JPS61189836A - Work handling device of manipulator for forcing - Google Patents
Work handling device of manipulator for forcingInfo
- Publication number
- JPS61189836A JPS61189836A JP2990485A JP2990485A JPS61189836A JP S61189836 A JPS61189836 A JP S61189836A JP 2990485 A JP2990485 A JP 2990485A JP 2990485 A JP2990485 A JP 2990485A JP S61189836 A JPS61189836 A JP S61189836A
- Authority
- JP
- Japan
- Prior art keywords
- cylinder
- tong levers
- switching
- work
- levers
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、鍛造用マニプレータ−のワークノ・ンドリン
ク装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a work link device for a forging manipulator.
従来の鍛造用マニプレータ−のワークハンドリング装置
は、第２図に示すように、開閉する一組のトングレバー
（α） （、）によってワーク（ｂ）を把持するように
なっているのが一般的である。As shown in Fig. 2, conventional workpiece handling devices for forging manipulators generally grip the workpiece (b) with a pair of tongue levers (α) (,) that open and close. It is.
しかしながら、前記従来装置の場合には、ワーク（ｂ）
におけるトングレバー（、） （′ａ）に把持された部
分が未鍛造部となってしまい、この未鍛造部を残さない
ようにするためには、ワーク（６）の向きを１８０
変えて把持し直すか、或いは２台のマニプレータ−を対
峙して配置する必要があった。However, in the case of the conventional device, the workpiece (b)
The part gripped by the tongue lever (,) ('a) becomes an unforged part, and in order to avoid leaving this unforged part, the workpiece (6) should be oriented 180 degrees.
It was necessary to change the position and grasp it again, or to arrange two manipulators facing each other.
本発明はこのような実情に鑑みなしたものである。The present invention has been made in view of these circumstances.
本発明の鍛造用マニプレータ−のワークハンドリング装
置は、ワークを把持する把持部を軸線方向に少なくとも
２組設けた構成としている。A workpiece handling device for a forging manipulator according to the present invention has a structure in which at least two sets of gripping portions for gripping a workpiece are provided in the axial direction.
従って、ワークの把持位置を変えることができ、未鍛造
部がなくなる。Therefore, the gripping position of the workpiece can be changed, and there is no unforged part.
以下、図面に基づいて本発明の詳細な説明する。 Hereinafter, the present invention will be described in detail based on the drawings.
第１図に示す如く、内筒（１）の先端部に扇状のブラケ
ット（２）を固着すると共に、該ブラケット（２）に、
先端にトングヘッド（３）を夫々備えた一対−組の内側
トングレバー（４１（４）の中間部を対峙枢着し、更に
内筒（１）内にロンド（５）を移動可能に挿通せしめ、
該ロンド（５）の先端部に、リンク＋６１ ＋６１を介
し前記内側トングレバー（４） （４）の末端部を連結
し、内筒（１）の後端に設けた開閉シリンダ（７）の操
作により内側トングレバー（４） （４１が開閉し得る
よう構成する。As shown in FIG. 1, a fan-shaped bracket (2) is fixed to the tip of the inner cylinder (1), and the bracket (2) has a
A pair of inner tongue levers (41 (4)) each having a tongue head (3) at the tip thereof are pivoted at their intermediate portions facing each other, and a rond (5) is movably inserted into the inner cylinder (1). ,
The distal end of the inner tongue lever (4) (4) is connected to the distal end of the rond (5) via a link +61 +61, and the opening/closing cylinder (7) provided at the rear end of the inner cylinder (1) is operated. The inner tongue lever (4) (41) is constructed so that it can be opened and closed.
又、内筒（１）の外周部に、内筒（１）より短い外筒（
８）を回転可能に嵌設して該外筒（８）に対し内筒（１
）が軸線方向移動可能となし且つ該外筒（８）の先端に
、前記ブラケット＋２） （２１の外側方に位置するよ
うプラタン） ＋９） （９１を張出し固着すると共に
、該プラタン） （９） （９）の先端部に、先端にト
ングヘッド（１１を備えた一対一組の外側トングレバー
（ＩυαＤの中間部を対峙枢着して、トングヘッドα１
α１と（３１（３）とが軸線方向に並列されるようにし
、更に外側トングレバーαυａυの末端に、ブラケット
（９）（９）に設けた開閉シリーンダαのα２を接続し
、該開閉シリンダα２０の操作により外側トングレバー
（Ｉυａυが開閉し得るよう構成する。In addition, an outer cylinder (1), which is shorter than the inner cylinder (1), is attached to the outer circumference of the inner cylinder (1).
