and down. An indexing table 13 is installed in front of the rail 10. The indexing table 13 is provided with a pallet 14 having two jigs 15 on which the work W on the setup side and the work W on the processing side are respectively placed. The positions are swapped. The pallet 14 has two clamp devices 17 for pressing the work W on the jig 15 by the clamp arms 16, and each clamp arm 16 is vertically opened and closed by being driven by a cylinder device.

The entire machining center 9 is a machine body cover 1.
The loader head 5 of the gantry loader 1 is covered with 8
Is inserted into a setup space 19 in the machine body cover 18 from a ceiling opening (not shown) provided in the machine body cover 18.
For example, as shown in FIG. 6, a plurality of machining centers 9 are arranged side by side, and the rails 2 of the gantry loader 1 are provided above these plurality of machines.

FIG. 1 shows a fractured side surface of the work gripping hand 6. Two work gripping hands 6 provided on the swing arm 7
Have the same configuration as each other. Work gripping hand 6
Is a fixed claw 21 and three movable claws 22, 23 that are hung from the hand body 20 and contact the four side surfaces of the work W, respectively.
And the interlocking opening / closing mechanism 24 for the movable claws 22 and 23. Each of the claws 21 to 23 is provided with a pad 21a to 23a for hitting a work. The hand body 20 is fixed to the revolving arm 7, and has a fixed claw 21.
Has its upper end fixed to the hand body 20.

The movable claws 22 and 23 are attached to the hand body 20 via slide members 25 such that they can be opened and closed. That is, the slide member 25 is slidably mounted in the guide groove 26 provided in the hand body 20, and is slid by the claw opening / closing cylinder 28 via the bell crank 27. The bell crank 27 is rotatably supported on the hand body 20 about a support shaft 29, one end of which engages with a circumferential groove of a drive ring 30 provided on the piston rod of the pawl opening / closing cylinder 28, and the other end of which slide member. 25 engages with the engaging recess.

In FIG. 1, the movable claw 2 facing the fixed claw 21.
Although only the two slide members 25 are shown, as shown in FIG. 2, the slide members 25 of the other two movable claws 23 also have bell cranks 27 that engage with the drive ring 30 in the same manner as described above.
It is driven by slide. The claw opening / closing cylinder 28, the drive ring 30, the bell crank 27, and the slide member 25 constitute the interlocking opening / closing mechanism 24 that interlocks and drives the three movable claws 22 and 23. The other two movable claws 23 are fixedly attached to the slide member 25, and a lower surface support member 31 for engaging the lower surface of the work is provided at the lower end.

In FIG. 1, the movable claw 22 facing the fixed claw 21 is rotatably attached to the slide member 25 around the support shaft 32, and is urged to rotate toward the fixed claw 21 by the spring member 33. The stopper 34 regulates the approaching position. The support shaft 32, the stopper 34, and the spring member 33 constitute a relief allowing mechanism 35.

Below the central portion of the hand body 20, an upper surface pressing plate 36 for pressing the upper surface of the work is arranged, is supported by a plurality of lifting pins 37 so as to be able to move up and down, and is pressed downward by a pressing spring 38. ing. The working fluid port 39 of the claw opening / closing cylinder 28 of each work gripping hand 6 has a rotary joint 40 provided at the center of rotation of the rotating arm 7.
It is connected to the port 41 by a flexible hose.

The operation of the above configuration will be described. In FIG. 4, the two work gripping hands 6 of the gantry loader 1 are
After the machined workpiece W on the jig 15 on the setup side is grasped by the empty workpiece grasping hand 6, the positions of both workpiece grasping hands 6 are exchanged by turning the turning arm 7. After that, the work W held in advance is fed to the auxiliary jig 1 on the setup side.
Supply to 5.

