JPS5947186A - Inner-diameter chuck device for plate-shaped work with window hole - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention (1) Technical Field of the Invention The present invention relates to a device for moving a workpiece in a production line etc. in which various manufacturing devices (or machines) are arranged, and in particular, it relates to a device for moving a workpiece in a production line etc. in which various production devices (or machines) are arranged, and in particular, it relates to a device for moving a workpiece in a production line etc. in which various production devices (or machines) are arranged. In order to take out a flat workpiece having a window hole from one device and transfer it to the other device for loading, an opening/closing gripping claw that can expand from inside the window hole of the workpiece and grip the inner edge of the window hole. (2) Background of the Technology For example, in the manufacture of magnetic disks and the like, circular flat workpieces are processed through each step of the manufacturing line. In this case, in order to take out the workpiece from one device and move it to the other device, the workpiece may be gripped and moved using a window hole provided in the workpiece. As such a gripping device, an inner diameter chuck device is used, in which a plurality of gripping fingers capable of opening and closing are arranged in parallel on the arm head of a big-up arm having n degrees of freedom, and gripping claws are provided at the tips of the gripping fingers. In this case, in one of the devices, the workpiece is suspended in a vertical state by a support member (loading finger) that engages with the window hole, facing the inner diameter chamfering device, with its flat surface in a vertical state. It is located. On the other hand, the gripping claws of the inner diameter chuck device enter the window hole of the workpiece, expand and engage with the inner edge of the window hole, thereby holding and taking out the workpiece. Therefore,
The gripping fingers and gripping claws of this type of inner diameter chuck device have a simple structure, the gripping operation is not hindered by the workpiece support member of the mating device, and the shape (e.g., circular, square, etc.) and size of the window hole of the workpiece can be adjusted. It is desirable that the structure be easily adaptable.

(3) Prior art and problems The conventional internal diameter chuck device has three gripping fingers, and a gripping claw is attached to the tip of each of the gripping fingers, and is a three-point support type. is often used. That is, a pair of left and right gripping claws are arranged above, and opposite to this, another grasping claw is arranged below (
(In some cases, it is placed upside down.) Since it has three gripping claws in this way, the conventional inner diameter chuck device has the following problems. In other words, in order for the gripping claw to enter the window hole of the workpiece, the size must be at least as large as the size of the window hole; It is necessary to match the workpieces, but this is strange; if the shape or size of the window hole of the workpieces is greatly different, it is not possible to use a single chuck device for all of these workpieces; There are problems such as complexity;

(4) Object of the Invention In view of the problems of the prior art described above, an object of the present invention is to provide a single chuck device that has a simple structure, allows easy alignment of gripping claws, and can be used regardless of the shape and size of the window hole of the workpiece. To provide an inner diameter chuck device for a flat workpiece with a window hole, which can chuck the workpiece in 4 steps.

(5) Structure of the invention In order to achieve this object, according to the present invention,
In an internal chuck device that grips a flat workpiece with a window hole by expanding a plurality of gripping claws from the inside 74B of the window hole and chucking the inner edge of the window hole, a pair of gripping fingers are used. are arranged horizontally and parallelly so as to face each other vertically, and a disc-shaped gripping claw is inserted into the front end of each of the gripping fingers such that the end surface of the gripping claw is orthogonal to the axis of the gripping finger. An impaction engagement groove is provided on the outer peripheral surface of each of the gripping fingers, and one of the gripping fingers is fixed, and the other can be moved in parallel in the vertical direction along a vertical guide bar. 〇(6) Embodiments of the Invention In the following, embodiments of the present invention will be described in detail based on the all-N side.

FIGS. 1 to 4 are diagrams showing embodiments of the present invention. FIG. 1 shows an inner diameter chuck device for a flat workpiece with a window hole (hereinafter referred to as an inner diameter chuck device) according to the present invention.

