JPH0742330U - Article gripping structure - Google Patents

Abstract

(57) [Summary] [Purpose] It is possible to more reliably separate one article from a plurality of articles, in other words, it is possible to more reliably prevent two articles from being picked up, and more To provide an article gripping structure that can be reliably separated. According to the article gripping structure of the present invention, in the article gripping structure for selectively gripping one article from among a plurality of articles housed in a housing section, a main body and a lifting / lowering drive of the main body. Elevating means and a pair of gripping claws attached to the main body and capable of contacting and separating, and gripping means for gripping an article from both sides by being brought close to each other, and a predetermined distance from the tips of the pair of gripping claws. A holding plate arranged to have a tip edge at a position deviated upward, and by lowering the main body by the elevating means, the grasping claws of the grasping means attached thereto are When inserted from above into a plurality of articles in the accommodation section, the pressing plate presses articles located around the articles grasped by the pair of grasping claws from above and is accommodated in the accommodation section. Top of the group Is characterized by flattening.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an article gripping structure for separating one wire from a wire containing portion that houses a plurality of wires and supplying the separated wire to the next step.

[0002]

[Prior art]

 The conventional wire rod feeder separates only one wire rod from a plurality of wire rods as described below, and feeds this to the next step. First, a plurality of wire rods are placed on an inclined surface inclined at a predetermined angle with a horizontal plane in a state of being perpendicular to this inclination direction, and the first detachable wire rod S located at the bottom of the inclined surface is detachable. The downward movement of the plurality of wire rods is regulated by the engagement of the stopper. Then, the second stopper is projected between the wire rod S engaged with the first stopper and the wire rod S'adjacent to the wire rod S, and the wire rod S'is engaged with the wire rod S so that the second stopper is above the wire rod S '. The downward movement of the multiple wire rods located at is regulated.

Next, when the engagement by the first stopper is released, only the wire rod S that engages with the first stopper moves further downward along the inclined surface, and this wire rod S supplies the wire rod to the next step. It is supplied to the wire feeding device. After this, when the first stopper is projected again and the engagement by the second stopper is released, the wire rod S ′ that has been disengaged from the second stopper and the plurality of wire rods above it are lowered. And the wire S ′ is engaged with the first stopper to restrict further movement. Then, the second stopper is projected again between the wire rod S'engaged with the first stopper and the wire rod S "adjacent to the wire rod S ', and the above-described operation is repeated. In this way, the plurality of wire rods are sequentially supplied to the next process one by one.

[0004]

[Problems to be solved by the device]

 However, according to such a wire rod supply device, it is necessary to project the second stopper between the wire rod engaged with the first stopper and the wire rod adjacent to this wire rod. It is necessary to prepare this wire rod supply device according to the following (if a wire rod supply device for supplying a wire rod having a diameter of 10 mm is used and a wire rod having a diameter of 20 mm is to be supplied, the second stopper is It interferes with the wire and prevents it from projecting upward Even if the wire rods with different wire diameters can be handled by one device, the wire moves downward in a row on the inclined surface. Since the wire rods located below are sequentially supplied to the next process, it is impossible to supply the wire rod having a desired diameter to the next process. Since it is necessary to store them in a line along the inclined surface, it is troublesome.

[0005]

[The purpose of the device]

 The present invention has been made in view of such circumstances, and an object of the present invention is to reliably separate one article from a plurality of articles, in other words, to take two articles. It is an object of the present invention to provide an article gripping structure that can prevent more reliably and that can separate articles more reliably.

[0006]

[Means for solving the problem]

 In order to solve the above-mentioned problems and achieve the object, the article gripping structure according to the present invention, according to claim 1, selectively selects one article from a plurality of articles housed in a housing portion. In an article gripping structure for gripping an object, a main body, an elevating means for elevating and lowering the main body, and a pair of grip claws that are attached to the main body and can be contacted and separated from each other. The lifting means includes gripping means for gripping an article from both sides, and a holding plate arranged to have a tip edge at a position displaced upward by a predetermined distance from the tips of the pair of gripping claws. By lowering the main body, when the gripping claws of the gripping means attached thereto are inserted from above into a plurality of articles in the accommodating portion, the gripping claws are gripped by the pair of gripping claws by the holding plate. Located around the Pressing the article from above, characterized in that flattening the upper surface of the group of articles are accommodated in the accommodation portion.

According to the second aspect of the present invention, the article-holding structure according to the present invention is an article-holding structure for selectively holding one article from among a plurality of articles contained in a storage section. In the structure, the main body, the elevating means for driving the main body up and down, and the pair of grip claws attached to the main body and capable of coming into contact with and separating from each other are provided, and gripping the articles from both sides by bringing them close to each other. And a tip edge of the pair of gripping claws at a position shorter than 1.5 times the gripping width of the article and displaced upward by a distance longer than half the gripping width. When the holding claws of the holding means attached to the holding plate are inserted into the plurality of articles from above by lowering the main body by the elevating means. In addition, the amount of insertion is controlled by the presser plate. The article held by the pair of holding claws is limited to one. According to a third aspect of the present invention, there is provided an article gripping structure, wherein the pair of gripping claws are selectively biased in a direction in which they are separated from each other and in a direction in which they are close to each other, and the main body. And a restriction means for restricting the distance between the pair of gripping claws according to the width dimension of the gripped article when being biased by the biasing means in a direction away from each other. It is characterized by doing.

According to a fourth aspect of the present invention, in the article gripping structure, the article is composed of a wire having a predetermined length, and the width dimension to be gripped is the diameter of the wire. It is characterized by being specified from. Further, in the article gripping structure according to the present invention, according to claim 5, the regulating means is movable along a vertical direction orthogonal to a contacting / separating direction of the pair of gripping claws. A regulating member supported by the main body, a concave portion formed at an edge of the regulating member on the side where the pair of gripping claws are arranged, and an inner side surface of the concave portion facing each other are respectively formed. The pair of gripping claws are provided with a tapered surface to which the base ends of the gripping claws come in contact with each other, and a drive unit that drives the restricting member forward and backward along the vertical direction. It is characterized in that the distance between the gripping claws is changed.

According to a sixth aspect of the article gripping structure of the present invention, the holding plate is attached to the surface of the restriction member. According to a seventh aspect of the present invention, the article holding structure is characterized in that the holding plate is attached to the regulating member so as to be displaceable along the vertical direction. Further, according to an eighth aspect of the present invention, there is provided an article gripping structure in which the holding plate has a flat lower edge. Further, in the article gripping structure according to the present invention, according to claim 9, the lower edge of the pressing plate is formed to have a length that covers the maximum separation distance between the pair of gripping claws. Characterize things.

[0010]

【Example】

 The configuration of an embodiment of the article gripping structure according to the present invention will be described in detail below with reference to the accompanying drawings.

The wire rod separating / supplying apparatus 100 of this embodiment separates the wire rods from the wire rod accommodating portion 104 accommodating a plurality of wire rods S one by one, and supplies the separated wire rods S to the next process. This is a device for separating and supplying the wire rods to be supplied to the supply device 118. One end portion of one wire rod S is lifted upward, and one end of the wire rod S holding the traveling roller 112 is lifted from below. The other end is also lifted upward to separate the wire rod S upward by separating the wire rod S by separating the wire rod S while keeping a certain height below the other end. The wire rod S, which has been separated, is supplied to the wire rod next process supply device 118 (feeding operation of the wire rod S).

The wire rod S as an article to be separated and supplied is a wire rod S having a predetermined diameter and extending in one direction. In the wire rod separating and supplying apparatus 100 of the embodiment, eight different wire diameters ( A wire rod having a diameter of the wire rod S is used, and the wire rod separating / supplying device 100 is configured to be able to separate and supply the wire rod S having a desired diameter.

Further, by flattening the upper surfaces of the plurality of wire rods S accommodated in the wire rod accommodating portion 104, the wire rod separating / supplying apparatus 100 is configured so that the separating operation of the wire rods S can be facilitated. ing.

Further, by holding the lifted wire rod S in the extending direction thereof and maintaining the horizontalness in the longitudinal direction thereof, the wire rod S can be reliably fed so as to be separated. The supply device 100 is configured.

Further, when a force acts in a direction orthogonal to the extending direction of the plurality of wire rods S accommodated in the wire rod accommodating portion 104, the plurality of wire rods S accommodated in that direction moves, and The wire rod separating / supplying device 100 is configured so as to facilitate the separating operation.

Further, although the retry operation for lifting the wire rod S will be described in detail later, if it fails to lift one end of the wire rod S, the position is changed and the lifting operation is performed again. The wire rod separating and supplying device 100 is configured so that one end of the wire rod S can be reliably lifted.

As shown in FIGS. 1 to 4, the wire rod separating and supplying apparatus 100 having such a function is provided on a base 102 and a plurality of wire rods S arranged in one direction (in the drawings). A wire rod accommodating portion 104 accommodated in a state of extending along the Y direction) and a wire rod accommodating portion 104 extending along the Y direction and movably supported on the base 102 along a direction intersecting the Y direction (X direction in the drawing). The held moving frame 110 and one of the wire rods S attached to the moving frame 110 and accommodated in the wire rod accommodating portion 104 are gripped at one end portion of the wire rod S, and the grasped one end portion is held at the wire rod end. A pickup mechanism 106 that can be lifted up from the accommodating portion 104 and one end of the wire rod S that is slidably attached to the moving frame 110 along the Y direction and is picked up by the pickup mechanism 106 and the wire rod accommodating portion 104. And a slide-up mechanism 108 that lifts the other end of the picked-up wire S from the wire-accommodating part 104 by protruding along the Y direction toward the other end of the wire S, and a pickup mechanism 106. Also, the wire rod next step supply device 118 for receiving the wire rods S that have been separated upward from the wire rod accommodating portion 104 by the slide lifting mechanism 108 and supplying them to the next step, and the moving frame 110 as the wire rod accommodating portion 104 and the wire rod A moving frame drive mechanism 120 that reciprocates with respect to the next process supply device 118 is provided.

[Explanation of Base 102] As shown in FIGS. 1 to 4, the base 102 is a rectangle formed by separating two base-surface-constituting frames 102b 1 and 102b by a predetermined distance and connecting both ends thereof. A base surface 102a composed of a frame frame (a rectangular shape having the base surface constituting frame 102b as a long side), and a base surface 102a extending downward at four corners of the base surface 102a so as to support the base surface 102a as a horizontal plane. And four legs 126 connected to each other. In the following description, the long side direction of the base surface 102a is defined as the Y direction and the short side direction is defined as the X direction. The long side of the frame 102b is set to be longer than the extension length of the wire rod S.

A first reinforcing member 134 is attached to the lower surface of the base surface 102a so as to reinforce the base surface 102a while keeping a predetermined space in the Y direction and extending in the X direction. A second reinforcing member 136 is attached to the lower surface of the base surface 102a at a substantially central position in the X direction while extending in the Y direction. The upper surface of the second reinforcing member 136 is located in the same plane as the upper surface of the base surface 102a (that is, the upper surface of the second reinforcing member 136 constitutes the upper surface of the base surface 102a. ing.). The wire rod housing 104, the moving frame 110, and the like are attached to the base surface 102a as described later.

A pick-up mechanism 106 for lifting one end of the wire S and a slide lift for lifting the other end of the wire S whose one end is lifted by both ends of the base surface 102 a in the Y direction. Moving frame guides 124, 124 for regulating the movement of a moving frame 110 (both of which will be described later) to which the mechanism 108 is integrally attached in the Y direction are attached, respectively.

The moving frame 110 is installed along the moving frame guide 124 so as to be adjacent to the wire rod accommodating portion 104 in which the wire rods are accommodated for each wire diameter (right side in FIG. 1). It moves between the wire rod next process supply device 118. Further, at one side edge (lower side in FIG. 1) of the base surface 102a in the Y direction, while being positioned at both ends of the moving frame guides 124 attached to this side, via the motor support frames 130, respectively. A moving frame drive motor 132 for moving the moving frame 110 and a driven sprocket 135 are attached to the base 102. A moving frame drive chain 133 is stretched between a drive sprocket 132a attached to the moving frame drive motor 132 and a driven sprocket 135.

Then, the wire rod storage portion 104 for housing the wire rod S separated by the pickup mechanism 106 is attached to the upper surface of the base surface 102 a so that the wire rod S can be housed in a state of being extended in the Y direction. ing. The configuration of the wire rod accommodating portion 104 will be described later.

[Description of Moving Frame 110] In the moving frame 110, two moving frame constituting frames 110a and 110a having a length substantially equal to the long side of the base surface 102a are separated by a predetermined distance and connected at both ends thereof. The main frame 142 is formed of a rectangular frame frame (a rectangular shape having the moving frame forming frame 102a as a long side). The wire frame holding mechanism mounting frames 152a, 152b, 152c are connected to the upper surface of the main frame 142 in a state of extending in the X axis direction at a predetermined interval in the Y axis direction. Wire rod holding mechanisms 116a, 116b, and 116c are attached to the upper surfaces of 152a, 152b, and 152c via stays, respectively.

The main frame 142 is supported as a horizontal plane by connecting the four corners of the main frame 142 to the lower side of the four moving frame legs, each of which extends in the vertical direction. In this state, the movable frame legs extend upward by a predetermined amount, and the upper ends of the adjacent movable frame legs in the X direction are connected.

In this way, the moving frame drive motor 132 is included in the inner side surfaces of the frame frame formed by connecting the upper ends of the moving frame legs that are adjacent in the X direction to each other in the Y direction. The pickup mechanism 106 is attached to the inner side surface 145 (downward in FIG. 1) on the attached side via a stay, as will be described later. Further, a horizontal drive mechanism 204 that drives a traveling roller 112, which will be described later, is attached to the lower surface of the main frame 142 in a state of extending in the Y direction.

A pair of moving frame legs that are adjacent to each other in the Y direction further extend downward to form moving frame support legs 144 and 144, and the lower ends of the moving frame running rollers 146 and 146 is attached to each. The lower ends of the leg portions 144 and 144 of the moving frame are slidably fitted along the moving frame guides 124 and 124, respectively. Then, the moving frame 110 moves in the X direction by the moving frame running rollers 146, 146 running on the moving frame guides 124, 124 attached along the Y direction edges of the base surface 102a, respectively.

The lower portion of the moving frame 110 configured as described above is fixed to the moving frame drive chain 133 which is stretched between the driving sprocket 132 a and the driven sprocket 135. Therefore, when the moving frame drive chain 133 is rotated forward and backward by the moving frame drive motor 132 via the driven sprocket 135, the moving frame 110 is moved along the moving frame guide 124 (that is, in the Y direction) to the wire rod accommodating portion 104. It reciprocates between the wire rod next process supply device 118 installed adjacent to the base 102. The moving frame 110 moves in the X direction while keeping the long side of the main frame 142 along the Y direction. The moving frame drive motor 132 is connected to the control device 266, which controls the moving frame drive motor 132 to rotate in the forward and reverse directions.

