JPH0735628Y2 - Material gripping device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a gripping device for sandwiching a material for sandwiching a sheet material processed by a press machine and sending it to the press machine.

[Background technology]

FIG. 4 shows a sheet material conveying device in which a material gripping gripping device is used, and this conveying device conveys the sheet material from a pallet or destack cylinder to a press machine.

The sheet-shaped material 50 is loaded on a pallet 51 and sent to a position where a lift cylinder 52 is arranged, and the lift head 53 of the lift cylinder 52 ascends the material 50 to lift it.
It is held by a hold device 55 having 54. The material 50 is adsorbed by a suction disc 58 of a pickup cylinder 57 constituting a destack cylinder 56 from the highest one and rises, and thereafter, the material 50 is sent to a press machine 60 by an intermediate transfer device 59.

The intermediate conveyance device 59 is a slider 63 that moves in the forward and backward directions of A while being guided by a guide member 62 by an endless traveling belt 61 such as a chain that reciprocates with a motor, and this slider 63.
A carrier 66 suspended and supported by links 64 and 65, a plurality of suction plates 67 arranged at equal intervals in the A direction on the carrier 66, and connected to a rear end of the carrier 66 via a bracket 68 and a rail 69. And a gripping device 70 for holding the material. The carrier 66 and the suction plate 67 swing in the vertical direction when the links 64 and 65 swing in the cylinder 71 attached to the slider 63. Further, as shown in FIG. 5, two gripping devices 70 for sandwiching the material are arranged in a direction perpendicular to the A direction.
It is movable along 69 and is adjusted to have a spacing adapted to the width dimension of the material 50.

As shown in FIG. 4, material pedestals 72 and 73, which are fixed chutes, are arranged below the carrier 66 and the grip device 70, and an idle stage for placing the material 50 on the material pedestal 72 is the suction plate. Three pieces are provided corresponding to 67, and one idle stage is provided on the material receiving table 73.

The material 50 that has been adsorbed by the adsorption plate 58 of the destack cylinder 56 and moved upward is integrated with the slider 63 and the carrier 66, and is retreated to the destack cylinder 56 side by the grip device 70.
And the material 50 is placed on the idle stage on the material cradle 73 by advancing the grip device 70,
After that, the slider 63, the carrier 66, and the grip device 70 repeatedly move backward and forward, so that the material 50 is sequentially sent to each idle stage on the material receiving table 72 by the suction disk 67, and the material 50 by the suction disk 67 is sent. The suction and the release of the suction are performed by vertically swinging the suction plate 67 in the cylinder 71, and the material 50 reaching the final idle stage is sent to the processing stage of the press machine 60 by a feed bar (not shown).

6 to 8 show the gripping device 70 for holding the material, and in FIG. 6, the direction orthogonal to the paper surface is the direction A. The frame 74 of the grip device 70 is provided with shafts 75 and 76 having gears 77 and 78 which mesh with each other, and the shaft 75 is coupled to the base end of a first arm 80 having an upper clamper 79 at the tip thereof. The base end of a second arm 82 having a lower clamper 81 at the tip is coupled to the end 76. A cylinder 84 rotatably attached to the frame 74 by a pin 83 is connected to the second arm 82. When the cylinder 84 expands and contracts and the second arm 82 swings around the shaft 76, The swing is transmitted from the gear 78 to the gear 77, the first arm 80 swings around the shaft 75, and the upper and lower clampers 79 and 81 are opened and closed.

When the grip device 70 retracts to the destack cylinder 56 side, the upper and lower clampers 79, 81 are open, and the width direction end portion 50A of the material 50 is clamped by closing the clampers 79, 81, and the grip device 70 Is the material pedestal 73
After returning to the advanced position above, the clampers 79, 81 open to place the material 50 on the idle stage on the material cradle 73.

[Problems to be solved by the device]

The end 50A sandwiched between the clampers 79 and 81 of the material 50 adsorbed by the adsorbing plate 58 is not always horizontal.
It may be warped upward as shown in 0A '. The reason for such warpage is that the material 50 is generally made by blanking a coil material that has been straightened by a leveler feeder and straightened with a blanking press machine. The material 50 may be made without passing through the leveler feeder.
This is because the distortion remains in 50.

In the conventional grip device 70, clampers 79, 81 are attached to the first and second arms 80, 82 swinging around the shafts 75, 76, and these clampers 79, 81 are opened in a lateral C-shape. Therefore, the end 50A of the material 50 warps upward like 50A ′,
If the warp amount is large, when the grip device 70 retracts to the destack cylinder 56 side, the upper clamper 79 of the open upper and lower clampers 79, 81 interferes with the upwardly warped end 50A ′. There was a problem.

