JPH10328767A - Twin type gripper feed - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a twin type gripper feed which realizes a more high speed feed by installing two moving grippers also used for a fixed gripper. SOLUTION: A twin type gripper feed is provided with two moving grippers 1, 3, and on respective moving grippers 1, 3, fixed jaws 21A, 21B and moving jaws 22A, 22B are arranged. The respective moving grippers 1, 3 are moved to the respectively opposite directions, when a work is held with the moving jaw 22A of the moving gripper 1 and it is carried, the moving jaw 22B of the moving gripper 3 is located at the separated position from the fixed jaw 21B and it is moved toward the feed beginning position in the state not holding the work. When the moving gripper 3 is moved from the feed beginning position to the feed finishing position, the moving jaw 22B is approached to the fixing jaw 21B, it holds the work and carries the work in the feeding direction, in that time, the moving jaw 22A of the moving gripper 1 is moved to the separated position from the fixing jaw 21B, and it is moved to the feed beginning position in the state not holding the work. Therefore, the work is fed by two times per one both ways of the moving gripper 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a twin type gripper feeder comprising two gripping means having a fixed jaw and a movable jaw, each gripping means alternately gripping a workpiece and transporting the workpiece to a press. About.

[0002]

2. Description of the Related Art Generally, a gripper feed for transporting a work to a press machine is driven by being connected to a crankshaft of the press machine, and includes a fixed gripper having a movable jaw and a fixed jaw, and a movable gripper. The movable gripper is mechanically driven and connected to reciprocate, and when moved to the press, the movable jaw approaches the fixed jaw to grip the workpiece. In this state, the fixed gripper is at a position where the movable jaw is separated from the fixed jaw, so that the work is conveyed to the press side. Further, when the movable gripper is moved to the side opposite to the press machine, the movable jaw of the movable gripper is moved in a direction away from the fixed jaw, and the movable jaw of the fixed gripper is moved in a direction approaching the fixed jaw. Hold the work. Therefore, the work is not transported, and the press machine processes the work during this time. Various improvements have been made to increase the speed of this movement, and a highly accurate and high speed gripper feed is actually provided.

[0003]

However, when a higher speed and higher quality gripper feed is required with the increase in speed of the press machine, it is necessary to further improve the conventional gripper feed. In particular, in a gripper feed configured to convey a workpiece with one moving gripper,
As the moving gripper makes one reciprocation of the workpiece, the amount of feed per work, so the higher the speed, the greater the wear of each part,
Higher speed and higher accuracy will be regulated.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problem, and provides a twin gripper feed with higher speed and higher accuracy by disposing two movable grippers which can also serve as a fixed gripper. Aim.

[0005]

The twin gripper feed according to the present invention is configured as follows to solve the above-mentioned problems. That is, a twin-type gripper feeder comprising a fixed jaw and a movable jaw and provided with two gripping means for alternately gripping a work, and one of the gripping means grips the work and transports the work into the press. Wherein the two gripping means are simultaneously moved in directions opposite to each other with respect to the workpiece transport direction, and the workpiece is transported by any one of the gripping means gripping the workpiece. Is what you do.

The twin type gripper feed is
It is provided with two gripping means having a fixed jaw and a movable jaw and alternately gripping the work, and one of the gripping means grips the work and transports the work into the press machine. A plurality of gripping means are connected to the driving means and connected to screw means having a pair of screw parts formed in opposite directions, and one gripping means and the other gripping means are respectively connected to the pair of screw parts. Grip driving means is provided so as to be screwed together and simultaneously moved in directions opposite to each other with respect to the work transfer direction, and to move one of the fixed jaw and the movable jaw in the vertical direction. The workpiece is transported by the gripping means gripping the workpiece.

Preferably, the driving means may include a servomotor.

