JPH06171772A - Holding device for superposed plate-shaped work and member feeding device - Google Patents

Abstract

PURPOSE:To provide a holding device which is installed on a handling device and can surely hold only a necessary quantity of plate shaped works from a member feeding device on which a number of plate shaped works on which the viscous substance such as oil adheres are superposed and a plate shaped work feeding device which facilitates the replacement work for the plate-shaped works and centering. CONSTITUTION:A holding device previously performs the taking-out/positioning for a work by superposing a number of plate shaped works 4a and 4b on a member feeding device 1, and is equipped with a plurality of movable holding pieces 2a and 2b which can be raised and lowered and allowed to approach each other, and a wedge shaped hook 7 is formed on the opposed sides of the movable holding pieces 2a and 2b. Further, the top edge of the wedge shaped hook 7 forms a projection 9 from a cut side 13 formed inwardly from the lower edge sides of the movable holding pieces 2a and 2b and an inclined side 10 extending to the innermost corner from the top edge of the cut side.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention makes it possible to reliably hold only the required number of sheets from a sheet feeding device on which a large number of sheet-like workpieces, in particular, a large number of sheet-like workpieces to which an adhesive substance such as oil is attached are superposed. The present invention relates to a gripping device attached to a handling device and a plate-shaped workpiece feeding device that facilitates replacement work and centering of a plate-shaped work.

[0002]

2. Description of the Related Art A gripping device for gripping a required number of sheets from a large number of plate-shaped works superposed on a material supplying device and supplying the same to another place is disclosed in, for example, Japanese Patent Laid-Open No. 62-287990.
As disclosed in No. 3, a pair of movable gripping pieces are arranged so that they can approach each other via a rack and a pinion that meshes with the rack, and further, a gentle outward slope is provided on the facing surface of the tip of each movable gripping piece. There is one provided. The gripping device positions the movable gripping piece at an overlapping position of the plate-shaped work with the movable gripping piece open, and then grips the plate-shaped work by bringing the movable gripping pieces close to each other by driving the rack and the pinion. . Therefore, even if it is a plate body in which a myriad of holes are punched, such as a lead frame, or one made of a non-magnetic material, it is possible to surely grip one by one,
Furthermore, the superposed plate bodies are not displaced to one side.

Further, a rod is provided upright, a large number of plate-like works having a hole at the center are inserted into the rod, and the work is lifted by a lifter to feed the work to a gripping device. There is a device. Although the shape is similar in such a material supply device, when setting a large number of plate-shaped works with different dimensions,
The plate-like work is inserted into the rod body that matches each dimension, and the rod body is exchanged according to the dimension of the plate-like work.

[0004]

Some of the superposed plate-like works have a circular hole formed in the center and have sticky substances such as oil adhered to them, such as a bearing ring of a rolling bearing. . These plate-shaped workpieces may be in close contact with each other.In the above conventional device, for example, even when only one plate-shaped workpiece is desired to be taken out, several pieces are held in close contact and the required number of sheets is accurately determined. It is difficult to take out. Such a problem is not limited to the case where the sticky substance is attached, and the same problem occurs in the material in which the plate-like work is electrostatically charged. Further, even when it is necessary to grip the work in units of a plurality of sheets, it is difficult to take out exactly the required number of sheets. Further, in the above-mentioned material supplying device, the rod body to be inserted according to the dimension of the plate-like work having a hole in the center must be replaced with a rod body of a suitable size each time, and in addition, the take-out position is fixed. It was necessary to perform alignment work in order to make it easy to operate. According to the present invention, the movable gripping piece is provided with a wedge shape so that a predetermined number of the overlapped plate-like works can be reliably gripped, and the work of the post-process can be surely performed. It is an object of the present invention to provide a gripping device for a plate-like work and a material supply device that allows convenient handling and operation of a plate-like work having a hole in the center.

