JPH0919881A - Clamping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To grasp an object in complicated shape stably in well balanced condition. SOLUTION: A clamping device is composed of a plurality of tables 29, 30, 31 supported slidably on guide members 20, 21, a grasping part 36 having a pair of clamp arms 40 pivoted on support pins which are installed on the respective tables, and an electromagnetic clutch installed on the support pins to restrain the grasping part 36 swinging relative to the support pin when it is mounted on the support pin and energized. The object concerned in a complicated shape is grasped in a plurality of places by the two clamp arms 40.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a clamp device, and more particularly to a clamp device suitable for gripping an article having a complicated shape.

[0002]

2. Description of the Related Art As a clamping device for gripping an article, various devices have been conventionally used.

A device for gripping a casting core as an example of a conventional clamp device will be described with reference to the conceptual diagram of FIG. 12. Reference numeral 1 is a robot body, and the robot body 1 is provided on a base 2. The rotating mechanism 3 is provided with a plurality of turning mechanisms 4, 5, 6 and arms 7, 8, 9 connected to the rotating mechanism 3.

A fixed base 10 is attached to the tip of the arm 9 of the robot body 1, and a movable base 12 is attached to the lower side of the fixed base 10 via a parallel link 11.

Further, a core 13 is provided below the movable base 12.
A grip portion 14 for gripping is provided.

The fixed side base portion 10, the movable side base portion 12 and the parallel link 11 are used for the compliance mechanism 1.
5 are formed.

Reference numeral 16 is a conveyor mechanism composed of a conveyor,
A plurality of main molds 17 are arranged on it at substantially constant intervals.

The transfer mechanism 16 is adapted to operate intermittently so that the main mold 17 stops at a predetermined position.

The robot body 1 grips the core 13 arranged at the core receiving position, then moves the core 13 onto the main mold 17 and lowers it vertically downward.

Reference numeral 18 denotes a video camera, which is used by the robot body 1 to confirm the positions and states of the core 13, the main mold 17, and the grip portion 14.

[0011]

The conventional gripping portion 14 is
Although it is composed of a pair of clamp arms that come close to and away from each other, the article to be grasped has a complicated shape assembled by fitting three parts 13a, 13b, 13c as shown in FIG. 13, for example. In the case of the core 13, the balance may be unbalanced and may not be stable due to a moment or the like when being grasped and lifted by a pair of clamp arms.

The core 13 having a complicated shape to be grasped there
Although a jig such as an adapter that conforms to the above has been used, there is a drawback in that it is costly to manufacture a jig that conforms to each of a large number of types of cores 13.

The present invention solves the above problems and drawbacks of the prior art, and provides a clamp device capable of grasping an article having a complicated shape in a balanced and stable state without using a jig. It is intended.

[0014]

SUMMARY OF THE INVENTION A clamp device according to the present invention comprises a plurality of tables slidably supported by guide members, support pins attached to each of the plurality of tables, and pivots on the support pins. A gripping part having a pair of supported clamp arms, and an electromagnetic clutch attached to the support pin and restraining the swinging of the gripping part with respect to the support pin when excited. is there.

In the clamp device according to the present invention, the plurality of tables are slid along the guide member according to the shape of the article to be grasped, and when the gripping portion grasps the important point of the article, the clamp arm is supported. The pin swings around the swing center, and the posture conforms to the shape of the gripped part.

When the electromagnetic clutch is excited after gripping the essential points of the article with each grip, the clamp arm does not swing,
The article can be lifted in a stable state.

[0017]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view in which a part of an example of an embodiment of a clamp device of the present invention is cut away, FIG. 2 is a cross-sectional plan view seen from II-II of FIG. 1, and FIG. 3 is FIG. 3 is a front view as seen from the direction III of FIG.
Shaft-shaped guide members 2 on the front side and the other side, respectively
0 and 21 are provided in parallel with each other in the left-right direction, and both ends of the guide members 20 and 21 are fixed to the bending portion of the base 19.

Further, three male screw rods 22, 23, 24 are provided between the guide members 20, 21 in parallel with the guide members 20, 21, and both ends of these male screw rods 22, 23, 24 are bases. It is rotatably supported by the bending portion of 19.

A pulley 25 is fixed to one end of each of the male screw rods 22, 23 and 24, and is independently provided from a servo motor 26 individually mounted on the upper surface of the base 19 via a pulley 27 and a belt 28. And are separately rotated in arbitrary rotation directions.

Below the guide members 20, 21 and the male screw rods 22, 23, 24, three rectangular tables 29, 30, 31 slightly elongated in the front-rear direction are provided at the same height on the left and right sides. Are arranged side by side.

Each of these tables 29, 30, 31
A pair of support bushes 32 are fixed to the front side and the other side of the upper surface of the above, and these support bushes 32 are slidably fitted to the guide members 20 and 21.