Further, it is more preferable that the grip driving means is characterized by including a cam means.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, a twin-type gripper feed (hereinafter, referred to as a gripper feed) M according to the present embodiment includes two movable grippers 1.3 movable in the left-right direction.
The movable grippers 1 and 3 are supported by a ball screw 7 and a guide shaft 9 mounted on the frame 5 in the left-right direction. The ball screw 7 is rotatably driven by the frame 5.
The ball screw 7 has a screw portion 7a, 7b at an intermediate portion thereof.
Are formed so as to be in opposite directions to each other, and one moving gripper 1 is screwed into the screw portion 7a, and the other moving gripper 3 is screwed into the screw portion 7b. The guide shaft 9 is provided in parallel with the ball screw 7 and is provided with the movable grippers 1 and 3.
Are slid in the left-right direction. As a result, the two moving grippers 1 and 3 are
Drives reciprocally in opposite directions.

On the other hand, as shown in FIG. 2, the movable grippers 1 and 3 are provided with a fixed jaw 21 and a movable jaw 22 which approaches and separates from the fixed jaw 21. The work W inserted between them can be gripped. The configuration of the movable grippers 1 and 3 is conventionally known (Japanese Patent Publication No. Hei 7-24891).
No.) and, of course, is not limited to this. The moving grippers 1 and 3 of the present embodiment have the same configuration, and the following configuration will be described with respect to one of the moving grippers 1, and the same reference numerals of the same components in the moving gripper 3 appear in the subsequent description. A code is used, and A and B are added after the code to distinguish them.
For example, the fixed jaw of the movable gripper 1 is 21A,
The fixed jaw of the movable gripper 3 is 21B.

The movable gripper 1 includes a cylinder portion 25 located above the work W, a movable jaw support portion 30 located below the work W, a movable rail portion 35 located below the movable jaw support portion 30, A support portion 40 for slidably supporting the gripper 1 is provided. The cylinder portion 25 is attached to a cylinder holder 29, and the cylinder holder 29 is integrally connected to the movable jaw support portion 30 and the support portion 40.

The cylinder section 25 includes a cylinder chamber 26 and a piston 27 that is vertically movable within the cylinder chamber 26.
And a fixed jaw 21 attached to the lower end of the piston 27, and plays a role of buffering an impact due to the approaching movement of the movable jaw 22.

The movable jaw supporting portion 30 includes an arm 32 pivotally supported by a pin 31 and a movable jaw 2 supported by the arm 32 and arranged at a position facing the fixed jaw 21.
2 and a slider 33 disposed below the arm 32. The movable jaw 22 is driven by a cam described later to move the movable jaw 22 toward the fixed jaw 21. A coil spring 34 for urging the arm 32 downward is provided so as to separate the movable jaw 22 from the fixed jaw 21.

The movable rail portion 35 includes a rail holder 36 that is swingably driven by a cam described later, and a rail holder 3.
And a plurality of rolls 37 arranged on the same plane, and the arm 32 is moved upward, and the slider 33 can slide in the left-right direction.

The support portion 40 has a screw hole 41 for inserting the ball screw 7 and the guide shaft 9 and a guide hole 42 and is formed in a binocular shape (see FIG. 3). Is reciprocated in the work transfer direction while being guided by the work.

The jaw drive section 45 for moving the movable rail section 35 up and down has a cam 16 and a swing arm section 46. One end of the cam 16 is a servomotor (a normal motor may be used).
14 and is fixed to a camshaft 15 rotated by the drive of the servomotor 14.

As shown in FIG. 3, the swing arm 46 includes a swing arm 48 swinging about a shaft 47 and a cam 1.
6 and a cam follower 49 disposed at one end of the swing arm 48, and the other end of the swing arm 48 is formed in two arms so as to sandwich the rail holder 36 (see FIG. 1 or FIG. 2). ), The movable rail 36 via each pin 48a.
Are rotatably connected to the