[Description of Pickup Mechanism 106] The pickup mechanism 106 grips one end of one wire rod S having a desired wire diameter from a plurality of wire rods S accommodated in the wire rod accommodation unit 104 for each wire diameter. , For lifting.

As shown in FIGS. 5a and 5b, the pickup mechanism 106 includes a gripping mechanism 114 for gripping one end of the wire S, and a first elevator mechanism 154 for moving the gripping mechanism 114 up and down. It is configured.

The gripping mechanism 114 has a gripping mechanism support frame 164 and a pair of gripping claws 156 a and 156 a ′ that are attached to the gripping mechanism supporting frame 164 and can be brought into and out of contact with each other, and the gripping claws 156 a and 156 a ′ are close to each other. The chucks 156 and 156 'that grip the wire S from both sides, and the chuck drive mechanism 158 that selectively biases the pair of gripping claws 156a and 156a' toward and away from each other, and the gripping mechanism support. A gripping device that is attached to the frame 164 and that regulates the separation distance between the pair of gripping claws 156a and 156a 'according to the wire diameter of the wire rod S that is gripped by the chuck driving mechanism 158 in the direction in which they are separated from each other. And a width defining mechanism 160.

[Description of Chuck 156, 156 '] The chuck 156, 156' is a pair of chucks having a symmetrical shape as shown in FIGS. 6a, 6b and 7. The chucks 156 and 156 'hold the gripping claws 156a and 156a' for gripping one end of the wire rod S from both sides, and the gripping claw support to which the gripping claws 156a and 156a 'are integrally attached, respectively. The portions 156b and 156b 'and the grip claw support portions 156b and 156b' are integrally attached to each other, and the grip width defining mechanism 160 (described later) defines the grip width H of the wire S by the grip claws 156a and 156a '. The gripping width determining portions 156c and 156c 'are used for this purpose.

The grip claw support portions 156b and 156b 'have a cubic block shape, and their inner side surfaces 156b1 and 156b'1 face each other (that is, the state shown in FIG. 7). 158 (described later) so that they can be attached to and detached from each other. The grip claw support portions 156b, 156b 'are provided with two through holes 156b3, 156b3; 156b3', 156b3 'that penetrate from the inner side surfaces 156b1, 156b'1 to the outer side surfaces 156b2, 156b'2, respectively. There is. Then, the inner side edges 156b1, 156b3 'of the through holes 156b3, 156b3; 156b3', 156b3 'have a concave screw head insertion hole 156b4 so that the head of the bolt B1 inserted therethrough is inserted. 156b4; 156b'4, 156b'4, and when the chucks 156, 156 'are attached to the chuck drive mechanism 158 by bolts B1 as will be described later, the heads of the bolts B1 project. It is supposed not to.

The chuck 156 is attached to the chuck driving mechanism 158 by the bolt B1 via the through holes 156b1, 156b1; 156b1 ′, 156b1 ′, and the chuck driving mechanism 158 is driven to hold the grip claw support portion 156b. , 156b 'approach and separate from each other. (That is, it is driven so as to be in the state shown in FIG. 7 and the state shown in FIG. 8. This operation will be described later.). The chuck driving mechanism 158 is configured such that the chucks 156 attached to the chuck driving mechanism 158 are brought into contact with and separated from each other while maintaining parallelism with each other.

The grip claws 156a and 156a ′ are integrally attached to the inner ends of the lower surfaces of the grip claw support portions 156b and 156b ′, respectively, in a state of extending downward. The gripping claws 156a and 156a 'have a thickness H1 in the Y direction, and the gripping surfaces 156a1 and 156a'1 which are the inner side surfaces and the outer side surfaces 156a2 and 156a'2 form a predetermined angle to form the tips thereof. It has a wedge-like shape. The gripping claws 156a, 156a 'are formed such that the gripping surfaces 156a1, 156a'1 are continuously formed on the inner side surfaces 156b1, 156b'1 of the gripping claw support portions 156b, 156b', respectively, and the tips thereof are located at the lowest position. In the state where it is positioned, it is integrally attached to the inner ends of the lower surfaces of the grip claw support portions 156b and 156b '.

These gripping surfaces 156a1 and 156a'1 are formed as tapered surfaces that spread a small amount outward (that is, they are inclined so as to be separated from each other toward the lower side) as they approach downward. There is. That is, as shown in FIG. 6a, the lower end surface of the grip claw 156a is located outwardly by H2 from the upper end surface thereof. When the wire rod S is gripped by the gripping surfaces 156a1 and 156a'1 thus formed, there is no possibility of gripping the two wire rods S. That is, as shown in FIGS. 6c and 6d, when the wire S is gripped by these gripping surfaces 156a1 and 156a′1, the lower surface of the wire S has a width equal to or larger than the diameter K of the wire S (in FIG. ) When it is opened, if one wire rod S is gripped, it is not possible to grip more wire rods S on the surface below it, so that it is possible to reliably grip only one wire rod S. It is a thing. In other words, it is possible to avoid gripping the two wire rods S.

The outer side surfaces 156a2, 156a'2 of the gripping claws 156a, 156a 'are inclined surfaces that incline inwardly from the lower surface substantially central portion of the gripping claw support portions 156b, 156b'. The outer side surfaces 156a2, 156a'2 and the gripping surfaces 156a1, 156a'1 form tip portions 156a3, 156a'3. The tip portions 156a3 and 156a'3 are formed to have a radius R.

As described above, the outer surfaces 156a2, 156a′2 are used as the inclined surfaces, and the distal end portions 156a3, 156a′3 are formed with the radius R to form a plurality of wire rod housing portions 104. One wire S can be easily gripped from among the wires S. As shown in FIG. 18, when the gripping claws 156a and 156a 'are inserted into the wire rod accommodating portion 104 in which a plurality of wire rods S are accommodated (the wire rod S in the drawing extends in a direction orthogonal to the paper surface), , The gripping claws 156a and 156a 'are inserted between the wire rods S'and S'located on both sides thereof, and the outer surfaces 156a2 and 156a'2, which are the inclined surfaces of the gripping claws 156a and 156a', respectively contact the gripping claws 156a and 156a '. The wire rods S and S'in contact with each other are pushed to the side, and only the wire rod S is inserted between the gripping surfaces 156a1 and 156a'1.

As described above, the outer surfaces 156a2, 156a'2 of the gripping claws 156a, 156a 'are used as inclined surfaces, and the distal end portions 156a3, 156a'3 are formed with the radius R to form the wire rod S and the wire rod. The gripping claws 156a and 156a 'are easily inserted between S, so that the gripping operation of the wire rod S can be performed more reliably.

Grip width defining portions 156c and 156c ′ are integrally attached to the grip claw support portions 156b and 156b ′, respectively, in a state of extending in the Y direction on the front surface thereof, that is, the front side surface thereof in FIG. The gripping width defining portions 156c, 156c 'have a wedge shape in which the inner side surfaces 156c1, 156c'1 and the gripping width defining surfaces 156c2, 156c'2, which are the outer surfaces, form a tip with a predetermined angle. have. The gripping width defining portions 156c and 156c 'have inner side surfaces 156c1 and 156c'1 respectively connected to the inner side surfaces 156b1 and 156b'1 of the gripping claw support portions 156b and 156b', and their wedge-shaped tips are gripping claws. The support portions 156b and 156b 'are attached to the front surfaces of the grip claw support portions 156b and 156b' so as to be flush with the top surfaces of the support portions 156b and 156b '.

That is, the gripping width defining surfaces 156c2, 156c'2 of the gripping width defining portions 156c, 156c 'are in a state where the inner side surfaces 156b1, 156b'1 of the gripping claw support portions 156b, 156b' face each other (that is, FIG. 7). In the state shown in (1), it is a tapered surface that widens outward as it goes downward, and is substantially perpendicular to the front surface of the grip claw support portions 156b and 156b ', along the substantially diagonal line thereof.

The distance between the gripping surfaces 156a and 156a ′, that is, the gripping width H of the wire S is defined by the gripping width defining mechanism 160 via the gripping width defining surfaces 156c2 and 156c′2. As will be described later in detail, the gripping width defining surfaces 156c2 and 156c′2 come into contact with the gripping width defining plate 172 that constitutes the gripping width defining mechanism 160, so that the chucks 156 and 156 ′ can move in the directions in which they approach each other. It is regulated.

It should be noted that as the diameter of the wire rod S increases, the weight of the same material increases. Therefore, the chuck having the above-described shape may not be able to grip the wire rod S of that weight. Therefore, when gripping the wire rod S that exceeds a certain weight, the chuck 1156 shown in FIGS. 9 to 11 is used as a modified example of the chuck 156.

At the tips 1156a 3 and 1156a3 ′ of the gripping claws 1156a and 1156a ′ of the chuck 1156, wire rod locking claws 1156a4 and 1156a′4 for locking the wire S toward the inside thereof are formed. It is provided across the direction. Therefore, even when a wire rod S having a large diameter and a heavy weight is gripped, the wire rod S can be gripped by locking the wire rod S with the wire rod locking claws 156a4 and 1156a'4.

[Explanation of Chuck Driving Mechanism 158] The chucks 156, 156 ′ configured as described above are moved by the chuck driving mechanism 158 in the directions in which they approach and separate from each other, and the wire rod S is gripped and released. Be seen. As shown in FIG. 12, the chuck drive mechanism 158 has an air cylinder 170a and a piston rod that is driven to project and retract by the air cylinder 170a inside the chuck drive mechanism main body 170 that defines the appearance. 170b, the piston rod 170b and the pair of gripping claws 156a and 156a 'are connected to each other, and the projecting operation and the retracting operation of the piston rod 170b are performed as a separating operation and a proximity operation to the pair of gripping claws 156a and 156a', respectively. And a link mechanism 170c for transmission. Then, the chucks 156 and 156 'are attached to the link mechanism 170c via bolts to the chuck mounting portions 168 and 168' which are configured to move in the directions in which they approach and separate from each other while maintaining parallelism. ing.

The air cylinder 170a is provided with first and second air supply ports 170d and 170e, and the high pressure air is supplied to the first air supply port 170d so that the piston rod 170b is pulled in. The high pressure air is supplied to the second air supply port 170e, so that the piston rod 170b is driven to project.

When the piston rod 170b is pulled in and driven, the chucks 156 and 156 'are moved toward each other via the link mechanism 170c and the chuck mounting portions 168 and 168', and the piston rod 170b is projected. When driven, the chucks 156 and 156 'are configured to move in a direction away from each other via the link mechanism 170c and the chuck mounting portions 168 and 168'.

The chuck drive mechanism 158 supplies the high-pressure air supplied from the air pressure supply device 268 to the first and second air supply ports 170d and 170e of the air cylinder 170a. A line and a switching valve 276a that is connected to the base ends of the first and second supply lines and selectively switches the supply of high-pressure air to the first or second supply line. The switching valve 276a is connected to the control device 266 and is switched by this. As a result, either the first supply line or the second supply line is selected, and the chucks 156 and 156 'are driven to open and close by the high pressure air supplied through the switched supply line, and the wire rod S is gripped and The cancellation can be performed.

[Description of Air Pressure Supply Device 268] Here, the air pressure supply device 268 that supplies high-pressure air to the first and second air supply ports of the cylinder will be described. The air pressure supply device 268 has a plurality of high pressure air supply ports for supplying high pressure air. Then, from each high pressure air supply port of the air pressure supply device 268, high pressure air is constantly sent to the supply line connected to each. Then, as will be described later, when the power of the wire separating / supplying device 100 is turned on, the air pressure supplying device 268 is driven to supply high pressure air to each supply line (the power of the wire separating / supplying device 100 is turned on. This high-pressure air is always supplied to each supply line during the period.).

When the power supply of the wire rod separating and supplying apparatus 100 is turned on, the switching valve 276a causes the chuck driving mechanism 158 to separate the chucks 156 and 156 'from each other by the high pressure air supplied through the supply line switched by the switching valve 276a. It is set to select the supply line that can be used.

As shown in FIG. 13, the movement of the chucks 156 and 156 ′ in the direction of approaching each other is restricted by the inner side surfaces 156b1 and 156b′1 of the grip claw support portions 156b and 156b ′ contacting each other. . When the gripping of the wire S by the gripping claws 156a and 156a 'fails, the state shown in this figure is obtained. To detect this state, a chuck closing limit detection sensor 256 connected to the control device 266 is attached to the contact surface. The grip claw support portions 156b and 156b 'are configured to be turned off only when the inner surfaces are in contact with each other, that is, in the state shown in FIG. The chuck closing limit detecting sensor 256 is connected to the control device 266, and when the signal from the chuck closing limit detecting sensor 256 changes from OFF to ON, a retry operation described later is performed.

The chuck closing limit detection sensor 256 is composed of a photo interrupter including a light emitting element and a light receiving element, and the detected portions, that is, the gripping claw supporting portions 156b, 156b 'are opposed to each other in the detection range thereof. It is configured to turn off only when the inner edge has entered. The chuck drive mechanism 158 is located at the lower end of the chuck drive mechanism 158 located above the position where the chucks 156 and 156a are close to each other and the inner side surfaces 156b1 and 156b′1 of the grip claw support portions 156b and 156b ′ are in contact with each other. The light emitting element and the light receiving element are attached so as to sandwich them in the thickness direction. By constructing and mounting the chuck closing limit detection sensor 256 in this manner, whether the grip claw support portions 156b and 156b 'are in contact with each other, that is, whether the grip claws 156a and 156a' grip the wire. It can be determined whether or not. Note that this determination is performed by the control device 266 connected to the chuck closing sensor 256 based on the ON / OFF signal from the chuck closing sensor 256.

On the other hand, the movement of the chuck mounting portions 168, 168 'in a direction away from each other is restricted by the gripping width defining mechanism 160 (this operation will be described later). These control operations are performed by switching the switching valve 276a.

As shown in FIG. 12, the chucks 156 and 156 ′ have outer surfaces 156 b 2 and 156 b ′ of the grip claw support portions 156 b and 156 b ′ with the grip claws 156 a and 156 a ′ extending downward. 2 are attached to the chuck mounting portions 168, 168 'via bolts B1 in a state of being closely attached to the inner side surfaces 168a, 168a' of the chuck mounting portions 168, 168 '.

When the chuck mounting portions 168 are moved by a predetermined amount in the direction of approaching each other (rightward in FIG. 12), the chuck mounting portions 168 'are also moved by a certain amount in the direction of approaching each other (leftward in FIG. 12). . Further, when the chuck mounting portions 168 are moved by a predetermined amount in the direction away from each other (leftward in FIG. 12), the chuck mounting portions 168 'are also moved by a predetermined amount in the direction away from each other (rightward in FIG. 12). .

