JPS5929123B2 - Buffer clamp device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a shock-absorbing clamp device implemented as a workpiece handling wrist in an autopilot device, generally also called an industrial robot or a handling machine. In addition to making it extremely easy to assemble and reset the clamp body to the operating member, it also prevents the clamp body from being removed from the operating member when unexpected external force or impact exceeding the set force is received during handling operations such as clamping or transferring a workpiece. The purpose is to prevent damage to the device in advance by allowing easy removal.

The present invention will be explained below based on examples. The device of this example is constructed by attaching and detaching a necessary clamp body 1 configured as a unit to an operating member 12 of a handling machine. First, in the main body 1, a pair of substrates 5 are connected in parallel to the front end of a reciprocating cylinder 2.
A pair of dogleg-shaped fingers 6 are connected by pins T on both sides of the front end between them. Each finger 6 is connected to a knuckle 4 connected to the tip of the rod 3 of the cylinder 2 with its lever portions 6A intersecting with each other via a connecting pin 8 and each elongated hole 9, and On the inside of the arm portion 6B extending from the front end of the substrate 5, claws 10 for workpieces are disposed to face each other using bolts or the like. Note that the claw 10 may be installed by selecting an attachment that matches the shape of the target workpiece, and in this example, it is approximately rectangular (120 mm).
! It has the socket 11 of a). On the other hand, on the side of the operating member 12, which can rotate around the axis, reciprocate in the axial direction, and move or turn to other parts, an annular receiver 1 is attached to the front end of the operating member 12.
3 is fixed with bolts etc., and the recessed hole 14 of this holder 13
The magnet 16 housed inside is removably installed on the bottom plate 13A.

The receiver 13 serves to position and hold the aforementioned main body 1.
A seat 15 for positioning the rear end of the cylinder 2 relative to the fitting portion 2A is formed on the open end side of the cylinder portion 13B.
The magnet 16 is set to a predetermined fixed magnetic force (magnetic absorption force) that can correspond to the total weight of the body 1 and the workpiece, and its shape is not specified, but in this example, the receiver 1
Depth of the recessed hole 14 in No. 3 (from the bottom plate 13A to the bottom of the seat 15)
An example of a disk shape with the same thickness as H; IT indicates a connecting chain that is hung over the cylinder 2 and the operating member 12. Therefore, in the clamp device of this example, the rear end of the fitting portion 2A of the cylinder 2 is fitted into the seat 15 by simply fitting the cylinder 12 of the main body 1 into the receiver 13 of the operating member 12. However, the main body 1 can be positioned and set in a predetermined state by magnetically holding the front end surface of the magnet 16 in a state close to or close to the rear end surface of the fitting portion 2A.

After setting the main body 1, the operation member 12 is used to set the entire device in the desired position and orientation (the claws 10 are placed horizontally, vertically, or diagonally facing each other). By moving the rod 3 of the cylinder 2 back and forth from side to side in the figure based on remote control while holding the cylinder 2 in the same position, the claws 10, 10 are tilted inward and outward as both the fingers 6, 6 are tilted inward and outward. The operation member 12 can be opened and closed to clamp a circular workpiece W of a desired size (although a polygonal workpiece may be used) within its effective clamping range.
The workpiece is reversed using the movement of the device itself based on the control of the machine. It can be moved up and down (6) and taken in and out of other parts and processing machines. When each member of the main body 1 or the work strongly collides with another member during the above-mentioned workpiece handling operation (for example, during transportation), and the main body receives an abnormal external force (impact larger than the magnetizing force of the magnet 16). , regardless of whether the impact force is applied from up, down, left, right, or diagonally,
The main body 1 is quickly separated from the seat 15 before each member is damaged, regardless of the magnetizing force of the magnet 16 in the receiver 13, and is suspended from the operating member 12 using the connecting chain 17.

Therefore, the cause of the collision mentioned above can be resolved and the main body 1 can be moved to the operating member 12.
When reassembling on the side, remove cylinder 2 as described above.
By simply fitting the fitting portion 2A into the seat 15 of the receiver 13, the main body 1 can be restored to the predetermined position by the magnetic force of the magnetic opening 6, and the work can be performed. Next, another embodiment of the present invention will be explained with reference to FIG. In this example, the receiver 13
By fitting the ring-shaped spacer 18 into the seat 15, the dimension H in the above-described embodiment can be increased to H, and the set value of the holding force of the main body 1 by the magnet 16 can be lowered.

In this case, instead of the spacer 18 described above, an auxiliary ring 19 is attached to the neck of the fitting part 2A of the cylinder 2, as shown by the chain line in FIG. It is also possible to fit the spacer 20 between the tip end surface of the portion 13B.

In other words. The 6-buffer clamp device according to the present invention is used in an automatic pilot device such as an industrial robot, in which a magnet having a holding force of a required set value is attached to the tip of an operating member corresponding to an operating arm, and the magnetic force of the magnet is attached to the tip of an operating member corresponding to an operating arm. 6. The clamping device is removably attached to the operating member according to 6, and the clamping device can be suspended in the air when the clamping device is detached from the operating member due to an external force exceeding the set value. This clamp device can be attached very easily by the magnetic force of a magnet by simply positioning it on a predetermined surface of the tip of the operating member. Furthermore, in the event that an external force greater than the set force is applied to the clamp body during operation by the robot, the clamp body will easily detach from the operating member and become suspended in the air by the connecting member, preventing it from falling.

Accordingly. In the clamp device according to the present invention, it is possible to prevent damage to the clamp body, the workpiece held by the clamp, etc. in the event of contact or collision between the clamp body and a foreign object during the 6 operations.

In other words, in the shear pins and shear plates used in conventional equipment, predetermined fragile parts are destroyed by external forces exceeding the set force, requiring the parts to be replaced each time and causing problems in continuing the work. According to the claimed invention, compared to 6. This inconvenience can be prevented.

Therefore, it can be said that the clamping device according to the present invention has a very large effect on robot work.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway front view of one embodiment of the present invention, FIG. 2 is a partially cutaway plan view of the clamp body portion thereof, and FIG. 3 is a partially cutaway plan view of the clamp body mounting portion of another embodiment of the present invention. It is a partially cutaway front view. 1... Clamp body 612... Operation member 613... Receptacle, 16... Magnet, 17... Connection chain.

Claims (1)

[Claims] 1. In an automatic pilot device for an industrial robot, etc., a magnet having a holding force of a required set value is attached to the tip of an operating member corresponding to the operating arm, and the magnetic force of the magnet causes the operating member to detach. The clamping device is provided with a connecting member capable of suspending the clamping device when the clamping device is detached from the operating member due to an external force exceeding the set value. Features a buffer clamp device.