Further, the material 50 is formed in a deformed shape corresponding to the pressed product, and since the outer peripheral portion thereof has an uneven shape, in order to reliably hold the material 50 by the grip device 70, Rail the two grip devices 70 shown in Fig. 5
It is preferable to move them in the direction of approaching each other along 69 so that the insides of the material 50 can be clamped by the clampers 79 and 81. The upper clamper 79 of the clampers 79, 81 becomes more and more likely to interfere with the end portion 50A ′ along the upper side of the material 50. Therefore, the grip device 70 is moved to the right side in FIG. It will be necessary to reduce the clamping margin. According to this, the material 50 adsorbed on the suction plate 58 is
If there is a lateral displacement in Fig. 6, the clamper
The end portion 50A of the material 50 cannot be held between 79 and 81, and the grip device 70 mis-grips the material 50.

The object of the present invention is to prevent the occurrence of mis-grip by preventing the upper clamper and the end of the sheet-shaped material from interfering with each other so that the upper and lower clampers can reliably clamp the end of the material. Is in the place of providing.

[Means for Solving the Problems]

The present invention is a material holding grip device that is capable of advancing and retreating with respect to a press machine, and that clamps the ends of sheet-shaped material with upper and lower clampers that can be opened and closed and sends this material to the press machine side. It is characterized in that at least the upper clamper of the upper and lower clampers is opened and closed in the vertical direction.

The opening / closing movement direction of only the upper clamper of the upper and lower clampers may be vertical, but the opening / closing movement direction of the lower clamper may be vertical.

A machine whose opening / closing movement direction is the vertical direction can be configured by, for example, a rack and pinion mechanism or a link mechanism, and its structure is arbitrary.

[Action]

Since the opening and closing movement direction of at least the upper clamper is the vertical direction among the upper and lower clampers, the opening amount of the upper clamper becomes the same in the depth direction of the clamper, and even if the end of the material is largely warped upward, this end The upper clamper no longer interferes with. Further, even if the grip device is moved inward of the material in order to increase the clamping amount of the material by the upper and lower clampers, the upper clamper does not interfere with the end of the material that is warped upward, and the upper and lower clampers do not interfere with each other. Since the material can be clamped with a large amount, the upper and lower clampers can reliably clamp the material even if the material is misaligned.

〔Example〕

An embodiment of the present invention will be described below with reference to the accompanying drawings. In the following description, the same members as those already described are designated by the same reference numerals, and the description thereof will be simplified or omitted.

1 to 3 show a gripping device 1 for sandwiching a material according to this embodiment, and in FIG. 1, the direction orthogonal to the paper surface is the fourth.
It is in the forward and backward directions of A in the figure. Grip device 1
As shown in FIG. 3, the frame 2 is provided with upper and lower extending portions 2A, 2B extending in the direction of the rail 69 shown in FIGS. 4 and 5, and these extending portions 2A, 2B are A roller that engages with guide grooves 69A and 69B formed on the upper and lower surfaces of the rail 69 at the tip.
3, 4 are rotatably mounted, and these extension parts 2A,
Between 2B, the frame 2 is provided with a shaft 6 at the tip of which a roller 5 is rotatably attached, and the roller 5 is a rail.
It engages with the guide groove 69C on the side surface of 69. This allows
The grip device 1 is movable along the rail 69.

As shown in FIG. 2, a feed screw shaft 7 is provided adjacent to the rail 69, and a nut member 8 attached to the frame 2 of the grip device 1 is screwed onto the feed screw shaft 7. The feed screw shaft 7 is normally and reversely rotated by a motor, whereby the grip device 1 moves along the rail 69. The grip device 1 is similar to the conventional grip device 70 shown in FIG.
The two feed rails 7 are arranged in the longitudinal direction of the rail 69, and the nut members 8 of the grip devices 1 are screwed together.
Is a right-handed screw shaft and a left-handed screw shaft, so that the two grip devices 1 can approach and separate in the longitudinal direction of the rail 69, in other words, in the width direction of the material 50. The interval of 1 can be adjusted to correspond to the width dimension of the material 50.

As shown in FIG. 3, the frame 2 is provided with outer wall portions 2C and 2D and inner wall portions 2E and 2F, and between the wall portions 2C and 2E, 2
A vertical guide rod 9 is arranged between F and 2D. These guide rods 9 have a base 10 of the first arm 10.
A is vertically slidably fitted, and at the tip of the first arm 10,
As shown in FIG. 2, the upper clamper 11 is attached.

As shown in FIG. 2, two shafts 12 are provided between the inner walls 2E and 2F.
13 is installed, and the lower clamper is attached to the tip of the shaft 12 as shown in FIG.
The base of the second arm 15 to which 14 is attached is inserted and supported. A piston rod 18 of a cylinder 17 rotatably attached to the frame 2 by a pin 16 is attached to the second arm 15.
The second arm 15 swings around the shaft 12 when the piston rod 18 expands and contracts. A gear 19 centering on the shaft 12 is attached to the second arm 15, and a gear 20 meshing with the gear 19 is fixed to the shaft 13. Pinions 21 are fixed to both ends of the shaft 13 as shown in FIG. 2, and these pinions 21 mesh with a rack 22 formed on the base portion 10A of the first arm 10.