[0005]

A gripping device according to the present invention is attached to a handling device such as an industrial robot, and is a material feeding device in which a large number of plate-like works are superposed and pre-positioned for the works. On the other hand, in the gripping device including a plurality of movable gripping pieces that can be moved up and down and can be brought close to each other, the above-mentioned problem is solved by forming wedge-shaped claws on the opposite sides of the movable gripping pieces. Further, the material supply device according to the present invention is provided with a guide rod body and a centering rod body which are erected from the main body, a lifter which can be raised and lowered along the guide rod body, and a work out which is inserted into the centering rod body. A head having a detection switch for detecting the position, the head outer diameter is slightly smaller than the inner diameter of the hole provided in the center of the plate-like work, and the outer diameter is gradually reduced downward is the core. The detachable installation at the tip of the dispensing rod simplifies the handling of the plate-like work and solves the above problems.

[0006]

The feeding device raises the plate-like work, stops the work at a predetermined position when the detection switch operates, and sends a work take-out possible signal to the industrial robot. Then, the gripping device is moved and stopped at a position designated in advance. Further, a command signal for moving the movable gripping piece toward the center of the gripping device is issued, and the plate-like work is gripped by the signal. At that time, the projection of the wedge-shaped pawl is inserted between the number of works to be gripped and the other works.
The upper work is reliably gripped by the movable gripping pieces being brought closer to each other.

The superposed plate-like works are randomly inserted into the centering rods, and each is initially eccentric with respect to the centering rods. From this state, the work is pushed up by the jig as the lifter rises, passes through the outer peripheral surface of the head to correct the eccentricity, and is aligned with the center of the guide rod.

[0008]

Embodiments of the present invention will now be described with reference to the drawings. The gripping device 1 has a linear bush 14 as described later.
It is attached to the arm of the industrial robot or manipulator R as shown in FIG. 9 through the compression spring 15 and the tip surface 6 of the gripping device 1 and has three shapes as shown in FIG. The movable gripping pieces 2a, 2b, 2c are at equal angular positions with respect to the center of the gripping device 1, that is, 120
Placed at intervals of °. These movable gripping pieces approach each other toward the center of the gripping device by an appropriate means such as an air cylinder (not shown), or move in the opposite direction to grip the plate-like work 4, or The gripped state is solved. The above three movable gripping pieces 2a, 2b, 2
The c is provided with the fixing base 5 of the gripping piece on the upper part,
The fixed base is engaged with a groove (not shown) formed on the lower end side 6 of the gripping device 1, and the groove guides the moving direction of the movable gripping piece 2 to bring the movable gripping pieces closer to each other. , Allowing the movement of separation.

The three movable gripping pieces 2a, 2b, 2c include
As shown in an enlarged view in FIG. 4A, wedge-shaped claws 7 are formed on the respective gripping devices toward the center thereof. As shown in the figure, this wedge shape forms a projection 9 by a cut edge 13 formed from the lower end side 8 of the movable gripping pieces 2a, 2b, 2c toward the center AA of the gripping device. Further, an inclined side 10 that is longer than the cut-off side 13 is formed inwardly from the protrusion 9, and further from the inner corner 11 of the inclined side to the center line AA of the gripping device.
A bottom side 12 extending in a direction orthogonal to is provided.
The wedge protrusions 9 are formed by the plate-shaped works 4, 4. ． It can take an appropriate value in the range of 5 ° to 150 ° depending on the thickness and shape of the. Further, as shown in FIG. 4B, the wedge-shaped claw 7 may not be provided with the inclined side 10 and the acute-angled projection 9 may be formed at the tip thereof. In the present embodiment, the movable gripping piece has a three-piece construction, but it may have a two-piece construction or four or more constructions depending on the shape of the work.

As shown in FIGS. 6 and 7, a donut-shaped plate-shaped work 4, 4. ． ． Is the material supply device 1
6, a plurality of centering rods 17 provided upright on the centering hole 24
Are overlapped with each other inserted. The lifter 18 is guided by the guide rod 19 and can be moved up and down along the centering rod 17 by a drive device (for example, a hydraulic device) provided in the material supplying device 16. The jig 20 attached to the lifter 18 pushes up the stacked plate-like works 4 as the lifter 18 moves up.