On the upper surface of the table 29, the male screw rod 2 is attached.
The screwing block 33 screwed to 4 is fixed,
A screwing block 34 screwed to the male screw rod 23 is fixed to the upper surface of the table 30, and a screwing block 35 screwed to the male screw rod 22 is fixed to the upper surface of the table 31.

When the servomotor 26 in the front of FIG. 1 is driven to rotate the male screw rod 22 in any rotation direction via the pulley 27, the belt 28 and the pulley 25, the screwing block 35 is moved to the male screw rod 22. 1 and 2, the table 31 is guided by the guide members 20 and 21 via the support bush 32, and the table 31 on the left side and the bending portion on the right side of the base 19 move. It moves in the left and right directions in FIGS. 1 and 2 in the space between them.

When the servomotor 26 in the center of FIG. 1 is driven to rotate the male screw rod 23 through the pulley 27, the belt 28, and the pulley 25 in any rotation direction, the screwing block 34 is moved to the male screw rod 23. Along with this, the table 30 moves along with the guide bush 2 via the support bush 32.
Tables 29 and 31 on the left and right while being guided by 0 and 21
Move left and right in the empty space between.

When the servomotor 26 located on the other side of FIG. 1 is driven to rotate the male screw rod 24 in any rotation direction via the pulley 27, the belt 28 and the pulley 25, the screwing block 33 causes the male screw rod 24 to rotate. And the table 29 is guided by the guide members 20 and 21 through the support bushes 32 while being moved in the space between the left bent portion of the base 19 and the right table 30. Move in the direction.

On the lower surfaces of the above-mentioned tables 29, 30 and 31, one pair of gripping portions 36 described below are suspended.

FIG. 4 is a sectional view taken along the line IV-IV in FIG. 2, FIG. 5 is a perspective view of the grip portion 36, and FIG. 6 is an enlarged sectional view taken along the line VI-VI in FIG. Although shown, the lower portions of the other tables 30 and 31 also have the gripping portions 36 suspended with the same configuration.

On the lower surface of the table 29, the guide member 20,
21 and the male screw rods 22, 23, and 24, support pins 37 are arranged in a direction parallel to the both ends of the support pins 37, as shown in FIGS. It is fixedly supported by a pair of support brackets 38, and on the outer periphery of the support pins 37, as shown in FIG. 6, a pair of electromagnetic clutches 3 composed of cylindrical electromagnets.
9 is fixed.

The base ends of a pair of clamp arms 40 are rotatably fitted on the outer circumference of the electromagnetic clutch 39. As a result, the base end of the clamp arm 40 is pivotally supported by the support pin 37 via the electromagnetic clutch 39.

As shown in FIGS. 4 and 5, the pair of clamp arms 40 constitutes a grip portion 36, which is bent in a V shape in a direction facing each other, and its base end is the electromagnetic clutch 3.
The guide member 2 with the support pin 37 as the center of rotation on the outer periphery of
0, 21 and the male screw rods 22, 23, 24 can be oscillated in a direction orthogonal to the both ends of the air cylinder 41 are pivotally attached to the clamp arms 40 facing each other. When extended, the clamp arm 40 is configured such that the tips of the clamp arm 40 move toward and away from each other with the support pin 37 as the center of rotation.

A grip pad 42 is pivotally attached to the tip of the clamp arm 40, and a coil spring 43 is stretched between both ends of the grip pad 42 and the clamp arm 40, so that the grip pad 42 can be freely moved. In the state, the gripping pad 42 is in a direction orthogonal to the tip of the clamp arm 40.
I am trying to face you.

Next, the operation of the above-mentioned device will be described.

The base 19 (see FIGS. 1 and 3) of the above-mentioned apparatus is attached to the lower side of the movable base 12 described with reference to FIG.

Then, the air cylinder 41 (see FIGS. 4 and 5) is extended so that the tips of the clamp arms 40 are separated from each other, and the arms 7 and the like in FIG. 12 are moved in the descending direction to descend the base 19.

At this time, paying attention only to the action of the pair of grips 36, the support pin 37 is located at a biased position above the core 13 which is the article to be gripped as shown in FIG. When it is lowered, the clamp arm 40 swings with the support pin 37 as the center of rotation and tilts in accordance with the relationship between the position of the support pin 37 and the positions of both side surfaces of the core 13 to be grasped. However, the gripping pad 42 adapts to the orientation of both side surfaces of the core 13 against the biasing force of the coil spring 43.

When the air cylinder 41 is contracted in this state, the tips of the pair of clamp arms 40 are gripped by the gripping pads 42.
The core 13 is gripped from both sides via the.

When the clamp arm 40 holds the core 13 and energizes the electromagnetic clutch 39 shown in FIG. 6 to excite the same, the magnetic force lines of the electromagnetic clutch 39 restrain the swinging of the clamp arm 40 about the support pin 37. As a result, the clamp arm 40 remains in the inclined posture as shown in FIG. 7 and does not swing.