The gripping of the work W by the work gripping hand 6 is performed as follows. As shown in FIG. 3, in a state where the movable claws 22 and 23 are opened, the claws 21 to 23 move the work W.
The loader head 5 (FIG. 4) is positioned so as to be positioned on all four sides. After that, by driving the pawl opening / closing cylinder 28 to the closing side (shortening drive), the three movable pawls 22, 23 are moved.
Work together and close at the same time. In the process of this closing operation, the work W is first clamped by the fixed claw 21 and the movable claw 22 facing the fixed claw 21, and then the pair of movable claws 23,
It is sandwiched by 23 in the orthogonal direction. These movable claws 22,
The gripping order by 23 is adjusted by appropriately designing the position where the movable claws 22 and 23 separate from the work surface when opened.

In this way, the work W is gripped with the fixed claw 21 as a reference, and in the direction orthogonal to the fixed claw 21, the work W is centered and gripped by the pair of movable claws 23. Therefore, when the workpiece W is supplied to the jig 15, the work W can be always placed at a fixed position, and the processing accuracy can be improved.

Since the three movable pawls 22 and 23 are opened and closed in conjunction with each other by the interlocking opening / closing mechanism 24, only one pawl opening / closing cylinder 28 serving as an opening / closing drive source is required and the structure is simplified.
In addition, the movable claw 22 that faces the fixed claw 21 includes the spring member 3
Since it is possible to elastically escape against 3, it is possible to open and close the three movable claws 22 and 23 in conjunction with each other.
Workpieces W having different width dimensions can be reliably sandwiched in two orthogonal directions.

Although the above embodiment has been described for the case of application to a gantry loader, the work gripping hand of the present invention can be applied to various other types of loaders.

[0022]

Since the work gripping hand of the present invention is provided with one fixed claw and three movable claws which are in contact with the four side surfaces of the work, respectively, the work can be gripped from the four side surfaces with the fixed claw as a reference. Therefore, it is possible to accurately grasp a square work with reference to the fixed claw and always supply it to a fixed position. Since the three movable claws are opened and closed in conjunction with each other by the interlocking opening / closing mechanism, only one opening / closing drive source is required and the structure is simplified. Further, since the movable claw facing the fixed claw can elastically escape by the escape permitting mechanism, the structure is such that the three movable claws are opened and closed in conjunction with each other, regardless of a slight difference in the work shape. There is an effect that the clamping in two directions orthogonal to each other is surely performed.

[Brief description of drawings]

FIG. 1 is a cutaway side view showing a work gripping hand according to an embodiment of the present invention.

FIG. 2 is a rear view of the work gripping hand.

FIG. 3 is an explanatory diagram of a gripping operation by the work gripping hand.

FIG. 4 is a side view showing a relationship between a gantry loader equipped with the same work gripping hand and a machining center.

FIG. 5 is a schematic perspective view showing a relationship between the work gripping hand and a pallet of a machining center.

FIG. 6 is a plan view showing an arrangement state of machining centers.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Gantry loader, 2 ... Rail, 6 ... Work gripping hand, 7 ... Revolving arm, 9 ... Machining center, 12 ... Spindle head, 13 ... Indexing table, 14 ... Pallet, 15 ... Jig, 17 ... Clamping device, 20 ... Hand body, 21 ... Fixed claw, 22, 23 ... Movable claw, 24 ... Interlocking opening / closing mechanism, 25
... slide member, 26 ... guide groove, 27 ... bell crank, 28 ... claw opening / closing cylinder, 33 ... pressing spring, 35 ...
Release allowance mechanism, W ... Work

Claims (1)

Claim: What is claimed is: 1. A fixed claw and three movable claws, each of which is in contact with each of the four side surfaces of the rectangular work, are provided on the lower surface of the hand body.
The movable claws are supported by the hand body so as to be openable and closable with respect to each other, and an interlocking opening / closing mechanism for interlockingly opening and closing these three movable claws is provided. A work gripping hand of a loader that is provided with a relief allowing mechanism that supports the fixed claw so that it can escape from the fixed claw, and that biases the spring toward the fixed claw.