As shown in FIG. 5, the chuck driving mechanism 158 has the chuck mounting portions 168, 168 ′ facing downward, and the chuck driving mechanism main body 170 constituting the chuck driving mechanism 158 has one surface above the gripping mechanism supporting frame 164. It is attached to this via a bolt while being in close contact with. A step 164a is provided at the lower end of the gripping mechanism support frame 164 across the width thereof, and the upper surface of the chuck drive mechanism 158 is in contact with the step 164 from below. When the wire S is held by the chuck drive mechanism 158, even if a force that moves upward is applied to the chuck drive mechanism 158, the upward movement is restricted by the step 164a.

[Explanation of Gripping Width Defining Mechanism 160] As shown in FIG. 5, the gripping width defining mechanism 160 moves along a vertical direction orthogonal to the contacting / separating direction of the pair of gripping claws 156a, 156a '. A gripping width defining plate 172 supported by the gripping mechanism supporting frame 164 and a concave portion formed on the edge of the gripping width defining plate 172 on the side where the pair of gripping claws 156a, 156a 'are disposed. 176a and first taper surfaces 176 and 176 'which are respectively formed on the inner surfaces of the concave portion 176a which face each other and which are brought into contact with the gripping width defining surfaces 156c2 and 156c'2 of the pair of gripping claws 156a and 156a', respectively. A second elevating mechanism 174 for driving the gripping width regulating plate 172 to move back and forth in the vertical direction, and according to the vertical movement of the gripping width regulating plate 172, the pair of gripping claws 156a, 156a 'are separated from each other. The distance is changed.

The gripping width regulating plate 172 is a plate member that extends in the vertical direction as shown in FIG. 14 as taken out, and a recess 176a composed of first tapered surfaces 176 and 176 'is formed below the plate member. . The recessed portion 176a has first tapered surfaces 176 and 176 'that respectively enter the widthwise (X direction) left and right outer sides of the gripping width defining plate 172 as going upward. The angles formed by the first tapered surfaces 176, 176 'with respect to the vertical direction are the same as the angles formed by the gripping width defining surfaces 156c2, 156c'2 of the gripping width defining portions 156c, 156c' of the chucks 156, 156 'with the vertical direction, respectively. Are set equally.

Further, the thickness of the gripping width regulating plate 172 is smaller than the thickness of the gripping width defining plate 172 from the upper part toward the upper part, and a step 172a is formed. An upper surface of a pressing plate 178 (which will be described later) comes into contact with the step 172a from below, whereby the upward movement of the pressing plate 178 is restricted. That is, as will be described later, even if a force that moves the pressing plate 178 upward when gripping the wire S acts on this, the movement is restricted by the step 172a.

The gripping width defining plate 172 and the chucks 156, 156 ′ of the wire rod separating and supplying apparatus 100 configured as shown in FIG. 5 are taken out, and as shown in FIG. 15, there is a step 172 a of the gripping width defining plate 172. The gripping width defining portions 156c and 156c ′ are fitted into the recesses 176a of the gripping width defining plate 172 from the back surface of the side surface. Then, in this state, the first tapered surfaces 176, 176 'of the gripping width defining plate 172 and the gripping width defining surfaces 156c3, 156c'3 of the gripping width defining portions 156c, 156c' come into contact with each other, so that the chuck 156, The gripping width H of 156 'will be defined. The operation of defining the gripping width H will be described later.

Since the thickness of the gripping width defining plate 172 below the step 172a is formed to be thicker than the thickness of the gripping width defining portions 156c and 156c ′, as described above, the grips 156 and 156 ′ are grasped. Even when the recesses 176a of the width defining plate 172 come into contact with each other, the gripping width defining portions 156c and 156c 'do not protrude beyond the thickness of the gripping width defining plate 172. Therefore, as shown in FIG. 16, even if a pressing plate 178 is closely attached to the step 172a from below from the surface formed below the step 172a and is attached via the bolt B2, the pressing plate 178 and the gripping width defining portion are attached. There is no interference with 156c and 156c '.

[Description of Pressing Plate 178] The pressing plate 178 is configured such that the second lifting mechanism 174 lowers the gripping width defining plate 172 to hold the gripping claws 156a of the chucks 156 and 156 'attached thereto. When 156a 'is inserted from above into the plurality of wire rods S accommodated in the wire rod accommodating portion 104, the wire rods located around the wire rod S gripped by the pair of gripping claws 156a, 156a' are pressed from above. This is for flattening the upper surfaces of the plurality of wire rods S accommodated in the wire rod accommodating portion 104.

The pressing plate 178 is attached to the gripping width regulating plate 172, and is horizontally (X) displaced at a predetermined amount from the tip portions 156a3, 156a'3 of the pair of gripping claws 156a, 156a '. Direction), and is provided with a flat lower edge 178a. The extension amount, that is, the width of the lower edge 178a has a length that covers the maximum gripping width H of the chucks 156 and 156 'defined by the recessed portion of the gripping width defining plate 172. It is attached to the width regulating plate 172 via a bolt B2.

The pressing plate 178 is driven up and down together with the gripping width defining plate 172 by a second lifting mechanism 174 (described later) that lifts and lowers the gripping width defining plate 172. By raising and lowering the holding plate 178, as shown in FIG. 20b, a grip defined between the lower edge 178a of the holding plate 178 and the tip portions 156a3, 156a'3 of the gripping claws 156a, 156a 'of the chucks 156, 156'. The height H'changes. The change in the gripping height H ′ will be described together with the operation of restricting the gripping width H 1 of the chucks 156 and 156 ′ by the gripping width defining plate 172, which will be described later.

The upper diagrams of FIGS. 15 and 20a show the states of the chucks 156 and 156 'in which the gripping width defining plate 172 maximizes the gripping width H. That is, in the state shown in this figure, the chuck mounting portions 168, 168 'constituting the chuck driving mechanism 158 are driven by the chuck driving mechanism 158 so as to move in the directions away from each other. The gripping width defining portions 156c, 156c of the chucks 156, 156 'attached to the gripping width defining surfaces 156c2, 156c'2 forming the recesses 176a of the gripping width defining plate 172, respectively. The movement is restricted by contacting 176 '.

The holding plate 178 operates as follows. As shown in FIG. 17, when a plurality of wire rods S are accommodated in the wire rod accommodating part 104 as tapered surfaces instead of flat surfaces, as shown in FIG. When 156a and 156a 'are lowered together with the pressing plate 178 and the grip claws 156a and 156a' are inserted between the wire rods S accommodated in the wire rod accommodating portion 104, the lower end edge 178a of the presser plate 178 hits the plurality of wire rods S. The contact stops the descent. At this time, the plurality of wire rods S that come into contact with the pressing plate 178a are made to be substantially flat surfaces along this (state shown in FIGS. 18 and 19).

Since the upper surfaces of the plurality of wire rods S accommodated in the wire rod accommodating portion 104 are made flat as described above, even if the first gripping fails, the gripping operation by the retry operation described later makes The wire rod can be reliably gripped (that is, the gripping claws easily enter between the wire rod S and the wire rod S). Further, the holding plate 178 can more reliably prevent the two wire rods S from being taken. Therefore, the structure and its operation will be described later.

The gripping width regulating plate 172 is driven up and down by the second lifting mechanism 174 shown in FIG. FIG. 20a shows the regulation amount of the maximum grasping width H of the chucks 156, 156 'which is regulated by the grasping width regulating plate 172 being moved downward by the second elevating mechanism 174. The upper part shows the gripping width H when the gripping width defining plate 172 is located at the uppermost position, and the middle part shows the chucks 156, 156 when the gripping width defining plate 172 is located lower than the upper part. The holding width H of ′ is shown. The lower part shows the gripping width H of the chucks 156, 156 'when the gripping width defining plate 172 is located lower than the middle part.

When the gripping width regulating plate 172 moves up and down in this way, the chucks 156 and 156 ′ are moved along the taper surfaces 176 and 176 ′ so as to be close to each other while maintaining their parallelism. . That is, the gripping width H is defined narrower as the gripping width defining plate 172 descends. Since the chucks 156 and 156 'are driven by the chuck drive mechanism 158 so as to move in the directions in which they are separated from each other during this prescribed operation, when the gripping width H is set to be narrow and narrow, the chucks 156 and 156' are separated from each other. The chucks 156 and 156 'are moved closer to each other against the force that causes them (the force acting in the direction of separating the chucks 156 and 156' from each other is high pressure air, so this force can be easily resisted). You can.)

The gripping width H of the chucks 156 and 156 ′ is set to be slightly larger than the diameter of the wire S to be gripped. For example, if the diameter of the wire S to be gripped is 7 millimeters, the gripping width H is set wider by 1 mm. By setting the gripping width to be slightly wider than the diameter of the wire rod S in this manner, the wire rod S easily enters between the chucks 156 and 156 'and is more reliably gripped. .

As the gripping width regulating plate 172 moves up and down, the holding plate 178 attached thereto also moves up and down, and the gripping height H changes as shown in FIG. 20b. The wire S is chucked between the lower edge 178a of the presser plate 178 and the gripping claws 156a, 156a 'of the chucks 156, 156' at the gripping height H'defined between the chucks 156a3, 156a'3. Gripped by 156, 156 '. In this ascending / descending operation, if the relation of 0.5K <H '<1.5K is established between the gripping height H'and the diameter K of the wire rod S gripped by the gripping width H, it is more reliable. It is possible to grip the wire S of only a book. That is, the two wire rods S are not gripped.

When H ′ is set as described above, the wire rod S is gripped by the chucks 156 and 156 ′ with its upper surface in contact with the lower edge portion 178a of the pressing plate 178. In this state, the distance L between the lower surface of the grasped wire S and the tips 156a3, 156a'3 of the grasping claws 156a, 156a 'and the diameter K of the wire S has a relationship of L <0.5K. It holds. In other words, even if the second wire S intrudes into the area between the lower surface of the gripped wire S and the tip portions 156a3, 156a'3 of the gripping claws 156a, 156a ', the second wire S enters the area. Therefore, the diameter portion (the portion having the diameter K) of the wire S is not located. Therefore, the second wire S is not gripped (since the wire S is gripped by gripping the diameter portion of the wire S from both sides). In addition to forming the gripping surfaces 156a1 and 156a′1 of the gripping claws 156a and 156a ′ of the chucks 156 and 156 ′ as inclined surfaces, the holding plate 178 further sets the gripping height H ′ as described above. By doing so, only one wire rod S can be gripped more reliably.

As described above, as the pressing plate 178 moves up and down, as described above, H ′ <1.5K between the gripping height H ′ and the diameter K of the wire S gripped by the gripping width H. Although it is necessary to establish a relationship, in one embodiment, this is done as follows. The reason why 0.5K <H 'is to hold the diameter portion of one wire S.

The recess 176a of the gripping width regulating plate 172 is formed by the tapered surfaces 176 and 176 ', and the shape of the recess 176a is a triangular shape having tapered surfaces 176 and 176' on two sides. ing. The concave portion 176a is configured such that the relationship of a: b = 3: 2, that is, 2a = 3b is established between the length a and the height b of the base of the triangle. Then, the gripping width defining surfaces 156c2, 156c'2 of the gripping width defining portions 156c, 156c 'are formed along the tapered surfaces 176, 176' forming the recesses 176a set in this way.

As an initial setting, when the minimum diameter of the wire rod S to be gripped in one embodiment is 3 mm (that is, when the gripping width regulating plate is at the lowermost position, the wire rod S of 3 mm can be gripped). In this case, the gripping width H of the chucks 156 and 156 'is set to be slightly wider than 3 millimeters (to facilitate gripping the wire rod S), and in this state, the lower edge 178a of the holding plate 178 and the gripping claw are set. The grip height H'defined between the tips 156a3 and 156a'3 of 156a and 156a 'is set to be slightly smaller than 4.5 millimeters.

Next, for example, when gripping the wire S having a thickness of 7 mm, the gripping width defining plate 172 is raised by 6 mm in order to set the gripping width H of the chucks 156 and 156 ′ to be slightly wider than 7 mm. In this state, the chucks 156 and 156 'can move by 2 mm in the direction in which they are separated from each other, for a total of 4 mm, and the gripping width H is slightly less than 7 mm, which is the value obtained by adding 4 mm to the default gripping width H. It will be set wider. Then, the gripping height H'is set to be slightly smaller than the value of 10.5 millimeters obtained by adding the lifting distance of 6 millimeters to the gripping height H'of the initial setting. That is, the grip height H'is set to be slightly smaller than the diameter of the wire S to be gripped 7 mm × 1.5 = 10.5, and it is possible to prevent two wire S from being gripped. .

As shown in FIG. 5, the second elevating mechanism 174 includes a DC servo motor 180 and a rotary encoder 180 a that detects the amount of rotation of the DC servo motor 180. By attaching the upper end of the gripping width regulating plate 172 to the ball nut 184 screwed to the ball screw 182 rotated by the servomotor 180, the gripping width regulating plate 172 is driven forward and backward along the vertical direction.

The gripping width defining plate 172 has its upper end attached to the ball nut 184, and the ball screw 182 attached to this motor rotation shaft 181 is rotated by the DC servomotor 180 and screwed into this. As the ball nut 184 moves up and down, the gripping width regulating plate 172 moves up and down.

The DC servomotor 180 has a spacer on the upper horizontal plane of the motor mounting base 186 which is formed to have a vertical horizontal plane and a horizontal vertical plane so that the motor rotation shaft 181 can rotate around the vertical direction. It is attached via 188. The DC servo motor 180 is connected to the control device 266, and the amount of rotation of the DC motor 180 can be detected by counting the pulses generated by the rotary encoder 180a integrally attached to the control device 266. That is, the gripping width H of the chucks 156, 156 'is regulated by adjusting the vertical movement amount of the gripping width regulating plate 172 by this.

The motor mounting table 186 has a vertical horizontal surface and a horizontal vertical surface near the center in the vertical direction on the same surface as the surface of the gripping mechanism supporting frame 164 on which the chuck driving mechanism 158 is mounted. It is mounted as a frame with connected faces. The rotation of the DC servomotor 180 is transmitted to the ball screw 182 attached to the lower end of the DC servomotor 180 via the coupling 190 attached to the motor rotating shaft 181 and the rotary shaft 192 attached to the lower end thereof. The rotation shaft 192 is supported by the lower horizontal surface of the motor mounting base 186, and the rotation centers of the motor rotation shaft 181, the coupling 190, the rotation shaft 192, and the ball screw 182 of these DC servomotors 180 are substantially on a straight line. Is set.