8) is rotatably fitted, and the inner cylinder (1) is connected to the outer cylinder (8).
) is movable in the axial direction, and at the tip of the outer cylinder (8), the bracket +2) (platon 21 is positioned on the outside of 21) +9) (91 is extended and fixed, and the platen) (9) (9), the middle parts of a pair of outer tongue levers (IυαD) each having a tong head (11) are pivoted facing each other, and the tong head α1
α1 and (31(3)) are arranged in parallel in the axial direction, and α2 of the opening/closing cylinder α provided on the bracket (9) (9) is connected to the end of the outer tongue lever αυaυ, and the opening/closing cylinder α20 The outer tongue lever (Iυaυ) can be opened and closed by operating the .
而して、内、外筒（１１（８１の軸線方向に２組の把持
部を形成する。Thus, two sets of gripping portions are formed in the axial direction of the inner and outer cylinders (11 (81).
更に、内、外筒（１） （８）の外周に、一端にて内筒
（１）の後端部を他端にて外筒（８）の先端部を夫々支
承するようにしたケーシングボックスα罎を設けて、該
ケーシングボックスα国を図示しないマニプレータ一本
体側に支持せしめ、且つ該ケーシングボックスａ湯内に
おいて、内筒（１）上にスプラインＩ等を介し軸線方向
移動可能に内筒回転用ギヤα９を取付け、外筒（８）に
外筒回転用ギヤαｅを取付ける。又、ケーシングボック
スα騰の一側部にモータａηを取付けて、該モータａη
の軸ａ秒をケーシングボックス０内に貫入させ、前記ギ
ヤα９αｅと夫々噛合するピニオンａｔＷを前記軸α榎
に対して空転するよう設け、且つ前記軸α樽のピニオン
ａｌ Ｃｎ Ｍ位置に、モータαηの回転力をピニオン
α優又は（イ）に選択的に伝達するためのスライドクラ
ッチ機構Ｑカを設け、各駆動系には非駆動の内筒（１）
又は外筒（８）が回転しないように図示しないブレーキ
を配設する。更に前記ケーシングボックスａ３の後側面
部にブラケット（２）を張出し、該ブラケット（社）に
、一端を押引シリンダ（至）と接続したレバーＱ４の中
間部を枢着すると共゛に、該レバー（財）の他端部を、
内筒（りの後端部又はシリンダ（７）部に、内筒（１）
側が回転可能なよう係合せしめる。Further, a casing box is provided on the outer periphery of the inner and outer cylinders (1) (8), with one end supporting the rear end of the inner cylinder (1) and the other end supporting the tip of the outer cylinder (8), respectively. The casing box α is supported on the main body side of the manipulator (not shown), and the inner cylinder is movable in the axial direction via a spline I or the like on the inner cylinder (1) in the hot water of the casing box a. Attach the rotation gear α9 and attach the outer cylinder rotation gear αe to the outer cylinder (8). Also, a motor aη is attached to one side of the casing box α, and the motor aη
The axis a second of the axis a is inserted into the casing box 0, and the pinion atW meshing with the gear α9αe is provided to rotate idly with respect to the shaft α, and a motor αη is installed at the pinion al Cn M position of the axis α barrel. A slide clutch mechanism Q is provided for selectively transmitting the rotational force of
Alternatively, a brake (not shown) is provided to prevent the outer cylinder (8) from rotating. Furthermore, a bracket (2) is extended from the rear side of the casing box a3, and the middle part of a lever Q4, one end of which is connected to a push/pull cylinder (to), is pivoted to the bracket. The other end of the (foundation)
The inner cylinder (1) is attached to the rear end of the inner cylinder (ri) or the cylinder (7).
The two sides are rotatably engaged.
斯かる構成において、内側トングレバー（４） （４）
の開閉は、開閉シリンダ（７）を操作してロンド（５）
を押引するこ゛とにより行われ、外側トングレバーａυ
αυの開閉は、開閉シリンダαａａａの操作によって行
われる。又、内側トングレバー＋４１ ＋４）と外側ト
ングレバーαυ（Ｉｌｌの回転は、スライドクラッチ機
構０υの位置を選定して、モータαηの回転力をビニオ
ン（１１からギヤα啼を介し内筒（１）へ伝えるか、或
いはビニオン（至）からギヤαｅを介し外筒（８）へ伝
えることによって得られる。一方、内筒（１）は押引シ
リンダ（ハ）の操作によって外筒（８）に対し軸線方向
に移動し得）ので、内側トングレバー（４） ＋４）と
外側トングレバー住υ（１１Ｊとの軸線方向の相対０位
置が変えられる。In such a configuration, the inner tongue lever (4) (4)
To open and close the Rondo (5), operate the opening/closing cylinder (7).