At the tip of the centering rod 17, as shown in FIGS. 10A and 10B, a cylindrical outer diameter surface 28 having a maximum diameter slightly smaller than the inner diameter surface 26 of the plate-like work 4 has a predetermined width h. Only one is provided to position the work. If the inner diameter surface 26 of the work 4 is rounded as shown in FIG. Further, a head 21 having a taper portion 27 whose diameter gradually decreases toward the bottom is attached. Further, a radius is provided around the head 29 of the head 21 to facilitate the insertion of the work. The head 21 can be replaced with one having an appropriate size according to the diameter of the plate-shaped work 4. The superposed plate-shaped works 4 are randomly inserted into the centering rods 17, and each is initially eccentric to the centering rods 17 as shown in FIG. 7. From this state, the work is pushed up by the jig 20 as the lifter 18 rises, passes through the outer peripheral surface of the head 21 to correct the eccentricity, and is aligned with the center of the guide rod 19.

A pair of photoelectric switches 22a and 22b are attached to the tip of the guide rod 19, and when a work is detected at the work take-out position, a work presence signal is emitted to stop the lifter 18 from moving upward. It has become. One of the photoelectric switches is a light projecting unit and the other is a light receiving unit. Upon receiving the signal from the photoelectric switch,
A robot controller (not shown) issues an ascending or descending signal for stopping the gripping device 1 attached to the robot arm at a predetermined position in the material supplying device 16. Then, the industrial robot R as shown in FIG. 8 stops the gripping device at a predetermined position taught in advance. Then,
A command signal for moving the movable gripping pieces 2a, 2b, 2c toward the center of the gripping device is issued from the robot controller, and the plate-shaped work 4 is moved by the signal to grip the work. The stop position of the gripping device 1 can be set in advance according to the thickness and number of workpieces to be gripped. The photoelectric switch 22 is, of course, an integrated light emitting unit and light receiving unit. The detection of the presence or absence of the work by the photoelectric switch 22 is as shown in the flowchart of FIG. In this embodiment, the photoelectric switch is used as the detection switch, but a limit switch, a proximity switch or the like can be used instead.

In the embodiment of the present invention, the case where the plate-shaped work 4 is applied to a needle bearing race having a thickness of 5 mm is shown. As shown in FIG. 7, a large number of plate-shaped works 4 are randomly inserted into the centering rod 17, but they are in close contact with each other due to the oil applied for rust prevention. With the upward movement of the lifter 18, the plate-shaped work 4 is aligned with the inner diameter surface 26 guided by the cylindrical outer peripheral surface 28 of the head 21. The lifting and lowering of the gripping device 1 is stopped at a position where the projection 9 formed on the wedge-shaped claw 7 of the movable gripping piece 2 comes between the first work and the second work. Such operation is taught to the controller of the industrial robot. At the stop position of the gripping device, the movable gripping pieces 2a, 2b, 2b,
Hold 2c. Then, the gripping device 1 is raised, and then the industrial robot R is moved along the bar 25 to a work table (not shown) provided separately, and the work of the post-process is started. In the gripping device according to the present invention, it is needless to say that the work can be a plate-shaped work other than the work having a hole in the center.

The gripping state of the gripping device according to the present invention will be described in detail. As shown in FIG. 3, the wedge-shaped claw 7 is formed by the cut edge 13 provided inward from the lower edge 8 of the movable gripping piece 2. In the object, by inserting the projection 9 of the wedge-shaped claw 7 between the first work and the second work,
Since the movable gripping pieces 2a, 2b, and 2c approach each other on the first work 4a, the work 4a has an inner inclined side 1
It is pushed upward by 0, contacts the bottom surface 12, and stops. Therefore, the position of the plate-like work 4 is reliably maintained, and the assembling work of the next process is smoothly executed.

The second and subsequent workpieces 4b are pressed downward by the cutting edge 13 that reaches the projection 9 of the wedge-shaped claw 7, and a separation amount w is generated between the workpiece 4b and the first workpiece 4 to be gripped. The work is reliably separated from the work. Further, as shown in FIG. 5, the wedge-shaped claws 9 are formed in two steps, and the claw spacing D
It is also possible to grip two works at the same time by making the width slightly larger than the width of the works 4. Needless to say, it is possible to set an arbitrary number of grips. Further, in the present embodiment, the case where the gripping device is fixed to the industrial robot has been described, but instead of this, the same effect can be obtained even if it is fixed to a handling machine such as a crane.