A ball nut 184 is screwed into the ball screw 182, and the ball nut 184 is attached to the upper portion of the side surface of the grip width defining plate 172 to which the push plate 178 is attached. . Then, in this state, the first tapered surfaces 176 and 176 'forming the recessed portion 176a of the gripping width defining plate 172 have gripping width defining portions 156c and 156c of the chucks 156 and 156' located at the lower end of the gripping mechanism supporting frame 164. The gripping width defining surfaces 156c2 and 156c'2 of ′ can come into contact with each other.

A guide rail 194 is attached to a region of the gripping mechanism supporting frame 164 located between the motor mounting table 186 and the chuck driving mechanism 158 while extending in the vertical direction. A guide member 196 fitted to the guide rail 194 and vertically movable along the guide rail 194 is attached to an upper portion of the back surface of the side surface of the gripping width regulating plate 172 to which the push plate 178 is attached. Therefore, as described above, the gripping width defining plate 172 is vertically moved within the range defined by the guide rail 194 by the DC servomotor 180 which is the second elevating mechanism 174, and the chuck 156 is formed by the recess 176a. The gripping width H by 156 'can be defined.

By configuring the gripping mechanism 114 as described above, the chucking width defining plate 172 having the recessed portion 176a composed of the tapered surfaces 176, 176 'is simply moved up and down to move the chucks 156, 156' as described above. The gripping width H of the wire rod S can be set easily and accurately.

The gripping mechanism 114 configured as described above is attached to the gripping mechanism support frame 164 so as to be lifted and lowered by the first lifting mechanism through the gripping mechanism support frame 164, and by lifting and lowering the gripping mechanism support frame 164. Move up and down.

A base 198 that can be moved up and down by a first elevating mechanism 154 that is a rodless cylinder is attached above the back surface of the surface of the holding mechanism supporting frame 164 on which the chuck holding mechanism 158 is attached. ing. This rodless cylinder is well known, and the magnet housed in the cylinder housed inside is supplied to the cylinder by supplying high-pressure air to move the magnet up and down, whereby the base is attracted to the cylinder. It moves 198 up and down. For this reason, this rodless cylinder is equipped with two air supply ports, which are connected to the base ends of a pair of supply lines that supply high pressure air to these, and supply high pressure air to the pair of supply lines. A switching valve 276b is provided for switching between the two. The switching valve 276 is connected to the control device 266 and is switched by this. Then, either one of the pair of supply lines is selected, and the high pressure air supplied through the switched supply line moves the magnet in the cylinder up and down to raise and lower the base 198 that is attracted thereto. To move.

When the power supply of the wire rod separating and supplying apparatus 100 is turned on, the switching valve 276b is of a type that can move the magnet in the cylinder upward by the high pressure air supplied through the supply line switched by the switching valve 276b. Set to select supply line. That is, when the wire rod separating and supplying device 100 is powered on, the magnet comes in contact with the upper end in the cylinder and stops upward. Therefore, the pickup mechanism 106 attached to the base 198 that is attracted to this magnet is also positioned above as shown in FIG.

In FIG. 5, the wire rod S is housed in the wire rod housing portion 104 in a state of extending in the Y direction. The moving frame 110, to which the pick-up mechanism 106 including the gripping mechanism 114 and the first elevating mechanism 154 is attached, moves in the direction perpendicular to the paper surface and can pick up the wire rod S having a desired diameter. It will be moved to the position (the operation of this movement will be described later).

To grip the wire S by the pickup mechanism 106, first, the gripping width defining plate 172 sets the gripping width H of the chucks 156, 156 ′ slightly wider than the diameter of the wire S 1 to be gripped. Although details will be described later, when the gripping mechanism 114 is lowered by the first elevating mechanism 154 as shown in FIG. 34, the chucks 156 and 156 'are accommodated in the wire rod accommodating portion 104 as shown in FIG. The wire rod S is inserted between one wire rod S among the plurality of wire rods S and the wire rods S ′ and S ′ located on both sides of the wire rod S.

The outer side surfaces 156a2, 156a'2 formed as tapered surfaces push the side wires S ', S'on both sides of the side wire S laterally, and the wire S is sandwiched between the gripping surfaces 156a1, 156a'1. Will be inserted. After that, by selectively switching the switching valve 276a, the chuck driving mechanism 158 is closed, that is, the chucks 156 and 156 'are moved toward each other to grip the wire rod S.

The wire rod S whose one end is thus gripped is lifted upward while maintaining the gripped state by raising the gripping mechanism 114 by the first elevator mechanism 154 as shown in FIG. To be However, the chucks 156 and 156 ′ grip only one end of the wire S, and the other end cannot be lifted as the gripping mechanism 114 rises. The lifting of the other end is performed by a slide lifting mechanism 108 described later.

[Description of Slide Lifting Mechanism 108] Next, the wire S whose one end is lifted by the above-mentioned pickup mechanism 106 (that is, the wire S in the state of FIG. 31) has its other end moved by the slide lifting mechanism 108. Can be lifted up.

The slide lifting mechanism 108 includes a traveling roller 112 that can project between the wire rod accommodating portion 104 and the wire rod S lifted upward by the pickup mechanism 106, and the traveling roller 112 that picks up the traveling roller 112 from the wire rod accommodating portion 104. A traveling roller projecting mechanism 202, which is an actuator for projecting it between the wire rod S lifted upward by the mechanism 106 and retracting the projecting traveling roller 112 (that is, returning it to the state before the projecting), is provided. I have it.

The traveling height of the traveling roller 112 is set to be lower than the height of one end of the wire rod S lifted up by the pickup mechanism 106. That is, the horizontal drive mechanism 204 that causes the traveling roller 112 to travel is attached to a position lower than the height of one end of the wire rod S that is lifted up. (In one embodiment, since the horizontal drive mechanism 204 is attached to the lower surface of the main frame 142 that constitutes the moving frame 110 as described above, the lower surface of the main frame 142 is lifted upward. Is set to a position lower than the height of one end of the wire rod S.) The traveling roller 112 is horizontally driven between the positions corresponding to one end and the other end of the wire rod S accommodated in the wire rod accommodating portion 104. Driven by.

The traveling roller 112 is rotatably supported by a roller rotating shaft 208 which is vertically supported on the front surface of the roller supporting base 206 having a home base shape as shown in FIGS. 21 to 23. ing. The traveling roller 112 is formed such that the diameter becomes smaller from both ends of the traveling roller 112 toward the central position so that the substantially central position along the extending direction of the roller rotation shaft 208 has the minimum diameter. That is, a wire rod contact groove 210 for contacting the wire rod S is formed at the central position of the traveling roller 112, and the wire rod S abuts against this.

With the traveling roller 112 positioned below, the traveling roller protruding mechanism 202, which is an actuator, is provided on the rear surface of the surface of the roller support 206 on which the traveling roller 112 is mounted, as shown in FIG. The traveling roller 112 is attached via the rod 212 and the guide rod 214 so as to project in the extending direction of the roller rotation shaft 208.

The traveling roller projecting mechanism 202 is capable of supplying high pressure air into the cylinder housed therein to project the piston rod 212 or retract the piston rod 212 to the original state. For this reason, this cylinder is equipped with two air supply ports, which are connected to the base ends of a pair of supply lines that supply high pressure air to these, and supply high pressure air to either of the pair of supply lines. A switching valve 276c for switching between these is provided. The switching valve 276c is connected to the control device 266 and is switched by this. Then, one of the pair of supply lines is selected, and by the high pressure air supplied through the switched supply line, the protruding position of the piston rod 212 shown in FIG. 24 and the piston rod 212 shown in FIG. 25 are selected. It is configured so that it can be switched to the retracted position.

When the power supply of the wire rod separating and supplying apparatus 100 is turned on, the switching valve 276c prevents the traveling roller projecting mechanism 202 from retracting the piston rod 212 by the high pressure air supplied through the supply line switched by the switching valve 276c. It is set to select the supply line that is available.

In this slide lifting mechanism 108, a stay 216 is attached to a base 217 that moves between positions corresponding to one end and the other end of the wire S accommodated in the wire accommodating section 104 by a rodless cylinder that is a horizontal drive mechanism 204. The slide roller 112 is mounted via the slide roller 112. The direction in which the traveling roller 112 projects (that is, the direction in which the traveling roller projecting mechanism 202 projects) and the direction in which the slide lifting mechanism 108 moves are perpendicular to each other.

This rodless cylinder has the same structure as that used as the first elevating mechanism 154. That is, this rodless cylinder is well known, and a magnet housed in the cylinder housed inside is supplied with high-pressure air into the cylinder to move in the vertical direction, whereby the base is attracted to the magnet. 217 is moved horizontally. For this reason, this rodless cylinder is equipped with two air supply ports, which are connected to the base ends of a pair of supply lines that supply high pressure air to these, and supply high pressure air to the pair of supply lines. A switching valve 276d is provided to switch between the two. The switching valve 276d is connected to the control device 266 and is switched by this. Then, either one of the pair of supply lines is selected, and the magnet in the cylinder is moved up and down by the high-pressure air supplied through the switched supply line to horizontally move the base 217 that is attracted to the magnet. Let

When the power supply of the wire rod separating and supplying apparatus 100 is turned on, the switching valve 276d moves the magnet in the cylinder to the left (in FIG. 33) by the high pressure air supplied through the supply line switched by the switching valve 276d. It is set to select the supply line that can be used. That is, when the power supply of the wire rod separating / supplying device 100 is turned on, the magnet contacts the left end in the cylinder and stops to the left. Therefore, the traveling roller projecting mechanism 202 and the traveling roller 112, which are attached to the base 217 that is attracted to the magnet, are also positioned to the left as shown in FIG.

Therefore, the traveling roller projecting mechanism 202 mounted on the base 217 and the traveling roller 112 mounted so as to be projectable thereon also move horizontally. The rodless cylinder that is the horizontal drive mechanism 204 is connected to the above-described pneumatic supply device 268 so that high-pressure air is supplied to the two air supply ports via the switching valve 276d. It is configured.

The horizontal drive mechanism 204 is configured to allow the base 217 to move over the length of the wire rod S in the longitudinal direction. The horizontal drive mechanism 204, which is the rodless cylinder, is attached to the horizontal drive mechanism mounting frame 254 that constitutes the moving frame 110 in a state where the horizontal drive mechanism 204 extends in the Y direction. That is, the traveling roller 112 moves in the Y direction together with the traveling roller projecting mechanism 102 while maintaining the state of projecting in the X direction, that is, the direction perpendicular to the plane of the drawing.

The traveling roller 112 configured as described above is provided between the wire rod S whose one end is picked up by the pickup mechanism 106 and the wire rod accommodating portion 104, and directly below the wire rod S by the traveling roller projecting mechanism 202. Projected towards. When the traveling roller 112 moves toward the other end of the gripped wire rod S in this state, the lower portion of the wire rod S contacts the wire rod contact groove 210 of the traveling roller 112 as shown in FIG. 22b. become. Then, when the running roller 112 is moved in the direction in which the contact is further strengthened (rightward in FIG. 36) from this contact state, the other end of the wire rod S is gradually lifted upward as shown in FIG. It will be. When the traveling roller 112 moves to the other end of the wire rod S, both ends of the wire rod S are supported by the chuck 156 and the traveling roller 112 in a substantially horizontal state.

When the slide lifting mechanism 108 moves toward the other end of the wire rod S, the wire rod holding mechanism 116 descends so as to hold the wire rod S from above every time it passes a predetermined position. The wire rod S is sequentially held by the hold claws 220 from both sides of S. Next, the wire rod holding mechanism 116 will be described with reference to the drawings.

[Explanation of Wire Rod Holding Mechanism 116] The wire rod holding mechanism 116 includes a hold pawl driving mechanism 225 and a hold pawl lifting mechanism 228 for raising and lowering the holding pawl driving mechanism 225.

[Explanation of Hold Claw Driving Mechanism 225] The hold claws 220 and 220 ′ configured as described above are swung in the directions toward and away from each other by the hold claw driving mechanism 225 to hold the wire S and its holding. Elimination is performed. As shown in FIG. 26, the holding claw drive mechanism 225 has an air cylinder and a piston rod that is driven to project / pull in by an air cylinder inside the hold claw drive mechanism main body 224 that defines the appearance thereof. And a link for connecting between the piston rod and the pair of hold claws 220 and 220 ', and transmitting the projecting and retracting operations of the piston rod to the pair of hold claws 220 and 220' as a separating operation and a proximity operation, respectively. And a mechanism. The hold claws 220 and 220 'are attached to the link claws by bolts to hold claw mounting portions 222 and 222' configured to move in a direction in which the link mechanism moves toward and away from each other while maintaining parallelism. .

This air cylinder is provided with two air supply ports, and a switching valve 276e for switching the supply of high pressure air to these is provided. By switching the switching valve 276b and selectively switching the two air supply ports, the piston rod is driven to be pulled in or to be projected.

When the piston rod is pulled in and driven, the hold pawls 220 and 220 'are oscillated in a direction away from each other through the link mechanism and the hold pawl attachment portions 222 and 222', and the piston rod is moved. When the protrusions are driven, the holding claws are configured to swing in a direction in which they approach each other via the link mechanism and the holding claw mounting portions 222, 222 '.

The hold pawl drive mechanism 225 includes a pair of supply lines for supplying the high-pressure air supplied from the air pressure supply device 268 to the pair of air supply ports of the air cylinder, and the base ends of the pair of supply lines. And a switching valve 276e for selectively switching the supply of high pressure air to a pair of supply lines. The switching valve 276e is connected to the control device 266 and is switched by this. As a result, either one of the pair of supply lines is selected, and the holding claws 220 and 220 'are driven to open and close by the high pressure air supplied through the switched supply line, and the wire S Hold and its release can be performed.

When the power supply of the wire rod separating and supplying device 100 is turned on, the switching valve 276e causes the hold pawl drive mechanism 225 to cause the hold pawls 220 and 220 'to move to each other by the high pressure air supplied through the supply line switched by the switching valve 276e. It is set to select one of the supply lines that can swing in the separating direction.

When the hold claw mounting portions 222, 222 'are swung in a direction in which the hold claw mounting portions 222, 222' are close to each other, the tip ends formed by bending inward are brought into contact with the hold claw mounting portions 222, 222 '. Hold claws 220 and 220 ′ are attached so as to form a hold space 232. The upper outside of the hold claws 220, 220 'is formed in a recess having the same shape as the lower end of the hold claw mounting section 222 so as to be attached to the hold claw mounting sections 222, 222'. The lower ends of 22, 222 'come into contact with and hold claws 220, 220' are attached via bolts.