The above-described operation is individually performed for all the gripping portions 36 shown in FIGS.

Three parts 13a, 1 as shown in FIG.
Core 1 having a complicated shape assembled by fitting 3b and 13c
When trying to grab 3, the core 13 as shown in FIG.
The table 29 is located on the portion 13a of the
The servo motor 26 is driven so that the table 30 is positioned on the portion 13b of the core 13 and the table 31 is positioned on the portion 13c of the core 13, and the tables 29, 30,
31 is moved along the guide members 20 and 21.

Next, all the air cylinders 41 (see FIGS. 4 and 5) are extended in a state where all the electromagnetic clutches 39 (see FIG. 6) are not excited, and the tips of the clamp arms 40 are separated from each other. After lowering the base 19, the air cylinder 41 is contracted.

FIG. 8 is a plan view showing a state of gripping the core 13 at this time, FIG. 9 is a sectional view taken along line IX-IX of FIG. 8, and FIG.
8 is a sectional view taken along the line XX of FIG. 8, and FIG. 11 is a sectional view taken along the line XI-XI of FIG. 8. The gripping pad 42 of the clamp arm 40 suspended under the table 29 is shown in FIG. As described above, the portion 13a of the core 13 is grasped from both front and rear sides, and the grasping pad 42 of the clamp arm 40 suspended under the table 30 grasps the portion 13b of the core 13 as shown in FIGS. The gripping pad 42 of the clamp arm 40 suspended under the table 31 is shown in FIG.
As shown in FIG. 1, the portion 13c of the core 13 is grasped.

In this state, all electromagnetic clutches 39 (see FIG.
When the clamp arm 40 is excited, the clamp arms 40 are kept in the postures shown in FIGS. 9 to 11 and do not swing, and the core 13 having a complicated shape is divided into the portions 13a, 13b, 1 and 1.
When the base 19 (see FIGS. 1 and 3) is lifted, the whole core 13 can be lifted in a stable state.

Although the above description has been made on the case of gripping a core having a complicated shape, the present invention is applicable not only to the core but also when gripping an article having another complicated shape.

[0045]

As described above, in the clamping device of the present invention, a plurality of positions suitable for gripping are selected according to the shape of the article to be gripped, and a plurality of tables are slid along the guide member. Since the articles are gripped by the pair of clamp arms at the selected positions respectively, the articles having various complicated shapes can be gripped in a balanced manner without using a jig, and after the gripping, the electromagnetic clutch is excited. Thus, by restraining the swing of the grip portion, it is possible to obtain an excellent effect that the article can be lifted in a stable state.

[Brief description of the drawings]

FIG. 1 is a perspective view in which a part of an example of an embodiment of a clamp device of the present invention is cut away.

2 is a cross-sectional plan view taken along the line II-II of FIG.

FIG. 3 is a front view seen from the direction III in FIG.

FIG. 4 is a sectional view taken along line IV-IV of FIG. 2;

FIG. 5 is a perspective view of a grip portion.

FIG. 6 is an enlarged sectional view taken along the line VI-VI of FIG. 4;

FIG. 7 is a side view showing a gripped state by a gripping member.

FIG. 8 is a plan view showing a gripped state according to an embodiment of the clamp device of the present invention.

9 is a sectional view taken along line IX-IX in FIG.

FIG. 10 is a sectional view taken along line XX of FIG. 8;

11 is a sectional view taken along line XI-XI in FIG.

FIG. 12 is a conceptual diagram showing an example of a conventional clamp device.

FIG. 13 is a perspective view of a core shown as an example of an article having a complicated shape.

[Explanation of symbols]

 20 Guide Member 21 Guide Member 29 Table 30 Table 31 Table 36 Grip 37 Support Pin 39 Electromagnetic Clutch 40 Clamp Arm

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hitoshi Wada 1-1-1, Ishishiba, Matsumoto-shi, Nagano Ishikawajima Shibaura Machinery Co., Ltd. Matsumoto Factory (72) Inventor Shusaku Yamazaki 1-1-15, Toyosu, Koto-ku, Tokyo No. Ishikawajima Harima Heavy Industries Co., Ltd. Toni Technical Center (72) Inventor Hiroki Murakami 3-15-15 Toyosu Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Co., Ltd. Toni Technical Center (72) Inventor Mitsuru Muto Tokyo 3-15 Toyosu, Koto-ku Ishikawajima Harima Heavy Industries Co., Ltd. Toni Technical Center

Claims (1)

[Claims] 1. A grip having a plurality of tables slidably supported by guide members, a support pin attached to each of the plurality of tables, and a pair of clamp arms pivotally supported by the support pins. And a electromagnetic clutch that is attached to the support pin and restrains the swing of the gripping part with respect to the support pin when excited.