Therefore, the piston rod 18 of the cylinder 17 causes the second arm to move.
When 15 is swung around the shaft 12, this swing is caused by the gears 19, 2
The rotation of the shaft 13 is transmitted to the pinion 21, and the first arm 10 is vertically moved while being guided by the guide rod 9.

Therefore, the lower clamper 14 opens and closes by a swinging motion about the shaft 12, while the upper clamper 11 moves vertically to perform an opening and closing motion.

Next, the operation will be described.

The grip device 1 according to the present embodiment is also a conventional grip device.
Similar to 70, the upper and lower clampers 11 and 14 are open when retracting to the destack cylinder 56 side, and these clampers 11 and 14 clamp the end 50A of the material 50 adsorbed by the suction plate 58. After that, the grip device 1 advances toward the press machine 60 side to reach above the material receiving base 73, and the clampers 11, 1
When the material 4 is opened, the material 50 is placed on the material stage 73 on the idle stage.

In this embodiment, since the opening / closing movement direction of the upper clamper 11 is the vertical direction, the depth direction of the upper and lower clampers 11 and 14 (first
The opening amount of the upper clamper 11 is the same in the left-right direction in the drawing). Therefore, the end 50A of the material 50 warps upward as shown by 50A ', and even if the warping amount is large, the upper clamper 11 warps upward when the grip device 1 retracts to the destack cylinder 56 side. It does not interfere with the end 50A '. Therefore, the end 50A 'can be surely inserted between the opened upper and lower clampers 11 and 14, and the end 50A' can be reliably sandwiched between the clampers 11 and 14.

Further, when the material 50 has an irregular shape and the outer peripheral portion has an uneven shape, the clamping allowance of the material 50 by the clampers 11 and 14 is increased so that the material 50 can be reliably clamped by the grip device 1. In order to achieve the above, even if the two grip devices 1 are moved along the rail 69 toward each other (to the left in FIG. 1) to reduce the distance therebetween, the upper clamper
11 does not interfere with the upwardly warped end 50A 'of material 50. Therefore, the clamping margin of the material 50 by the clampers 11, 14 can be increased, so that even if the material 50 is attracted to the suction plate 58 even if the material 50 is displaced in the left-right direction in FIG.
Material 50 can be securely clamped with 4.

Although only the upper clamper 11 is vertically opened and closed in the above-described embodiment, the opening and closing movement direction of the lower clamper 14 may be vertical. Further, in this embodiment, the mechanism using the rack 22 and the pinion 21 is designed to open and close the upper clamper 11 in the vertical direction, but the mechanism for opening and closing the upper clamper and the lower clamper in the vertical direction is arbitrarily configured. However, for example, a link mechanism may be used, or a cylinder having a vertical extension / contraction direction may be provided for each clamper.

If the lower clamper 14 is attached to the second arm 15 swinging around the shaft 12 and is opened and closed as in the present embodiment, the lower clamper 14 is not opened and closed in the vertical direction.
Since the material is opened while moving in the direction away from the material 50, the material pedestal 73 can be made large so that the end 73A on the grip device 1 side reaches near the end 50A of the material 50. Material 50 can be stably placed on the idle stage.

[Effect of device]

According to the present invention, even if the edge of the sheet-shaped material is warped upward, the upper clamper does not interfere with the edge of the material, and the clamping margin of the material by the upper and lower clampers can be increased. Even if there is a displacement, the upper and lower clampers can reliably hold the material, and the mis-grip of the material can be prevented.

[Brief description of drawings]

FIG. 1 is a side sectional view showing a grip device according to an embodiment of the present invention, FIG. 2 is the same sectional plan view, FIG. 3 is the same front view, and FIG.
FIG. 7 is a front view showing the whole of an intermediate transfer device of a press machine in which a grip device is used, FIG. 5 is a bottom view of an essential part thereof, FIG. 6 is a side sectional view showing a conventional grip device, and FIG.
FIG. 8 is a plan sectional view of the main part, and FIG. 8 is a front sectional view of the main part. 1 ... Grip device, 10 ... First arm, 11 ... Upper clamper, 14 ... Lower clamper, 15 ... Second arm, 17 ... Cylinder, 50 ... Sheet material, 56 ... Destack cylinder , 59 …… Intermediate transfer device, 60 …… Press machine.

Claims (1)

[Scope of utility model registration request] 1. An upper clamper and a lower clamper which can be opened and closed by interlocking with each other, and can be moved forward and backward with respect to a press machine, and the upper clamper and the lower clamper clamp an end portion of a sheet material. In a gripping device for sandwiching the material to the press machine side, the opening / closing movement direction of at least one of the upper clamper and the lower clamper is set to the vertical direction, and at the time of releasing the other clamper, the other clamper A gripping device for material clamping, which has a structure to be retracted from the end.