It should be noted that when the tips of the hold claws 220 and 220 ′ that are bent inward are in contact with each other, a V-shaped groove 234 that is a V-shaped groove is formed in the contact portion. Is formed as an inclined surface having a predetermined angle. Then, the V-shaped V-shaped groove 234 is formed by the contact between the front ends, and the held wire rod S is positioned in the V-shaped groove 234. That is, the held wire rod S is located at a fixed position.

As shown in FIG. 29, a hold claw lifting mechanism 228, which is an actuator, is attached to the upper surface of the hold claw driving mechanism main body 224 that constitutes the wire rod holding mechanism 116, via a spacer 226.

[Hold Claw Lifting Mechanism 228] This hold claw lifting mechanism 228 supplies high pressure air into the cylinder housed therein to cause the piston rod 230 and the guide rod 231 to project, or to maintain the original state. It is something that can be withdrawn. For this reason, this cylinder is equipped with two air supply ports, which are connected to the base ends of a pair of supply lines that supply high pressure air to these, and supply high pressure air to either of the pair of supply lines. A switching valve 276f for switching between the two is provided. The switching valve 276f is connected to the control device 266 and is switched by this. Then, one of the pair of supply lines is selected, and the high-pressure air supplied through the switched supply line causes the piston rod 230 to project at the protruding position shown in FIG. 30 and the piston rod 230 to retract as shown in FIG. It is configured to be able to switch to the position.

When the power supply of the wire rod separating / supplying device 100 is turned on, the switching valve 276f prevents the hold pawl lifting / lowering mechanism 228 from retracting the piston rod 230 by the high pressure air supplied through the supply line switched by the switching valve 276f. It is set to select the supply line that is available.

As shown in FIG. 33, the wire rod holding mechanism 116 configured as described above has the wire rod holding mechanism mounting frame of the moving frame 110 at predetermined intervals in the extending direction of the horizontal drive mechanism 204, that is, in the Y direction. It is attached to 152 via a stay, and is attached so as to be able to hold the wire rod S lifted by the traveling roller 112 to a certain height or more. In one embodiment, the number of wire rod holding mechanisms 116 is set to three.

That is, in the moving frame 110, the first wire rod holding mechanism 116a, the second wire rod holding mechanism 116b, and the third wire rod holding mechanism are provided as the three wire rod holding mechanisms 116 at predetermined intervals in the Y direction. 116 c is attached so that the wire rod S gradually lifted by the slide lifting mechanism 108 can be held by the holding claws 220 from both sides thereof. Then, in order to detect the approach of the traveling roller 112 in response to the respective holding mechanisms 116, the passage detection sensor 122 composed of a proximity sensor is turned on when an object approaches within a predetermined range, so that the moving frame can be turned on. It is installed in place. The passage detecting sensor 122 is connected to the control device 266, and the holding operation of the wire rod S by the wire rod holding mechanism 116 described later is performed based on the signal from the passage detecting sensor 122. The passage detecting sensor 122 is connected to the control device 266, and when the signal from the passage detecting sensor 122 changes from OFF to ON, the wire claws 220 and 220 'are used to detect the wire rod. Hold.

The passage detection sensor 122 is composed of a porcelain detection sensor having a permanent magnet 121 and a porcelain detection element 123, and the detection target portion, that is, the permanent magnet 121 attached to the stay 216, enters the detection range of the passage detection sensor 122. It is configured to turn on only when. The porcelain detection element 123 is attached to a predetermined position of the moving frame 110 at a position where the traveling roller 112 passes before the traveling wire holding mechanism 116 when the traveling roller 112 travels while lifting the wire rod. That is, the first to third porcelain detection elements 123a, 123b, 123c are attached to correspond to the first to third wire rod holding mechanisms 116a, 116b, 116c, respectively. The permanent magnet 121 detected by this is attached to the stay 216.

By thus configuring the passage detection sensor 122 and mounting it at a predetermined position, it can be determined that the traveling roller 112 and the traveling roller projecting mechanism 202 have passed the porcelain detection element 123, and thus the wire rod holding mechanism 116. Can be driven as described below.

In the state shown in FIGS. 33 to 36, as shown in FIG. 30, the hold pawl elevating mechanism 228 is in the retracted state, and the hold pawls 220 and 220 ′ are waiting in the outwardly opened state. Next, as shown in FIG. 36, the traveling roller 112 moves toward the other end of the wire rod S, and the permanent magnet attached to the stay 216 is within the detection distance of the first porcelain detection element 123a forming the first proximity sensor. When 121 enters and is turned on, the wire holding mechanism 116a is moved downward by the holding claw lifting mechanism 228 as shown in FIG. The wire rod holding mechanism 116a is lowered with the holding pawls 220 and 220 'kept open as shown in FIG. After that, the holding claw driving mechanism 225 swings the holding claws 220 and 220 ′ in a direction in which they approach each other, and the traveling roller 112 holds the wire rod lifted to a certain height or more. That is, the hold claws 220 and 220 'are in the state shown in FIG.

Even when the traveling roller 112 moves toward the other end of the gripped wire S and passes through the second porcelain detection element 123b and the third porcelain detection element 123c forming the proximity sensor. As described above, the wire rod holding mechanisms 116b and 116c operate sequentially, and the wire rod S lifted by the traveling roller 112 to a certain height or more is sequentially held. The hold mechanism 116 descends from above in order to prevent the hold claws 220 and 220 ', which are separated from each other, from interfering with the traveling roller 112.

When the traveling roller 112 moves to the other end of the wire rod S as shown in FIG. 39, the wire rod S is held by the three wire rod holding mechanisms 116a, 116b and 116c over the entire length thereof. After that, the traveling roller projecting mechanism 202 is driven so as to retract the projecting traveling roller 112 to the original position. At this time, since the running roller 112 has an inclined surface (a surface whose diameter gradually increases outward from the central position of the running roller 112) which is inclined in the direction opposite to the retracting direction, the running roller 112 is When the wire S is retracted, the wire S goes over this slope, and the retracting operation can be easily performed.

After that, when the holding of the one end of the wire rod S by the pickup mechanism 106 is further released, the wire rod S is supported only by the wire rod holding mechanisms 116a, 116b, 116c. Then, the wire rod S is positioned in the V-shaped groove 234 formed by the hold claws 220 and 220 'contacting each other, and is supported thereby.

The wire rod S held by the wire rod holding mechanism 116 in this way is supplied to the wire rod next process supply device 118 so as to be supplied in the next process. The wire rod subsequent process supply device 118 has an endless belt 118a that rotates in the extending direction of the held wire rod S, that is, in the Y direction, and the wire rod S that has been released from the hold has the endless belt 118a. It will drop up and be supplied in the Y direction.

That is, the held wire rod S is moved to the wire rod next step supply device 118 by the moving frame 110 to which the wire rod hold mechanism 116 for holding the wire rod S is moved, and the hold of the wire rod S by the wire rod hold mechanism 116 is released at the same time. By doing so, the wire rod S is supplied. When they are released at the same time, the wire rod S is dropped on the endless belt 118a that constitutes the wire rod next process supply device 118 while keeping the horizontal direction. Therefore, the wire S does not drop from the endless belt 118a due to the impact generated when the wire S falls from one end.

The wire rod subsequent process supply device 118 is installed adjacent to the base 102, and the moving frame 110 is guided by the moving frame guides 124 and 124 attached to the base 102. It reciprocates between a wire rod accommodating portion 104, which will be described later, attached to the upper surface of the base 102 and a wire rod next process supply device 118.

[Wire Rod Housing Unit 104] Next, the wire rod housing unit 104 that is provided to house the wire rod S classified by each diameter will be described. A wire rod accommodating portion 104 is attached to the base surface 102a so as to accommodate the wire rod S while extending in the Y direction. As shown in FIG. 1, the wire rod accommodating portion 104 has a wire rod supporting portion 105 attached to the upper surface of the base surface 102a while extending in the X direction at a predetermined interval in the Y direction. The wire rod supporting portion 105 includes nine comb branch portions 140 extending upward at a predetermined interval in the Y direction, and eight concave portions formed between the comb branch portions 140 and the comb branch portions 140. 138a, 138b, 138c, 138d, 138e, 138f, 138g, and 138h.

The interval between the comb branch portions 140 and the comb branch portions 140 adjacent to each other is set to be wider than the maximum diameter of the wire rod S supported by the wire rod support portion 105. Further, the upward extension amount of the comb branches 140 is also set to be wider than the maximum diameter of the supported wire S. That is, the comb branches 140 are set so that the plurality of wire rods S are supported in the recesses 138 formed between the comb branches 140 adjacent to each other.

The recessed portion 138 of the wire rod support portion 105 has a comb branch portion 140 adjacent to each other and a sloped surface that is further inclined continuously inward from the comb branch portion 140. The V-shaped groove 238 is formed by the inclined surface. As will be described later, the wire rods S are separated and supplied, and as the wire rods S in the wire rod housing portion 104 decrease, the remaining wire rods S gather in the V-shaped groove 238. The last wire rod S is supported by this V-shaped groove 238.

In one embodiment, the number of wire rod support portions 105 to be attached is set to four. That is, the wire rod S is supported by the recessed portion 138 of the wire rod receiving portion 104 at a total of four places, that is, two end portions and two places near the central portion thereof. Further, the mounting interval in the Y direction is set to an interval in which the contained wire S does not bend. When the wire rod support portion 105 shown in FIG. 41 is mounted on the base surface 102a, the recessed portions 138a, 138b, 138c, 138d, 138e, 138f, 138g, 138h of each wire rod support portion 105 are along the Y direction. It will be in a state of being.

For example, the recesses 138a are arranged at a predetermined interval along the Y direction at a total of four places, and the wire accommodating member is extended in the Y direction by these four recesses 138a. It constitutes the section 104a. Therefore, the wire rod S is accommodated in the wire rod accommodation portion 104a in a state of extending in the Y direction. Similarly, the other recessed portions 138b to 138h are constituted by the four recessed portions 138b to 138h to form the wire rod accommodating portions 104b to 104h in the state of being extended in the Y direction. Therefore, the wire rod S is accommodated in the wire rod accommodating portions 104b to 104h in the same manner as the wire rod accommodating portion 104a while extending in the Y direction. The wire rods S classified according to the wire diameters are stored in the wire rod storage portions 104a to 104h. That is, the wire rods S having eight kinds of wire diameters are stored in the wire rod housing portions 104a to 104h classified by wire diameters. Then, the wire rod accommodating portions 104a to 104h are arranged along the moving direction of the moving frame 110, that is, the X direction.

At the lower end of the wire rod supporting portion 105, in order to attach the wire rod supporting portion 105 to the base surface 102a in a state where the wire rod supporting portion 105 extends perpendicularly to the base surface 102a and extends in the X direction, the wire rod accommodating over the entire length thereof. The part support 236 is attached. The wire rod support portion 105 is attached on the base surface 102a via the wire rod housing portion support 236.

[Explanation of Chain 248] As shown in FIG. 43, brackets 246 are attached to the upper ends of the plurality of comb branch portions 140 that form the wire rod support portion 105 through bolts. The bracket 246 has, on the left and right, a chain mounting portion 246a that protrudes a predetermined amount inside the recess 138 (that is, the area for accommodating the wire S) when it is attached to the upper end of the comb branch 140. Both ends of the chain 248 are located inside the recesses 138 of the adjacent brackets 246 so that the chain mounting parts 246a, 246a are connected to the chain mounting parts 246a, 246a. It is mounted so that it can swing along the direction. The chain 248 is a well-known chain composed of a plurality of chain constituent members 248a rotatably connected to each other, and is deformable within a predetermined range.

As shown by the solid line in FIG. 43, the chain 248 is located inside the recess 138 when two or more wire rods S are stored in the wire rod storage portion 104. The length of the chain 248 is set so that the wire S is supported by the V-shaped groove 238 provided below the flexible portion 138 when the number of the wire S is one. That is, the chain 248 is attached via the bracket 246 so as to be positioned inside the recess 138. The chain 248 is attached from the recess 138 when the wire S is accommodated in the wire accommodating portion 104. This is because it is positioned inside and supports the wire rod S by this chain 248.

As described above, when a force acting in the X direction is applied to the plurality of wire rods S accommodated in the wire rod accommodating portion 104 while the wire rod S is supported by the chain 248, the chain attachment of the chain 248 of the bracket 246 is performed. The wire rod S supported by the chains 248 swings left and right through the portions 246a and 246a or the connecting points of the chain constituent members that form the chain 248. In this way, the chain 248 allows the wire rod S to swing to the left and right, so that the following effects are produced.

In the wire rod S accommodated in the wire rod accommodating portion 104, the pickup mechanism 106 descends and the tip portions 156a3 and 156a′3 of the gripping claws 156a and 156a ′ of the chuck 156 push the other wire rods S away from each other. Only the wire is gripped. Therefore, when the tip end portion 156a3 of the gripping claw 156a of the chuck 156 abuts the radial center of the wire rod S from above as shown in the upper part of FIG. 44, the wire rod housing portion 104 does not move in the left-right direction. If so, the pickup mechanism 106 cannot move down any more.

However, by arranging the wire rod accommodating portion 104 to be movable in the X direction, when the state shown in the upper part of FIG. 38 is reached, when the pickup mechanism 106 is further lowered, the chuck 156 is gripped. The tip portion 156a3 of the claw 156a exerts a force to move the wire rod accommodation portion 104 to the right in the figure, and as a result, the wire rod accommodation portion 104 swings to the right and is in contact with the tip of the gripping pawl 156a. The wire rod S also moves to the right, and the wire rod S is positioned in the state shown in the middle of FIG. That is, when two or more wire rods S are accommodated, these wire rods S are supported inside the recessed portion 138 by the chain 248, and a clearance is generated between the chain 248 and the recessed portion 138. . That is, these wire rods S can be moved in the X direction by this clearance. Therefore, as the pickup mechanism 106 further descends, the wire rod S moves in the X direction as shown in the lower part of FIG. 44, and the moved wire rod S becomes ready to be held by the chuck 156.

As described above, when the wire rod S is gradually separated and supplied from the wire rod accommodating portion 104 to the next step, the chain 248 gradually sags, and when only one wire rod S is accommodated, the lower part of the chain 248 is lowered. Is located outside the recess 138. Immediately when the wire rod S is not housed in the wire rod housing portion 104, the lower side of the chain 248 is located outside the recessed portion 138, as shown in FIG. When only one wire S is accommodated in the wire accommodating portion 104 as described above, the wire S is not supported by the chain 248 but directly supported below the recess 138. A V-shaped groove 238 is formed below the recessed portion 138 by the left and right inclined surfaces that become lower toward the inside, so that the wire rod S is supported by the V-shaped groove 238.