This is done by pushing and pulling the outer tongue lever aυ
The opening and closing of αυ is performed by operating the opening and closing cylinder αaaa. In addition, the rotation of the inner tongue lever +41 +4) and the outer tongue lever αυ (Ill) is performed by selecting the position of the slide clutch mechanism 0υ, and transmitting the rotational force of the motor αη from the pinion (11 to the inner cylinder (1) through the gear α). or by transmitting the signal from the binion (to) to the outer cylinder (8) via the gear αe.On the other hand, the inner cylinder (1) is moved against the outer cylinder (8) by the operation of the push/pull cylinder (c). (can be moved in the axial direction), so the relative zero position in the axial direction between the inner tongue lever (4) +4) and the outer tongue lever (11J) can be changed.
従って、例えば、ワーク（ハ）の把持を内側トングレバ
ー（４） （４）で受持って鍛造作業を行った後、外側
トングレバーαυαυで把持を受持って内側トンクレバ
ー（４）（４）ヲ開ケバ、内側トングレバー（４１（４
）で把持していた部分の鍛造が可能となり、未鍛造部が
なくなる。又、前記したように、内側） ７ｆＶバー（
４１（４）ト外側）ングレバーαυαυハ回動可能で且
つ把持位置が適宜選定できるので、その形状、寸法等に
対応してワーク（ハ）の鍛造作業を精度よく行うことが
可能となる。Therefore, for example, after performing forging work with the inner tongue lever (4) (4) taking charge of gripping the workpiece (c), the inner tongue lever (4) (4) is done with the outer tongue lever αυαυ taking charge of gripping the workpiece (C). Open the flap, inner tongue lever (41 (4)
) can now be forged, eliminating unforged parts. Also, as mentioned above, inside) 7fV bar (
41(4) (outside) Since the lever αυαυ can be rotated and the gripping position can be selected as appropriate, it is possible to perform the forging work of the workpiece (c) with high accuracy in accordance with its shape, dimensions, etc.
このように、本発明においては、ワークの向きを１８０
°変えることなく、又２台のマニプレータ−を用意する
ことなくワーク（ハ）を持ち変えることができる。In this way, in the present invention, the orientation of the workpiece is 180 degrees.
The workpiece (c) can be changed without changing the workpiece or preparing two manipulators.
尚、前記実施例では、内側トングレバー（４１（４）と
外側トングレバーαυαυの両方を回転できるようにし
たが、いずれか一方だけを回転できるようにしておけば
、ワーク（至）の周方向位置を変えることができる。。In the above embodiment, both the inner tongue lever (41(4)) and the outer tongue lever αυαυ are rotatable, but if only one of them is rotatable, the circumferential direction of the workpiece (to) can be rotated. You can change the position.
以上説明したように、本発明の鍛造用マニプレータ−の
ワークハンドリング装置によれば、ワークの向きを１８
０°変えたり、２台のマニプレータ−を用意することな
くワークの把持位置を変更でき、未鍛造部をなくすこと
ができる、と言う優れた効果を奏し得る。As explained above, according to the workpiece handling device for a forging manipulator of the present invention, the direction of the workpiece can be
The gripping position of the workpiece can be changed without changing 0° or preparing two manipulators, and the unforged portion can be eliminated, which is an excellent effect.
第１図は本発明の鍛造用マニプレータ−のワークハンド
リング装置を示す断面図、第２図は従来例の説明図であ
る。
（１）は内筒、（４）は内側トングレバー、（５）はロ
ッド、（７）は開閉シリンダ、（８）は外筒、αυは外
側トングレバー、αりは開閉シリンダ、αηはモータを
示す。FIG. 1 is a sectional view showing a work handling device for a forging manipulator according to the present invention, and FIG. 2 is an explanatory view of a conventional example. (1) is the inner cylinder, (4) is the inner tongue lever, (5) is the rod, (7) is the open/close cylinder, (8) is the outer cylinder, αυ is the outer tongue lever, α is the open/close cylinder, αη is the motor shows.