[0016]

As described above, the gripping device according to the present invention forms wedge-shaped claws on the mutually opposing sides of a plurality of movable gripping pieces as described above, and detects the presence or absence of a plate-shaped work by a detection switch, Since the industrial robot stops at the predetermined elevating position as taught and then the movable piece is moved, the plate-like work is grasped and separated at the same time. Therefore, excellent effects such as no special mechanism other than the chuck, no special device for separating the work pieces, and short cycle time are achieved. Further, when a protrusion is formed at the tip of the wedge-shaped claw by the cut edge formed inward from the lower end side of the movable gripping piece and the inclined edge extending from the tip of the cut edge to the inner inner corner,
The above effect is further improved.

Further, in the material feeding apparatus according to the present invention, a plurality of rods provided upright from the base body, a lifter which can be raised and lowered along the rods, and the outer diameter of the head portion is larger than the inner diameter of the plate-like work. Since the head is slightly smaller and has a gradually decreasing outer diameter toward the bottom and a detachable head is provided at the tip of the rod body, it is easy to replace the head even when supplying workpieces of different sizes. Since it is possible to handle, various types of workpieces can be handled easily. Even in the work of aligning the works, it is possible to perform the alignment by only moving the lifter upward, which is a remarkable effect.

[Brief description of drawings]

FIG. 1 is a side view of a gripping device according to the present invention before holding a work.

FIG. 2 is a side view of the gripping device according to the present invention after holding a work.

FIG. 3 is an enlarged view of a main part of a claw part showing details of a gripped state of a work.

FIG. 4 is an enlarged front view of a movable grip piece.

FIG. 5 is an enlarged view of a main part of another claw portion showing details of a gripped state of a work.

FIG. 6 is a front view of the material supply device.

FIG. 7 is a side view of the material supply device showing an aligned state of plate-like works.

FIG. 8 is a flowchart showing the operation of the photoelectric switch that is the detection switch of the present invention.

FIG. 9 is a perspective view schematically showing a work gripping state by an industrial robot equipped with the gripping device according to the present invention.

FIG. 10A is an enlarged side view of a head used in the material supplying device according to the present invention, and FIG. 10B is a side view showing the relationship with a plate-like work.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Gripping device 2 Movable gripping piece 4 Plate-like work 7 Claw 8 Lower end side of movable gripping piece 9 Protrusion 10 Inclined side 11 Inner inner corner 13 Cutting edge 16 Feeding device 17 Centering bar 18 Lifter 19 Guide bar 21 Head 22 Detection switch (Photoelectric switch) 24 Hole for work R Industrial robot

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[Procedure amendment]

[Submission date] October 14, 1993

[Procedure Amendment 1]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 6

[Correction method] Change

[Correction content]

[Figure 6]

Claims (3)

[Claims] 1. A feeding device, which is attached to a handling device such as an industrial robot, and on which a large number of plate-shaped works are superposed and the work is taken out and positioned in advance, can be moved up and down, and can approach each other. A gripping device having a plurality of movable gripping pieces, wherein a wedge-shaped claw is formed on the opposing side of the movable gripping piece, the gripping device for overlapping plate-like workpieces. 2. The protrusion of the wedge-shaped claw is formed by a cutting edge formed inward from the lower end side of the movable gripping piece and an inclined edge extending from the tip of the cutting edge to the inner back corner. The gripping device for stacked plate-like workpieces according to claim 1. 3. The feeding device comprises a guide rod body and a centering rod body which are erected from a base body, a lifter which can be moved up and down along the guide rod body, and a work which is inserted through the centering rod body. Further, a head having a detection switch for detecting the take-out position, the head outer diameter is slightly smaller than the inner diameter of the hole provided in the central portion of the plate-like work, and the outer diameter gradually decreases downward is An apparatus for feeding stacked plate-like works, which is detachably provided at the tip of a centering rod.