The wire S accommodated in the wire accommodating portion 104a is moved from the wire accommodating portion 104 in the extending direction, that is, in the Y direction, further outside the wire rod supporting portions 105 attached to both ends of the base surface 102a in the Y direction. To prevent this, the front wall 240 and the rear wall 242 having substantially the same height as the comb branches 140 are formed. The front wall 240 and the rear wall 242 are attached to the base surface 102 in the X direction.

As described above, the wire rod accommodating portion 104 is arranged so as to accommodate the wire rod S in a state of extending in the Y direction, and also grasps one end of the wire rod S accommodated in the wire rod accommodating portion 104. Therefore, the pickup mechanism 106 moves in the X direction together with the moving frame 110. That is, since the Y direction and the X direction are defined as the directions orthogonal to each other as described above, the wire rod housing portions 104a, 104b, 104c, 104d, 104e, 104f, 104g, and 104h have respective diameters. The wire rod S can be gripped at one end by the pickup mechanism 106 moving to the predetermined wire rod accommodating portion 104.

[Explanation of Stop Position Guide Plate 252] In the moving frame drive mechanism 120, the moving frame running rollers 146 provided below the moving frame drive mechanism 120 run on the moving frame guides 124, 124, and The moving frame 110 is moved in the X direction. The moving frame guides 124, 124 are attached to both ends of the base surface 102a in the Y direction so as to extend in the X direction. A stop position guide plate 252 having a plurality of limit switches 250 for indicating the stop position of the moving frame 110 is attached to the moving frame guides 124, 124 while extending in the X direction.

The stop position guide plate 252 is attached to the moving frame guide 124 along the moving frame guide 124 as shown by the alternate long and short dash line in FIG. 2, and the moving frame 110 moves to cause the main frame of the moving frame 110 to move. The lower end of the support leg 144 contacts the limit switch 250 and turns it on. The plurality of limit switches 250 are connected to the control device 266, and an ON signal is sent to them.

The stop position guide plate 252 is taken out and its configuration is shown in FIG. The entire length of the stop position guide plate 252 is equal to the moving range of the moving frame 110. Below that, a plurality of limit switches 250a, 250b, 250c, 250d, 250e, 250f, 250g, and 250h for indicating the stop position of the moving frame 110 divide the wire rods for each diameter to accommodate the wire rod S 104. It is installed corresponding to each. Further, a limit switch 250i is attached to a position where the wire rod hold mechanism 116 holds the wire rod S and the held wire rod S can be supplied to the wire rod subsequent process supply device 118.

Then, as the moving frame 110 moves, the lower end portion of the main frame supporting leg 144 of the moving frame 110 abuts on the plurality of limit switches 250, and these are sequentially turned on. Upon receiving this ON signal, the control device 266 stops the moving frame drive motor 132. When the moving frame 110 is in this stop position and the gripping mechanism 114 attached thereto is lowered, the chucks 156 and 156 ′ are adjacent to each other in the branch portions of the wire rod supporting portion 105 that constitutes the wire rod housing portion 104. The stop position of the moving frame 110 is controlled so as to be positioned in the middle between the 140 and the comb branch 140. In this way, the moving frame 110 can be stopped at a predetermined position. The control operation will be described later.

In this way, the moving frame 110 moves to the wire rod accommodating portion 104 in which the wire rod S having a desired wire diameter is accommodated and is stopped, and the pickup mechanism 106 and the slide lifting mechanism attached to the moving frame 110. The wire rod S separated upward from the wire rod storage unit 104 by 108 is held by the wire rod holding mechanism 116. After that, the moving frame 110 moves to the position where the limit switch 250i is turned on while holding the state where the wire rod S is held by the wire rod holding mechanism 116, and stops. At this stop position, the hold of the wire rod holding mechanism 116 is released at the same time, and the held wire rod S is supplied to the wire rod next process supply device 118.

As described above, the wire rod separating / supplying apparatus 100 is configured so that only one wire rod having a desired wire diameter can be reliably separated from the wire rod accommodating portion 104 and supplied to the next step.

Next, with reference to FIG. 46, a schematic configuration of a control system that controls the control operation of the wire rod separating and supplying apparatus 100 will be described.

[Explanation of Control System] This control system is composed of a control device 266 that executes a control procedure described later, and various sensors and actuators connected to the control device 266. The control device 266 includes an air pressure supply device 268 for generating high pressure air, switching valves 276a to 276f for switching the air pressure supply line for supplying to each actuator, and a gripping width H of a wire rod by gripping claws 156a, 156a '. The DC servo motor 180 for raising and lowering the gripping width regulating plate 172 for regulating the moving frame 110, the moving frame drive motor 132 for driving the moving frame 110, and the wire rod lifted by the pickup mechanism 106 are supplied to the next process. The wire rod next process supply device 118 and the operation panel 278 for inputting at least data D1 to D3 (described later) and for switching each mode of the wire rod separation supply device 100 are connected. This control system is composed of a control device 266 that executes a control procedure described later, and various sensors and actuators connected to the control device 266. The controller 266 includes a first lifting mechanism (rodless cylinder) 154, a chuck drive mechanism 158, a traveling roller projecting mechanism 202, a horizontal drive mechanism (rodless cylinder) 204, a hold claw drive mechanism body 224, and a hold mechanism. An air pressure supply device 268 that generates high-pressure air for driving the claw lifting mechanism 228, and a DC motor 180 for moving up and down a gripping width defining plate 172 that defines a gripping width H of the wire rod by the chucks 156 and 156 '. A moving frame drive motor 132 for driving the moving frame 110, an operation panel 278 for inputting at least data D1 to D3 (described later), and a switching valve 276 are connected.

The air pressure supply device 268 includes a first elevating mechanism (rodless cylinder) 154 as an actuator, a chuck driving mechanism 158, a traveling roller projecting mechanism 202, a horizontal driving mechanism (rodless cylinder) 204, a holding claw. The drive mechanism main body 224 and the hold pawl lifting / lowering mechanism 228 are connected via a pair of supply lines and switching valves 276a to 276 which selectively enable either one of the pair of supply lines.

Further, as sensors for inputting detection information to the control device 266, the control device 266 includes a limit switch 250 for detecting the stop position of the moving frame 110 and grip claws 156a and 156a ′. A chuck closing limit detection sensor 270 that detects whether or not the wire rod is gripped, and a hold of the wire rod that has been lifted above a certain height by the movement of the traveling roller 112 and a wire rod hold by detecting the approach of the traveling roller 112. Since the mechanism 116 is used, the first to third passage detection sensors 122a to 122c that detect the approach are connected.

Next, with reference to FIG. 47 to FIG. 54, a control procedure in the control device 266 at the time of separating and supplying the wire will be described.

[Explanation of Control Procedure in Control Device 266] First, in order to automatically drive each sensor and actuator by the control device 266, the air pressure supply device 268, the DC servo motor 180, the moving frame drive motor 132, etc. After the power supply for the driving is supplied to these (S10, S12), the power supply of the wire rod separating and supplying device 100 is turned on to supply the power to these (S14), and then each sensor and actuator are automatically operated. The operation mode is switched to the automatic drive mode through the operation pan 278 that enables driving (S16). If automatic driving is not switched here, each sensor and actuator can be manually driven through the operation panel 278. If data input for automatic driving is not performed for a certain period, the automatic driving process ends (S18). On the other hand, when data is input for automatic driving, each sensor and actuator are automatically driven according to the flowcharts shown in FIGS.

When the operation mode is switched to the automatic drive mode in S16, the automatic start is designated through the operation panel 278 (S20), and it is determined whether or not the data D1 to D3 are already set (S22). ), If these data D1 to D3 have already been input (Yes in S22), the operation panel 278 can be automatically started (that is, the data D1 to D3 have already been input, and based on these data D1 to D3). Is used to notify the execution of automatic driving), and each sensor and actuator are automatically driven according to the flowcharts shown in FIGS.

Here, the data D1 to D3 input via the operation panel 278 will be described. The data D1 is data indicating which wire rod housing unit 104 holds the wire rod held by the holding mechanism 114 (that is, data indicating which wire rod housing unit 104 is selected from the wire rod housing units 104a to 104h). , Data D2 is data indicating the diameter of the wire rod accommodated in the wire rod accommodating portion 104 indicated by the data D1, and data D3 indicates how many wire rods having the diameter indicated by the data D2 are separately supplied. This is the data shown. These data constitute one data group with the data D1 to D3 as one set, and a maximum of 8 groups can be input.

On the other hand, if it is determined in S22 that the data D1 to D3 are not input (including the case where they are not input as one group), the input of the data D1 to D3 is prompted (S26 to S30). The data input when the data D1 to D3 are not input will be described below. When inputting each data in the order of data D1, data D2, and data D3, the procedure is as follows.

When the data D1 is input, first, the wire rod accommodation section designation mode is set through the operation panel 278. As a result, if it is determined that eight data D1 have not been input yet (S34), the lamp indicating the input enabled state of the data D1 is turned on on the operation panel 278. Then, the subroutine for inputting the data D1 to D3 or canceling the input is called, and the data D1 can be input. The data input operation will be described later.

On the other hand, if it is determined in S34 that eight pieces of data D1 have already been input, the process returns to S20, and if automatic start is designated via the operation panel 278, a group of one or more data D1 to D3 is again displayed. It is determined whether or not the data has already been set (S22), and if it is determined that the data has already been set, the lamp indicating that automatic activation is possible is turned on, and then the data D1 to D3 set in FIG. Each sensor and actuator are automatically driven according to the flowchart shown.

However, when it is determined that the data D1 to D3 are not set as one or more data groups in S22, the data input of the remaining data D1 to D3 is performed in order to set the data D1 to D3 as a data group. I nod. That is, when only the data D1 is set, it is necessary to set the remaining data D2 and D3 in order to make this one group of data. The input of the data D2 and D3 is performed as follows.

When the data D2 is input, the wire diameter designation mode is set via the operation panel 278. As a result, when it is determined that eight pieces of data D2 have not been input yet (S36), a lamp indicating that the data D2 can be input is turned on on the operation panel 278. Then, the subroutine for inputting the data D1 to D3 or canceling the input is called, and the data D2 can be input. This data input operation will be described later.

On the other hand, if it is determined in S36 that eight pieces of data D2 have already been input, the process returns to S20, and if automatic start is specified via the operation panel 278, a group of one or more data D1 to D3 is displayed again. It is determined whether or not the data has already been set (S22), and if it is determined that the data has already been set, the lamp indicating that automatic activation is possible is turned on, and then the data D1 to D3 set in FIG. Each sensor and actuator are automatically driven according to the flowchart shown.

However, if it is determined in S22 that the data D1 to D3 are not set as one or more data groups, the data input of the remaining data D1 to D3 is performed in order to set the data D1 to D3 as a data group. I nod. That is, when only the data D1 and the data D2 are set, it is necessary to set the remaining data D3 in order to make this one group of data. The input of this data D3 is performed as follows.

When inputting the data D3, the number of taken-outs designation mode is set through the operation panel 278. As a result, when it is determined that eight data D3 have not been input yet (S38), the lamp indicating the input enabled state of the data D3 is turned on on the operation panel 278. Then, the subroutine for inputting the data D1 to D3 or canceling the input is called, and the data D3 can be input. This data input operation will be described later.

On the other hand, if it is determined in S38 that eight data D3 have already been input, the process returns to S20, and if automatic start start is specified via the operation panel 278, a group of one or more data D1 to D3 is again generated. 50 to FIG. 54 based on the set data D1 to D3 after that, it is determined whether or not it is already set as the data of (S22). Each sensor and actuator are automatically driven according to the flowchart shown in.

However, when it is determined in S22 that the data D1 to D3 are not set as one or more data groups, the data input of the remaining data D1 to D3 is performed in order to set the data D1 to D3 as a data group. Prompt (however, if each data is input in the order of data D1, data D2, and data D3, one data group is formed at the time of inputting this data D3). In this way, when the data D1 to D3 are input as one data group, it is determined whether or not the next data D1 to D3 is input (S32). If it is determined that no input is made, the process returns to S20, and if automatic start start is specified via the operation panel 278, data D1 to D3 have already been set as one data group this time, and therefore, shown in FIGS. Each sensor and actuator is automatically started based on the flow chart.

On the other hand, when it is determined in S32 that the next data is to be input, the process returns to S26 and the data D1 to D3 are prompted. These data D1 to D3 are input via the operation panel, and the number of inputs is displayed on the operation panel 278 each time. Then, when correcting the input data D1 to D3, each input data is cleared via the operation panel 278 (S50), and thereafter, the process returns to S46 and the data can be input again. Then, when the data input ends (No in S48), the process returns to S26, and another data input is prompted so as to make the data D1 to D3 into one data group.

As an example, a procedure for setting each data D1 to D3 when separating 99 pieces of a plurality of wire rods having a diameter of 3 mm and accommodated in the wire rod accommodating portion 104a will be described.

First, when the automatic start start is designated through the operation panel 278 (S20), since the data D1 to D3 have not been input yet, the data D1 to D3 are ready for input. First, in order to input the data D1, when the wire rod accommodation section designation mode is set through the operation panel 278 (S26), the data D1 is input for the first time (that is, the data D1 is 8 or less), and thus the data D1 is input. The lamp indicating the possibility is turned on. Then, "1" is input through the operation panel 278 (S46).

Here, the wire rod accommodating portions 104a to 104h correspond to 1 to 8 respectively, and these can be designated by numbers. Therefore, in the case of separating and supplying the wire accommodated in the wire accommodating portion 104h, "8" is input through the operation panel 278 (S46). Then, the input data D1 is displayed on the operation panel 278.

Next, in order to input the data D2, the mode is changed to the wire diameter designation mode via the operation panel 278 (S28), and the data D2 is input for the first time (that is, the data D2 is 8 or less). The lamp indicating that input is possible is turned on. Then, "3", which is the diameter of the wire accommodated in the wire accommodating portion 104a indicated by the data D1, is input via the operation panel 278. The input data D2 is displayed on the operation panel 278.

Next, the data D3 is finally input so that the data D1 to D3 form one data group. That is, in order to input the data D3, when the extraction number specifying mode is set through the operation panel 278 (S30), the data D3 is input for the first time (that is, the data D3 is 8 or less), and thus the input of the data D3 is shown. The lamp is turned on. Then, "99", which is the number of extracted wire rods accommodated in the wire rod accommodating portion 104a indicated by the data D1, is input via the operation panel 278 (S44). The input data D3 is displayed on the operation panel 278.

In this way, the data D1 to D3 are input as one data group. Then, these data D1 to D3 can be input up to 8 groups. Although it has been described that the data D1 to D3 are input in the order of the data D1, the data D2, and the data D3, the order is not limited to this order, and the eight data D1 are input first, and It is also possible to continuously input the corresponding data D2 and D3 later. As described above, the data D1 = 1, the data D2 = 3, and the data D3 = 99 are set.