10 attached to device A and device B related to device A
, C and D are schematically shown in 1. It is Z+. Device A takes out the work 30 from devices B and C and loads it into the device. In the same figure, a pickup arm 11 is fixed to the upper end of a rotary drive shaft 13 that protrudes upward from a base 12, and is movable in the horizontal direction by the drive shaft 13, and in the axial direction by a cylinder 14. It is attached to the telescopic movement aJ function. The lower surface of the base 12 is slidably fitted to the guide rails 15 and 15', and the guide rail 15+ is connected to the drive cable 1G.
It is mounted so that it can reciprocate in the X-axis direction on IJ'. The inner diameter chuck device 10 of the present invention is attached to the tip of the arm 11, that is, the head portion.

The inner diameter chuck device 10 is arranged vertically and has an opening/closing movement Fi.
A pair of grasping fingers 17, l? The workpiece 3' is held by disk-shaped gripping claws i s and i s' inserted into the tips of the gripping fingers 17 and 17', respectively.
The workpiece 30 is chucked by the inner edge of the O window hole 30a.
hold. The work 30 in N is suspended in the window 19 of device B by loading fins j-28+28'.

FIG. 2 is a perspective view of the inner diameter chuck device 1o shown in FIG.
Figure 3 shows the inner diameter chawak device west'l of Figure 2.

It is U which shows the side view (a) and front view (b) of. In these figures, 1. Tip 9+Tn of pickup arm 11
V? LA: The plate 20 is fixed vertically. Board 2
A support plate 21 is fixed upright on the lower front surface of the support plate 21, and a fixing plate 22 is fixed vertically to the center of the front end surface of the support plate 21. Note that the central part of the support plate 21 in the plane is the cylinder 23.
An opening 21a is provided for the insertion of the. A gripping finger 17' projects forward and is fixed to the upper front surface of the fixing plate 22, and a disk-shaped gripping claw 1 is attached to the tip of the gripping finger 17'.
8' is rotatably inserted. On the other hand, there is an O guide plate 24 in which guide plates 24° 24' are arranged facing each other on the upper part of the front surface of the board 20 and the middle part, respectively, and are fixed upright.
, 24' are provided with guide holes 24+1 and 24'B, and 24b and 24'b, which are spaced apart in the front-rear direction and pass through in the vertical direction, and are arranged in a straight line in the vertical direction. Guides A25 are slidably inserted into the guide holes 24a and 24'a, and guide holes 25' are slidably inserted into the guides 24b and 24'b. Between the guide plates 24 and 24', a gripping finger fixing plate 26 is fixed to the guide holes 25 and 25'. The fixed plate 26 is movable vertically between the guide plates 24 and 24'. The gripping fingers 17 are fixed to the front end surface of the fixing plate 26 so as to protrude forward,
A disc-shaped gripping claw 18 is rotatably attached to the tip of the gripping finger 17.

Note that the gripping claws 18 and 18' are gripping fingers. -17, 17' may be specifically inserted. gripping claw], 8, l 8
' are formed in the same shape, and an annular retainer 7 (i
l'8a+18'a is provided, and the engaging grooves 18a and 18'a are arranged so as to align and exist in the same vertical plane orthogonal to the axis of the gripping claws 18, l8'. ing.

A mounting bracket 27 is attached to the lower side of the guide plate 24'.
4' and rotated on the substrate 20.

The front end of the bracket 27 ends before the guide bar 25,
The base end has an opening 27 through which the guide bar 5' passes.
A is provided. A cylinder (pneumatic or hydraulic) 23 is vertically arranged and fixed on the front end side of the bracket 27.

The piston rod 23a of the cylinder 23 has its tip (upper end) 23b provided at the guide plate 24'.
The grip finger fixing plate 26 is fixed to the grip finger fixing plate 26 through the grip finger fixing plate 26. Therefore, the fixed plate 26 is fixed to the guide bar 25 by the cylinder 23.
, 25' in parallel in the vertical direction. Along with this, the gripping claws 1B and 18' mutually move to open and close, thereby chucking the workpiece 30 on the inner diameter as shown by the two-dot chain line in FIG. As explained above, this inner diameter chuck device 1
Since the gripping fingers (17, 17') are configured as a pair of upper and lower gripping fingers (17, 17'), the gripping claws (18, 18') can be aligned very easily and can be constructed in a simple structure. .