Claims (1)
組設けたことを特徴とする鍛造用マニプレーターのワー
クハンドリング装置。1) At least two gripping parts in the axial direction that grip the workpiece
A work handling device for a manipulator for forging, characterized in that it is assembled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2990485A JPS61189836A (en) | 1985-02-18 | 1985-02-18 | Work handling device of manipulator for forcing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2990485A JPS61189836A (en) | 1985-02-18 | 1985-02-18 | Work handling device of manipulator for forcing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61189836A true JPS61189836A (en) | 1986-08-23 |
| JPH0227054B2 JPH0227054B2 (en) | 1990-06-14 |
Family
ID=12288965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2990485A Granted JPS61189836A (en) | 1985-02-18 | 1985-02-18 | Work handling device of manipulator for forcing |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61189836A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4878373A (en) * | 1987-03-03 | 1989-11-07 | Dave Mckee (Sheffield) Limited | Peel assembly for an ingot manipulator |
| CN102632503A (en) * | 2012-05-07 | 2012-08-15 | 南车戚墅堰机车有限公司 | Hydraulic directional clamping mechanical arm |
| CN103272958A (en) * | 2013-06-02 | 2013-09-04 | 南京星乔威泰克汽车零部件有限公司 | Automatic stamping-angle-variable overturning and clamping mechanism for stamping |
| CN104148569A (en) * | 2014-08-12 | 2014-11-19 | 青岛华东工程机械有限公司 | Clamp head clamping mechanism of forging manipulator |
| CN104162605A (en) * | 2014-07-08 | 2014-11-26 | 安徽鲲鹏装备模具制造有限公司 | Large-size plate clamp and product forming machine |
| CN104525821A (en) * | 2014-12-26 | 2015-04-22 | 无锡透平叶片有限公司 | Manipulator jaw structure used for numerical-control hammer forging blanking |
| CN104785702A (en) * | 2015-04-03 | 2015-07-22 | 浙江大学 | Novel heavy-load clamping device achieving single-drive four-finger synchronous clamping |
| CN104942801A (en) * | 2015-06-26 | 2015-09-30 | 燕山大学里仁学院 | Gear motor driven type mechanical hand |
| CN105904274A (en) * | 2016-05-25 | 2016-08-31 | 余姚市嘉力机械设备制造有限公司 | Mechanical arm |
| EP3147088A1 (en) * | 2015-08-28 | 2017-03-29 | TE Connectivity Corporation | Gripper with conformal spring fingers |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5117645U (en) * | 1974-07-27 | 1976-02-09 |
-
1985
- 1985-02-18 JP JP2990485A patent/JPS61189836A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5117645U (en) * | 1974-07-27 | 1976-02-09 |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4878373A (en) * | 1987-03-03 | 1989-11-07 | Dave Mckee (Sheffield) Limited | Peel assembly for an ingot manipulator |
| CN102632503A (en) * | 2012-05-07 | 2012-08-15 | 南车戚墅堰机车有限公司 | Hydraulic directional clamping mechanical arm |
| CN103272958A (en) * | 2013-06-02 | 2013-09-04 | 南京星乔威泰克汽车零部件有限公司 | Automatic stamping-angle-variable overturning and clamping mechanism for stamping |
| CN103272958B (en) * | 2013-06-02 | 2016-06-29 | 南京星乔威泰克汽车零部件有限公司 | For the upset clamping device that punching automation punching press angle changes |
| CN104162605A (en) * | 2014-07-08 | 2014-11-26 | 安徽鲲鹏装备模具制造有限公司 | Large-size plate clamp and product forming machine |
| CN104162605B (en) * | 2014-07-08 | 2016-04-13 | 安徽鲲鹏装备模具制造有限公司 | A kind of large size plate clamp and product forming machine |
| CN104148569A (en) * | 2014-08-12 | 2014-11-19 | 青岛华东工程机械有限公司 | Clamp head clamping mechanism of forging manipulator |
| CN104525821A (en) * | 2014-12-26 | 2015-04-22 | 无锡透平叶片有限公司 | Manipulator jaw structure used for numerical-control hammer forging blanking |
| CN104785702A (en) * | 2015-04-03 | 2015-07-22 | 浙江大学 | Novel heavy-load clamping device achieving single-drive four-finger synchronous clamping |
| CN104942801A (en) * | 2015-06-26 | 2015-09-30 | 燕山大学里仁学院 | Gear motor driven type mechanical hand |
| EP3147088A1 (en) * | 2015-08-28 | 2017-03-29 | TE Connectivity Corporation | Gripper with conformal spring fingers |
| CN105904274A (en) * | 2016-05-25 | 2016-08-31 | 余姚市嘉力机械设备制造有限公司 | Mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0227054B2 (en) | 1990-06-14 |
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