Next, a specific control procedure of the wire feeding / supplying operation based on the data D1 to D3 input as described above will be described in detail with reference to the flowcharts shown in FIGS.

After setting the data D1 to D3 as one or more data groups as described above, when the automatic activation start mode is set in S20, the moving frame 110 corresponds to the wire rod accommodation unit 104 indicated by the data D1. The limit switches 250a to 250h are turned on, and the moving frame drive motor 132 is rotated forward until the moving frame 110 is moved until the ON signal is received (S52).

At the same time, the DC servo motor 180 is rotated based on the value set in the data D2, and the rotation amount of the DC servo motor 180 is counted by the pulse generated from the encoder attached to the DC servo motor 180. Control to a predetermined amount. That is, by rotating the DC servomotor 180 by a predetermined amount and moving the gripping width defining plate 172 up and down, the gripping width H by the chucks 156, 156 'is defined to be slightly wider than the diameter of the wire rod indicated by the data D2. (S52).

The gripping width defining operation of the chucks 156 and 156 ′ is performed until the moving frame 110 moves to the position corresponding to the wire rod accommodation portion 104 indicated by the data D1, Even when the gripping width defining operation is not completed during the movement (that is, after the moving frame 110 is stopped), the gripping width defining operation is continuously performed.

When the moving frame 110 stops at the position corresponding to the wire rod accommodating portion 104 indicated by the data D1, and the gripping width defining operation of the chucks 156 and 156 ′ ends (Yes in S54). During this time, the chuck driving mechanism 158 continues to urge the chucks 156 and 156 'in the directions in which they are separated from each other. That is, the gripping width H is defined by the chucks 156, 156 'coming into contact with the gripping width defining plate 172, and the wire rod can be gripped by the gripping claws 156a, 156a'.

When the switching valve 276b is switched while the chucks 156 and 156 'maintain the gripping width H, the supply line of the high-pressure air supplied to the first elevating mechanism 154 is switched and the first elevating and lowering mechanism is changed. The mechanism 154 lowers the gripping mechanism 114 (S58). The chucks 156 and 156 'are moved downward while maintaining the gripping width H, and the gripping claws 156a and 156a' are inserted between the wire rods accommodated in the wire rod accommodating portion 104. In this way, the grip claws 156a and 156a 'are inserted between the wire rods, and the lower edge 178a of the pressing plate 178 abuts the plurality of wire rods, or when there is no wire rod in the wire rod accommodating portion 104, the first wire When it is determined that the lowering of the gripping mechanism 114 has stopped by moving to the bottom of the movable range by the elevating mechanism 154 (Yes in S60), the switching valve 276a is switched and the high pressure supplied to the chuck drive mechanism 158 is supplied. By switching the air supply line, the chuck driving mechanism 158 urges the chucks 156 and 156 'in the direction of approaching each other, whereby the gripping claws 156a and 156a' grip the wire (S62).

After that, by switching the switching valve 276b and switching the supply line of the high-pressure air supplied to the first elevating mechanism 154, the chucks 156 and 156 ′ of the first elevating mechanism 154 are brought close to each other. The gripping mechanism 114 is moved to the top of the movable range while maintaining the state of being biased in the direction (S64). When the gripping mechanism 114 reaches the uppermost position, whether or not the chucks 156 and 156 'are gripping the wire is determined based on a signal from the chuck closing limit detection sensor 270 (S68). That is, when the signal from the chuck closing limit detection sensor 270 changes from on to off, it is determined that the wire is not gripped (No in S68), and the retry operation for gripping the wire is performed as described later.

On the other hand, if it is determined in S68 that the wire is gripped, that is, if the signal from the chuck close limit detection sensor 270 remains on, the switching valve 276c is switched and the traveling roller protruding mechanism 202 is supplied. By switching the high-pressure air supply line, the traveling roller projecting mechanism 202 projects the traveling roller 112 between one end of the wire rod gripped by the traveling roller 112 and the wire rod housing portion 104 in which the wire rod was housed (S70). , S 72).

Next, by switching the switching valve 276d and switching the supply line of the high pressure air supplied to the horizontal drive mechanism 204, the horizontal drive mechanism 204 causes the traveling roller 112 to be in a state in which the traveling roller 112 is projected by the traveling roller projecting mechanism 202. The wire rod held together with the traveling roller projecting mechanism 202 is moved toward the other end of the wire rod. (S74). As a result, the other end of the gripped wire rod is lifted upward.

When the traveling roller 112 moves toward the other end of the wire and passes through the first porcelain detecting element 123a provided on the way of the traveling path, the first porcelain detecting element 123a turns on the off signal. The signal is changed and emitted (Yes in S76). As a result, the switching valve 276e is switched, and the supply line of the high-pressure air supplied to the first wire rod holding mechanism 116a is switched, so that the first wire rod holding mechanism 116a moves upward while the hold claws 220 and 220 'are opened. Then, it is lowered by the hold claw lifting mechanism 228 (S78). When it reaches the lowermost position (Yes in S80), the switching valve 276f is switched to switch the supply line of the high-pressure air supplied to the hold pawl drive mechanism 225, so that the hold pawl drive mechanism 225 causes the hold pawl 220, The wire rods 220 ′ are swung in the direction of approaching each other to hold the wire rod lifted to a predetermined height or more (S82).

Next, when the traveling roller 112 further travels toward the other end of the wire and passes through the second porcelain detecting element 123b provided on the way of the traveling path, the second porcelain detecting element 123b causes an off signal. Is changed to an ON signal and is emitted (Yes in S84). As a result, the switching valve 276e is switched and the supply line of the high pressure air supplied to the second wire rod holding mechanism 116b is switched, so that the second wire rod holding mechanism 116b keeps the hold pawls 220 and 220 'open. The holding claw lifting mechanism 228 descends from above (S86). Then, when it reaches the lowermost position (Yes in S88), the switching valve 276f is switched, and the supply line of the high-pressure air supplied to the hold pawl drive mechanism 225 is switched, so that the hold pawl drive mechanism 225 causes the hold pawl 220, The wires 220 ′ are swung in the direction of approaching each other to hold the wire material lifted above a predetermined height (S 82).

Further, when the traveling roller 112 travels toward the other end of the wire and passes through the third porcelain detecting element 123c provided on the way of this traveling path, the third porcelain detecting element 123c changes from an off signal to an on signal. To be emitted (Yes in S92). As a result, the switching valve 276e is switched, and the supply line of the high-pressure air supplied to the third wire rod holding mechanism 116c is switched, so that the third wire rod holding mechanism 116c moves upward while the hold claws 220 and 220 'are opened. Then, it is lowered by the hold claw lifting mechanism 228 (S94). When it reaches the lowermost position (Yes in S96), the switching valve 276f is switched to switch the supply line of the high pressure air supplied to the hold pawl drive mechanism 225, so that the hold pawl drive mechanism 225 causes the hold pawl 220, The wires 220 'are swung in the direction of approaching each other to hold the wire rod lifted to a predetermined height or more (S98).

As described above, when the wire rods are held over the entire length by the three wire rod holding mechanisms 116 and the traveling roller 112 reaches the rightmost position of the movable range (Yes in S100), the switching valve 276c is turned on. By switching and switching the supply line of the high-pressure air supplied to the traveling roller projecting mechanism 202, the traveling roller projecting mechanism 202 retracts the traveling roller 112, and the wire material that has been gripped and the wire material housing portion in which the wire material was housed. By moving the switch valve 276a and switching the supply line of the high-pressure air supplied to the chuck drive mechanism 158, the chuck drive mechanism 158 causes the chucks 156 and 156 'to move. The gripping claws 156a, 156 are urged in a direction to separate them from each other The grip of the wire rod by a'is released (S106). In this state, the wire rod is supported upward by the wire rod holding mechanism 116.

After that, by switching the switching valve 276d and switching the supply line of the high-pressure air supplied to the horizontal drive mechanism 204, the horizontal drive mechanism 204 causes the traveling roller 112 to move to the original position (that is, to travel in S74). Position before). At the same time, the moving frame drive motor 132 is driven in the reverse direction until the moving frame 110 turns on the limit switch 250 i and outputs an ON signal. When the ON signal is received from the limit switch 250, the moving frame drive motor 132 is stopped (Yes in S110), the switching valve 276e is switched, and the high pressure air supply line to be supplied to the hold pawl drive mechanism 225. The holding claw driving mechanism 225 simultaneously releases the holding of the wire rods by the holding claws 220 and 220 ', that is, swings the holding claws 220 and 220' in a direction in which they are separated from each other (S112).

After that, by switching the switching valve 276f and switching the supply line of the high-pressure air supplied to the hold pawl lifting / lowering mechanism 228, the hold pawl lifting / lowering mechanism 228 causes the wire rod holding mechanism 116 to move to the hold pawls 220 and 220 ′. It is raised in the open state (S114, S116).

The released wire rod is placed on the belt of the wire rod subsequent process supply device 118. Then, by driving the wire rod subsequent process supply device 118 for a predetermined time (S118), the belt is rotated and the wire rod is supplied in the Y direction, which is the driving direction of the belt. After that, it is determined whether or not the traveling roller 112 is located at the original position (that is, the position before traveling in S74), and if the original position is not reached yet, the traveling roller is continuously moved to the original position. (S121).

As described above, the number of wires that have been separated and supplied is counted, and if this count value is compared with the data D3 and it is determined that they match (Yes in S122), the next data D1 to D3 are formed. The presence / absence of a data group is determined (S124).

On the other hand, if it is determined in S122 that the number of wire rods separated and supplied and the data D3 do not match, it indicates that the specified number of wire rods has not been separated and supplied, so that the wire rod accommodation indicated by the data D1 is again taken. The moving frame 110 is moved to the section 104 (S128, S130), and the process returns to S58 and the same wire rod separating and supplying operation as described above is performed.

Next, when it is determined in S124 that there is no next data group, the automatic drive processing ends (S138, S140). On the other hand, if it is determined that there is the next data, the process returns to S52 again, and the same separating and supplying operation as described above is performed based on the data group composed of the next data D1 to D3.

[Description of Retry Operation] Next, the retry operation performed when it is determined in S68 that the wire is not gripped will be described with reference to the flowchart shown in FIG.

This retry operation is performed so as to grip the wire rod when the wire rod is not gripped by the first gripping motion. It is also performed when the wire is not gripped by the gripping operation by the next retry, and this retrying operation is repeated 4 times in total. That is, the number of times of this retry operation is counted, and when the subroutine (flowchart shown in FIG. 54) in which this retry operation is performed is called, it is first judged whether or not the number of times of retry operation is the fifth time. If the retry operation is the fifth time (S132), the moving frame 110 returns to the initial stop position (position a shown in FIG. 45), and the data display unit 278 displays a lamp indicating no wire as an error display. The light is turned on (S140), and the automatic drive ends (S140). In this case, the automatic driving may be stopped without terminating the automatic processing, stopping the automatic driving, replenishing the wire rod accommodation unit 104, and then restarting the automatic driving.

On the other hand, if it is determined in S132 that the number of retries is not the fifth, the moving frame 110 is moved by a predetermined amount depending on the number of retries. That is, when the number of retries is the first time (that is, the second gripping operation performed after the gripping operation is performed once), the moving frame 110 is stopped at the first stop position (position a shown in FIG. 45). 20 mm from the wire rod next process supply device 118 side (that is, the positive direction of X in FIG. 45) (position b shown in FIG. 45) (S144). When the number of retries is the second time, the moving frame is moved from the position where the first retry operation is performed to the direction opposite to the moving direction of the first retry operation (that is, the negative direction of X in FIG. 45). Move by millimeters (S136). That is, it becomes the same position as the first stop position (position a in FIG. 45). Since the interval between the comb branches 140 adjacent to each other is set to be larger than this moving range, even if the retry operation is performed at the position where the moving frame 110 has moved, the data D1 Attempts to grip the wire rod accommodated in the wire rod accommodating portion 104 indicated by.

When the number of retries is the third time, from the position where the second retry operation is performed, the moving frame 110 is moved in the same direction as the moving direction at the time of the second retry operation (that is, the negative direction of X in FIG. 45). ) To 20 mm (S142). When the number of retries is the fourth, when the number of retries is the fourth, the moving frame is moved from the position where the third retry operation was performed to the direction opposite to the moving direction of the second and third retry operations. In the direction (positive direction of X in FIG. 45), that is, in the same direction as the movement direction at the time of the first retry operation, 20 mm is moved (S136). That is, the position is the same as the first stop position.

After the moving frame 110 has moved according to the number of retries in this way, the process returns to S56 described above, and the gripping operation is performed again at each stop position. By repeating the gripping operation (retry operation) in this way, it becomes possible to grip one end of the wire more reliably.

The left and right moving range is not limited to 20 mm, and when the gripping mechanism 114 is lowered to perform the gripping operation at the position moved by the left and right moving amounts, the gripping claws 156a and 156a are moved. It suffices that ′ is an amount located in the wire rod accommodation portion 104 specified by the data D1.

The present invention is not limited to the configuration of the above-described embodiment and can be variously modified without departing from the scope of the present invention.

For example, in the above-described embodiment, the gripping mechanism 114 described above grips the wire by the gripping claws 156a and 156a ′ of the chucks 156 and 156 ′, but the present invention has such a configuration. However, the present invention is not limited to the above, and can be applied to a case where, for example, a spherical article such as a bearing is gripped one by one and separated from the accommodation part thereof.

Further, in the wire rod separating and supplying apparatus 100 according to the embodiment, one end of the wire rod is lifted by the pickup mechanism 106, and the traveling roller 112 faces the other end while contacting the lifted wire rod from below. As a result, the wire rods are sequentially held by the wire rod holding mechanism 116. However, if the wire rods are not gripped by the gripping claws 156a and 156a 'while the traveling roller 112 is traveling (for example, due to some impact or the like). ), The traveling roller 112 moves the wire in the moving direction. Therefore, even if the wire rod is not gripped by the gripping claws 156a and 156a ', the moving frame 110 on the other end side of the wire rod is provided with the other end of the wire rod so that the wire rod does not move. The wire separating / supplying device 100 may be configured by providing a stopper that restricts the movement of the traveling roller 112 in the moving direction by abutting against the. By thus configuring the wire rod separating / supplying device 100, the wire rods can be more reliably separated and supplied.

[0199]

【The invention's effect】

 As described in detail above, by constructing the article gripping structure according to the present invention, one article can be more reliably separated from a plurality of articles, that is, two article picks can be more reliably performed. Can be prevented and more reliable separation of the articles will come out.

[Brief description of drawings]

FIG. 1 is a top view of a wire rod separating and supplying device according to the present invention.