The gripper feed M configured as described above is operated as shown in FIGS. 4 (a) to 4 (e). The moving gripper 1 is located at a position where the feed is started (the servo motor 10 side in FIG. 1) with respect to the work W feed amount,
The movable gripper 3 is located at the end of the feed (on the side opposite to the servo motor in FIG. 1). In the state shown in FIG. 4A, the movable jaw 22A of the movable gripper 1 is operated by the servo motor 14 to rotate the cam 16A, and the swing arm 48A is moved to the state shown in FIG.
Swinging in the counterclockwise direction at
A, slider 33A of movable jaw support 30A, arm 3
2A (see FIG. 2), it is moved to a position where it approaches the fixed jaw 21A and grips the work W. The movable jaw 22B of the movable gripper 3 is moved away from the fixed jaw 21B because the swing arm 48B swings clockwise in FIG. 3 by the cam curve of the cam 16B and the urging force of the coil spring 34B. It is in. When the servo motor 10 is driven to rotate in this state, the ball screw 7 is rotated, and the moving gripper 1 screwed to the screw portion 7a moves in the work feed direction while holding the work W while being guided by the guide shaft 9. The moving gripper 3 screwed to the screw portion 7b moves in the counter-feed direction without grasping the work W while being guided by the guide shaft 9. Therefore, the workpiece W is transported by the movable gripper 1 into the press. At this time, the slide of the press (not shown) is in the raised position,
No pressing will be performed.

The movable gripper 1 moves to the feed end position,
When the movable gripper 3 moves to the position where the feed is started, the servomotor 14 is driven to move the movable jaw 22 of the movable gripper 3.
B moves so as to approach the fixed jaw 21B via the cam 16B, the swing arm 48B, and the arm 32B.
The work W is gripped together with the movable gripper 1 as shown in FIG. At this time, while the work W remains stopped, the slide of the press machine descends to perform the press working.

During the press working, the gripper feed M releases the gripping of the workpiece W by the movable jaw 22A of the movable gripper 1 (see FIG. 4 (c)). Then, at the same time when the pressing is completed, the servomotor 10 is operated to rotate the ball screw 7 in the reverse direction. Then, the movable gripper 1 moves to the position where the feeding starts while being guided by the guide shaft 9, and the movable gripper 3 moves to the feed end position while being guided by the guide shaft 9 while the movable jaw 22B holds the work W. . Therefore, the work W is transported into the press by the moving gripper 3 (see FIG. 4D).

When the movable gripper 1 reaches the position where the feed is started, the servomotor 10 is stopped and at the same time the servomotor 14 is operated, and the movable jaw 22A of the movable gripper 1 grips the workpiece W (see FIG. 4 (e)). . Then, the above operation is repeated.

Therefore, the gripper feed M can feed the work W twice in one reciprocation of the moving gripper, so that the gripper feed M can be conveyed at twice the speed as compared with the conventional one.

The gist of the gripper feed according to the present invention is to move the two movable grippers in directions opposite to each other. Therefore, means for driving the movable jaws of the movable gripper 1 and the movable gripper 3 is provided. Is not limited to the cam means as in the above embodiment. For example,
As in the moving gripper 50 shown in FIG. 5, the air cylinder 5 is used instead of the arm 32 of the movable jaw support 30 described above.
And a movable jaw 52 is attached to the tip of the air cylinder 54, and the air cylinder 5
4 may be moved to the fixed jaw 51 side by operating the same. Therefore, in this case, the cam 16, the swing arm 46, the movable rail 35 and the like can be omitted. Then, the operation timing of the air cylinder 54 is
The movement timing of the movable jaw 22 in FIG.

The moving gripper 60 shown in FIG.
Shows another form of the cam driving means, which is moved together with the fixed jaw 61 located above the workpiece W, and has a slider body 63 having a cylinder portion 63a;
It has a movable jaw 62 at its upper end and a follower 65 with a roller 64 at its lower end. Also, the follower section 65
The grip shaft 66 is supported by the machine frame so as to be rotatable with respect to the axis below. Grip shaft 66
Is formed with a movable rail 66a cut in the horizontal direction, and a grip shaft 66 is provided on the upper surface of the movable rail 66a.
The roller 64 of the follower portion 65 is located at a position eccentric from the axis of
Are arranged to be rollable. On the other hand, a roller 69 is provided at the upper end of a swing lever 68 which is swung by a cam 67.
b is in contact with one end.