Figure 4 shows the workpiece 30 and gripping claw 18°1 in Figure 1.
The relative positional adjustment j with respect to 8' is shown including the loading fingers 28 and 28' of the counterpart device B. 0)
The diagram shows internal chuck device ft 101+11 to mating device B
Figure (B) is a cross-sectional view taken along line E in Figure (B).
(c) Figure (b) is a detailed view of section P in figure (b), and figure (b) is a detailed view of section Q in figure (a). 0) As shown in the figure, the workpiece 30
The window hole 30m is engaged with the loading finger 28, 28' and is suspended in the air. The gripping claws 18 and 18' are
After entering the window hole 30a, the gripping claw 1B rises and engages with the upper part of the window hole 30a (see figure (c)), lifts the workpiece 30, and rises to the position shown by the two-dot chain line.
The lower part of the gripping claw 18' is engaged with the lower part of the gripping claw 18' (see the figure) to hold the workpiece 30. In this case, as shown in FIGS.
Both side parts of 8'a are formed into slopes 18b, 18'b,
It is designed so that the workpiece 30 is smoothly guided and engaged with the engagement grooves 18a, 18'a. Also, the engagement groove 18ae
18'a is provided in consideration of preventing lateral vibration of the workpiece 30. ◇←) As is clear from the figure, by arranging the gripping claws 18 and 18' in a pair of upper and lower positions, the gripping claws 18 can enter between the loading fingers 2'8 and 28', and even if the window hole 30a is small, the workpiece 30 can be chucked by the inner diameter. On the other hand, as mentioned above, in the case of the prior art, the internal chuck device is configured with a pair of left and right gripping jaws located above and another gripping jaw located below. In some cases, the workpiece 30 cannot be chucked inside because it is obstructed by the opening 2-ding fingers 28 and 28'.
In such a case, it must be replaced with another inner diameter chuck device.

(7) Effects of the Invention As explained in detail above, the inner diameter chuck device for flat workpieces with window holes of the present invention has a simple structure, easy alignment of gripping claws, and This method has great effects, such as being able to easily chuck a workpiece with a single chuck device regardless of its shape and size, and reducing manufacturing costs.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a state in which an inner diameter chuck device 10 for a flat workpiece with a window hole according to the present invention is attached to device A, FIG. 2 is a perspective view of the inner diameter chuck device 10 shown in FIG. 1, and FIG. 2 is a side view (a) and a front view (b) of FIG. 2, and FIG.
What is the relative positional relationship with s' of the loading fin of the other device B? It is an explanatory diagram showing also -28 and 28'. 10... Inner diameter chuck device according to the present invention, 17117
'...Gripping fingers, 18, 18'...Gripping claws, 18
a *is' a-...Engagement groove, 18 b * 18
' +3-Guiding slope, 20... Board, 21... Support plate, 22t2ti... Gripping finger fixing plate, 23... Cylinder, 23a... C stone rod, 24, 24'.
...Guide board, 25t 25'...Guide 0 par, 2
7...Mounting bracket, 3t,)...Flat workpiece 30a...Window hole of the flat workpiece 30. Patent applicant Fujitsu Ltd. Patent agent Akira Aoki Patent attorney Nishidate 11 Patent attorneys 1) Yukio Patent attorney Akira Yamaguchi

Claims (1)

[Claims] 1. A flat workpiece with a window hole is chucked by the inner diameter of the inner edge of the window hole by expanding a plurality of gripping claws from inside the window hole,
In an internal diameter chuck V-pick device for gripping a workpiece, a pair of gripping fingers are arranged horizontally and parallel to each other vertically, and a disc-shaped gripping claw is attached to the front end of each of the gripping fingers. The gripping claws are inserted in a state in which the end surfaces thereof are perpendicular to the axis of the gripping fingers, and an annular retaining groove is provided on the outer peripheral surface of each of the gripping claws and continuously extends along the peripheral surface to fix one of the gripping fingers. , the other is formed to be movable in parallel in the vertical direction along a vertical nozzle.