FIG. 2 is a front view of a wire rod separating and supplying device according to the present invention.

FIG. 3 is a rear view of the wire rod separating and supplying device according to the present invention.

FIG. 4 is a right side view of the wire rod separating and supplying device according to the present invention.

FIG. 5a is a right side view of the pickup mechanism taken out and described.

FIG. 5b is a rear view of the pickup mechanism taken out and described.

FIG. 6a is a rear view illustrating a chuck taken out and described.

FIG. 6b is a right side view illustrating the chuck taken out and described.

FIG. 6c is a rear view showing gripping of the wire rod by the chuck.

FIG. 6d is a rear view showing the prevention of two wire rods being taken by the chuck.

FIG. 7 is a perspective view showing the structure of a chuck.

FIG. 8 is a perspective view showing a closed state of the chuck.

FIG. 9a is a rear view of a modification of the chuck according to the embodiment.

FIG. 9b is a right side view of the modified example of the chuck according to the embodiment.

FIG. 10 is a perspective view showing a configuration of a modified example of the chuck in one embodiment.

FIG. 11 is a perspective view showing a closed state of a modified example of the chuck in one embodiment.

FIG. 12 is a rear view showing a state in which the chuck is attached to the chuck drive mechanism.

FIG. 13 is a rear view showing a state in which the chucks are driven in a direction in which they are close to each other by the chuck drive mechanism shown in FIG.

FIG. 14 is a perspective view showing a configuration of a grip width defining plate.

FIG. 15 is a perspective view showing the arrangement state of the gripping width defining plate and the chuck taken out.

16 is a perspective view showing a state in which a holding plate is attached to the grip regulating plate shown in FIG.

FIG. 17 is a diagram showing a configuration below the gripping mechanism shown in FIG. 15 before the gripping mechanism is lowered; a positional relationship between a wire rod accommodating portion accommodating a wire rod gripped by the gripping mechanism and a wire rod accommodated therein; It is a rear view which shows the upper surface of the wire rod accommodated in the wire rod accommodation part.

FIG. 18 is a rear view showing the action of the grip claws and the action of the holding plate when the gripping mechanism having the positional relationship shown in FIG. 17 is lowered.

FIG. 19 is a rear view showing the positional relationship between the configuration below the gripping mechanism shown in FIG. 18 and the wire rod accommodated in the wire rod accommodating portion when the gripping mechanism grips the wire rod and moves up.

FIG. 20a is a rear view showing a state where the gripping width of the chuck is defined by the gripping width defining plate.

FIG. 20b is a rear view showing a state in which the gripping width of the chuck is defined by the gripping width defining plate and the chucking height of the chuck is changed by the holding plate.

FIG. 20c is a rear view showing the relationship between the grip height and the grip width.

FIG. 21 is a perspective view showing the structure of a traveling roller.

FIG. 22a is a front view showing the structure of a traveling roller.

FIG. 22b is a front view showing a state where the traveling roller lifts the other end of the wire.

FIG. 23 is a right side view showing the configuration of a traveling roller.

FIG. 24 is a perspective view showing a state where a traveling roller protruding mechanism is attached to the traveling roller and the traveling roller is protruded by the traveling roller protruding mechanism.

FIG. 25 is a perspective view showing a D state in which the traveling roller is retracted by the traveling roller protruding mechanism.

FIG. 26 is a perspective view showing the structure of a hold pawl drive mechanism with the hold pawl attached thereto.

FIG. 27 is a front view showing a state where the hold claws are swung in a direction in which they approach each other by the hold claw drive mechanism.

FIG. 28 is a front view showing a state in which the hold claws are swung in a direction in which they are separated from each other by a hold claw drive mechanism.

FIG. 29 is a perspective view showing a state in which a hold pawl elevating mechanism is attached to the hold pawl drive mechanism, and the hold pawl drive mechanism is lowered.

FIG. 30 is a diagram showing a standby state for holding the wire rod by the hold claws.

FIG. 31 is a diagram showing a state in which the wire is held down by a holding claw and is lowered.

FIG. 32 is a diagram showing a state where a wire rod is held by a hold claw.

FIG. 33 is a view showing a state before gripping the wire rod accommodated in the wire rod accommodating portion by the grip claws.

FIG. 34 is a view showing a state where the pickup mechanism is lowered by the first elevating mechanism and the grip claws are inserted into the wire rod accommodating portion.

FIG. 35 is a view showing the first state after the wire is gripped by the grip claws.
It is a figure which shows the state which raised the pick-up mechanism by the raising / lowering mechanism of FIG.

FIG. 36 is a diagram showing a state in which a traveling roller protruding from below a wire rod whose one end is grasped by a grasping claw moves in the Y direction while contacting the traveling roller;

FIG. 37 is a diagram showing a state where the wire rod lifted by the traveling roller to a certain height or more after being passed through the first passage detection sensor is held by the first wire rod holding mechanism.

FIG. 38 is a diagram showing a state in which the wire rod lifted by the traveling roller to a certain height or more after being passed by the second passage detection sensor is held by the second wire rod holding mechanism.

FIG. 39 is a view showing a state where the wire rod lifted by the traveling roller to a certain height or more after being passed by the third passage detection sensor is held by the third wire rod holding mechanism.

FIG. 40 is a diagram showing a state of the wire rod supported by the first to third wire rod holding mechanisms after the traveling roller is retracted and the grip by the grip claw is released.

FIG. 41 is a diagram showing a configuration of a wire rod support portion.

FIG. 42 is a diagram showing a configuration of a stop position guide plate and a mounting position of a limit switch.

FIG. 43 is a view showing an attached state of the chain attached along the recessed portion of the wire rod support portion.

FIG. 44 is a diagram showing a moving direction of the wire rod during a wire rod gripping operation by holding the wire rod by a chain.

FIG. 45 is a diagram showing a position of a moving frame (grasping mechanism) when performing a retry operation.

FIG. 46 is a block diagram showing the configuration of a control system of this wire rod separating and supplying apparatus.

FIG. 47 is a flowchart showing a procedure for performing initial setting for automatically controlling this wire rod separating and supplying device.

FIG. 48 is a flowchart showing a procedure for inputting data for automatically controlling this wire rod separating and supplying device.

FIG. 49 is a flowchart showing, as a subroutine, a procedure for inputting data for automatic control of the wire rod separating and supplying apparatus and correcting the input.

FIG. 50 is a flowchart showing a control procedure for performing a separate supply operation based on input data.

FIG. 51 is a flowchart showing a control procedure for performing a separate supply operation based on input data.

FIG. 52 is a flowchart showing a control procedure for performing a separate supply operation based on input data.

FIG. 53 is a flow chart showing a control procedure for performing a separate supply operation based on input data.

FIG. 54 is a flowchart showing a control procedure of the retry operation as a subroutine.

[Explanation of symbols]

100 wire rod separation and supply device 102 base 102a base surface 102b base surface configuration frame 104 wire rod housings 104a, 104b, 104c, 104d, 104e,
104f, 104g, 104h Wire rod accommodating portion 104a Wire rod supporting portion 106 Pickup mechanism 108 Slide lifting mechanism 110 Moving frame 110a Moving frame constituting frame 112 Traveling roller 114 Grasping mechanism 116 Wire rod holding mechanism 116a First wire rod holding mechanism 116b Second wire rod holding Mechanism 116c Third wire rod holding mechanism 118 Wire rod next process supply device 118 Endless belt 120 Moving frame drive mechanism 121 Permanent magnet 122 Pass sensor 123 Porcelain detection element 123a First porcelain detection element 123b Second porcelain detection element 123c Third Porcelain detection element 124 Moving frame guide 126 Leg portion 128 Housing supporting frame 130 Motor supporting frame 132 Moving frame drive motor 132a Driving sprocket 133 Transfer Moving frame drive chain 134 First reinforcing member 135 Driven sprocket 136 Second reinforcing member 138 Recessed portions 138a, 138b, 138c, 138d, 138e,
138f, 138g, 138h Recessed portion 140 Comb branch portion 142 Main frame 144 Main frame support leg 145 Inner side surface 146 Moving frame Traveling roller 150 Traveling roller guide 152 Wire rod holding mechanism mounting frame 154 First elevating mechanism 156, 156 'Chuck 156a, 156a 'gripping claws 156a1, 156a'1 gripping surface (inner side surface) 156a2, 156a'2 outer side surface 156a3, 156a'3 tip portion 156b, 156b' gripping claw support portion 156b1, 156b'1 inner side surface 156b2, 156b'2 outside Side surface 156b3, 156b'3 Through hole 156b4, 156b'4 Screw head fitting hole 156c, 156c 'Gripping width defining member 156c1, 156c'1 Inner side surface 156c2, 156c'2 Gripping width defining surface (outer surface) 156c3 156c'3 1156 chuck 1156a, 1156a 'gripping claw 1156a1, 1156a'1 gripping surface (inner side) 1156a2, 1156a'2 outer side surface 1156a3, 1156a'3 tip 1156a4, 1156a'4 wire rod locking claw 1156b, 1156b' gripping Claw support portion 1156b1, 1156b'1 inner side surface 1156b2, 1156b'2 outer side surface 1156b3, 1156b'3 through hole 1156c, 1156c 'gripping width defining member 1156c1, 1156c'1 inner side surface 1156c2, 1156c'2 gripping width defining surface (outer side) Side surface 1156c3, 1156c'3 158 Chuck driving mechanism 160 Gripping width defining mechanism 164 Gripping mechanism supporting frame 164a Step 166 Gripping width defining member 168 Chuck mounting portion 168a, 168a ' Surface 170 Chuck drive mechanism main body 170a Air cylinder 170b Piston rod 170c Link mechanism 170d First air supply port 170e Second air supply port 172 Gripping width regulating plate 172a Step 174 Second lifting mechanism 176, 176 'First taper Surface 176a Recess 178 Presser plate 178a Lower end edge 180 DC servo motor 181 Motor rotating shaft 182 Ball screw 184 Ball nut 186 Motor mounting base 188 Spacer 190 Coupling 192 Rotating shaft 194 Guide rail 196 Guide member 1982 Second guide member 200 Second Guide rail 202 Traveling roller protrusion mechanism 204 Horizontal drive mechanism (rodless cylinder) 206 Roller support base 208 Roller rotation shaft 210 Wire rod contact groove 212 Piston rod 214 Gas Drod 216 Stay 217 Base 218 Guide rail 220 Hold claw 222 Hold claw mounting part 224 Hold claw drive mechanism body 225 Hold claw drive mechanism 226 Spacer 228 Hold claw lift mechanism 230 Piston rod 231 Guide rod 232 Wire rod hold space 234 V-shaped groove 236 Wire rod housing support 238 V-shaped groove 240 Front wall 242 Rear wall 246 Bracket 246a Chain mounting part 248 Chain 250 Limit switch Limit switch 250a, 250b, 250c, 2
50d, 250e, 250f, 250g, 250h (limit switch for detecting the stop position of the moving frame 110) 252 Stop position guide plate 254 Horizontal drive mechanism mounting frame 256 Chuck limit detection sensor 266 Control device (CPU) 268 Air pressure supply Device 269 Traveling roller approach detection sensor 276 Switching valve 276a Switching valve (switching valve for opening / closing the chuck drive mechanism 158) 276b Switching valve (switching valve for driving the gripping mechanism 114 up and down by the first lifting mechanism 154) 276c switching valve (switching valve for projecting and retracting the traveling roller 112 by the traveling roller projecting mechanism 202) 276d switching valve (switching valve for horizontally driving the traveling roller 112 by the horizontal driving mechanism 204) 276e switching valve ( Rudo switching valve for opening and closing the hold claw 220, 220 'by the claw mounting part driving mechanism) 276f switching valve (switching valve for vertically driving the wire holding mechanism 116 by the holding pawl lifting mechanism 228) 278 Operation panel

Claims (9)

[Scope of utility model registration request] 1. A plurality of articles housed in a housing section,
In an article holding structure for selectively holding one article, a main body, an elevating means for raising and lowering the main body, and a pair of holding claws attached to the main body, which can be separated from each other, are provided close to each other. The gripping means for gripping the article from both sides, and the holding plate arranged to have a tip edge at a position displaced upward by a predetermined distance from the tips of the pair of gripping claws, By lowering the main body by the elevating means, when the grasping claws of the grasping means attached to the main body are inserted from above into the plurality of articles in the accommodating portion, the pair of grasping claws are moved by the holding plate. An article gripping structure, characterized in that an article located around an article to be gripped by is pressed from above to flatten an upper surface of an article group housed in the housing section. 2. A plurality of articles housed in a housing section,
In an article holding structure for selectively holding one article, a main body, an elevating means for raising and lowering the main body, and a pair of holding claws attached to the main body, which can be separated from each other, are provided close to each other. As a result, the gripping means for gripping the article from both sides, and the gripping width of the article from the tips of the pair of gripping claws.
A holding plate arranged so as to have a leading edge at a position shorter than 5 times and displaced upward by a distance longer than half the gripping width, and lowering the main body by the elevating means. Thus, when the grasping claws of the grasping means attached thereto are inserted into the plurality of articles in the accommodating section from above, the insertion amount is limited by the holding plate, and the grasping claws are grasped by the pair of grasping claws. An article gripping structure characterized in that only one article is regulated. 3. A biasing means for selectively biasing the pair of gripping claws in a direction in which they are separated from each other and in a direction in which they are close to each other, and a biasing means attached to the main body and in a direction in which they are separated from each other by the biasing means. The article according to claim 1 or 2, further comprising: a regulation unit configured to regulate a distance between the pair of grip claws in accordance with a width dimension of the article that is gripped when being biased. Grip structure. 4. The article gripping structure according to claim 3, wherein the article is composed of a wire having a predetermined length, and the width dimension to be gripped is defined by the diameter of the wire. 5. The regulating means is movably along a vertical direction orthogonal to the contacting / separating direction of the pair of gripping claws, the regulating member being supported by the main body, and the pair of gripping parts of the regulating member. A recess formed on the edge on the side where the claws are arranged; a tapered surface formed on each of the inner side surfaces of the recess facing each other; and a base surface of the pair of gripping claws contacting each other; A driving means for driving the back and forth along the vertical direction, and the distance between the pair of gripping claws is changed according to the forward and backward movement of the regulating member in the vertical direction.
The article gripping structure according to. 6. The article gripping structure according to claim 5, wherein the holding plate is attached to the surface of the regulating member. 7. The article holding structure according to claim 6, wherein the pressing plate is attached to the regulating member so as to be displaceable along the vertical direction. 8. The article gripping structure according to claim 1, wherein the pressing plate has a flat lower edge. 9. The article gripping according to claim 1, wherein the lower edge of the holding plate is formed to have a length that covers the maximum distance between the pair of gripping claws. Construction.