Then, the swing lever 68 is moved by the cam 69.
Is swung, the roller 69 rotates the grip shaft 66. The rotation of the grip shaft 66 causes the rollers 64 of the follower portion 65 to move up and down, and accordingly, the movable jaw 6 disposed at the upper end of the follower portion 65.
2 will move up and down. Then, the work W inserted through the lower surface of the fixed jaw 61 can be gripped.

In each of the above embodiments, the movable jaw is disposed below the work, but may be disposed above the work. In this case, it goes without saying that the fixed jaw is below the work W.

Further, the means for moving the two moving grippers in the directions facing each other is not limited to the above-described ball screw means. For example, Japanese Patent Publication No. 7-2489
As shown in No. 1, the drive from the press machine may be connected to a moving clamper by using a crank mechanism and moved. In this case, a crank arm is connected between the crankshaft that is driven and transmitted from the press machine and the two moving clampers, and each crank arm is connected to an eccentric portion of the crankshaft formed at a symmetric position. What should I do? In this embodiment, the crankshaft can be independently driven by the motor even if the drive is not transmitted from the press machine.

[0029]

According to the present invention, the twin-type gripper feed has two gripping means for alternately gripping the work, and each gripping means is moved in the direction facing each other. The work can be transported twice in a reciprocating manner. Therefore, it is possible to simply achieve a double feed speed as compared with the related art.

The twin type gripper feed is
Two gripping means having a fixed jaw and a movable jaw,
Connected to the driving means and connected to a screw means having a pair of screw parts formed in the opposite direction, one gripping means and the other gripping member are respectively screwed to the pair of screw parts, and Grip driving means are simultaneously moved in directions opposite to each other with respect to the transport direction, and a grip driving means is arranged so as to move one of the fixed jaw and the movable jaw in a vertical direction. As a result, the workpiece can be transported twice by one reciprocation of the moving gripper, and high-speed feeding can be achieved.

Further, since the driving means includes a servomotor, the reciprocating motion of the two movable grippers can be reliably controlled and various feed timings can be freely controlled.

If the grip driving means includes a cam means, the gripping timing of the work can be set in a cam shape, so that it is possible to adjust to various timings and to cope with high speed. .

[Brief description of the drawings]

FIG. 1 is a schematic plan view showing one embodiment of a twin-type gripper feed of the present invention.

FIG. 2 is a sectional view taken along the line II-II in FIG.

FIG. 3 is a sectional view taken along the line III-III in FIG. 1;

FIG. 4 is a diagram showing a state of work transfer of the twin-type gripper feed in FIG. 1;

FIG. 5 is a view showing another embodiment of the moving gripper;

FIG. 6 is a view showing still another embodiment of the moving gripper.

[Explanation of symbols]

 M: gripper feed W: work 1, 3, moving gripper 7: ball screw 7a, 7b: screw portion 9: guide shaft 10: servo motor 16: cam 21: fixed jaw 22: movable jaw 30: movable jaw support 35 Movable rail part 40 ... Support part 45 ... Jaw drive part

Claims (4)

[Claims] 1. A twin which has a fixed jaw and a movable jaw and is provided with two gripping means for alternately gripping a work, and one of the gripping means grips the work and transports the work into a press machine. A mold gripper feed, wherein the two gripping means are simultaneously moved in directions opposite to each other with respect to a workpiece transport direction, and the workpiece is transported by any of the gripping means gripping the workpiece. Twin gripper feed characterized by the following. 2. A twin which has a fixed jaw and a movable jaw and is provided with two gripping means for alternately gripping a workpiece, and one of the gripping means grips the workpiece and transports the workpiece into a press machine. A mold gripper feed, wherein said two gripping means are connected to driving means and connected to screw means having a pair of screw portions formed in opposite directions, one gripping means and the other gripping means Are screwed into the pair of screw portions, respectively, and are simultaneously moved in directions opposite to each other with respect to the work transfer direction. A grip drive is performed to move either the fixed jaw or the movable jaw in the vertical direction. A twin gripper feed, wherein a means is provided, and the workpiece is transported by any of the gripping means gripping the workpiece. 3. The twin-type gripper feed according to claim 2, wherein said driving means includes a servomotor. 4. The twin-type gripper feed according to claim 2, wherein said grip driving means includes a cam means.