JPS61219433A - Gripping device in gripper feeding - Google Patents

Abstract

PURPOSE:To obtain the titled device having sufficient gripping force and excellent durability and high velocity by energizing with pressing means the movable gripping member supported by the main body of the movable grip via a link and by constituting the gripping part with the co-work of the stationary gripping part. CONSTITUTION:Gripping parts 25a, 25b are formed by arranging the movable gripping members 24a, 24b which are located in opposition to the stationary gripping part 23 fixed to the main body 21 of a movable gripper and which holds with pinching the transfer material 14 in the co-work therewith in the movable gripping main body 21 to transfer in the arrow mark direction with gripping the transfer material 14 by reciprocating in the arrow mark direction on a guide shaft 22. Said movable gripping members 24a, 24b are fitted to said main body 21 by a pin 30a, 30b, 31a, 31b respectively via the first and second links 26a, 26b, 28a, 28b, and the energization and the release thereof on the holding with pinching are performed by spring 32a, 32b and a release cam 33.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a clipper feed for conveying materials such as processed materials of press machines.

<Prior art> When a press machine continuously punches, bends, etc. a workpiece, it is necessary to transport the workpiece at a constant timing with the reciprocating movement of the ram of the press machine.
Gripper feed is commonly used for this conveyance.

FIG. 4 is a partially cutaway front view of the main part of a conventional gripper feed. As shown in FIG. 4, the conventional gripper feed has a fixed gripper 11 and a movable gripper 12, and the movable gripper 12 is guided by a guide shaft 13 so that it can reciprocate along the conveyance direction of the conveyed material 14. It has become. The fixed gripper 11 and the movable gripper 12 each have fixed grip portions 15 facing each other while holding the conveyed material 14 between them.
and a movable gripping pawl 16, the movable gripping pawl 16 is movable in a direction perpendicular to the surface of the conveyed material 14, and is biased toward the conveyed material 14 by a spring 17, and the movable gripping pawl 16 is biased toward the conveyed material 14 by the spring force. This allows the fixed grip portion 15 and the movable grip claws 16 to pinch and grip the conveyed material 14. In such gripper feed, the movable gripper 12 grips the conveyed material 14, and the defining gripper 11 moves the movable grip claws 16 away from the conveyed material 14 against the spring 17 to be in an open state (release state). The gripper 12 is moved in the conveyance direction to convey the material 1.
4 is transferred by a predetermined amount. After that, the solid gripper 11 grips the material to be transported 14, and the movable gripper 12 is opened, the movable gripper 12 returns to its original position, the material to be transported 14 is gripped again, and the transport operation described in -1- is performed. . Grasping and releasing of the conveyed material 14 by the fixed gripper 11 and the movable gripper 12 and movement of the movable clipper 12 are performed by a crank mechanism (not shown) that is interlocked with the reciprocation of the press ram.

<Problems to be solved by the invention> In this type of gripper, the self-adjusting gripper 12
When moving the conveyed material 14 to the gripper section (movable gripper 12
A large force due to inertia etc. acts in the opposite direction to the conveying direction when the conveyor starts (starting), and a similar force acts in the same direction as the conveying direction when the conveyor stops. However, as described in 1-1 above, the gripper force of the conventional movable gripper 12 for gripping the conveyed material 14 is due to the force of the spring 17 to simply force the movable gripping claws 16 onto the conveyed material 1.
This is achieved by the frictional force that is applied perpendicularly to the surface of 4, so a large inertial force acts upon starting and stopping between the 6-wing grip pawl 16 and the conveyor material screw 114. There was a problem in that edges were likely to occur. This becomes a big problem under conditions where presses are operated at high speeds and highly accurate material feeding is required. On the other hand, there is also a method of increasing the spring force of the spring 17 to prevent slippage, but in this case, a large force is required when the movable grip claw 1G is opened against the spring 17, and the durability and high speed are reduced. "sexuality" causes problems.

<Means to Solve the Problems> The present invention solves the problems in the conventional gripper feed described above, and provides a grip for the clipper feed that provides sufficient gripping force and is excellent in durability and high speed. The purpose is to provide equipment.

To achieve this object, the gripping device of the gripper feed according to the present invention has a configuration including a fixed grip part fixed to the main body, and a fixed grip part located opposite to the fixed grip part while holding the material to be conveyed. a movable grip member having a grip part for pinching and gripping the conveyed material in cooperation with the movable grip member; first and second links supporting the movable grip member, pressing means for urging the movable grip member to press the grip portion toward the fixed grip portion, and release means for releasing the old force exerted by the pressing means. It is characterized by having the following.

〈Operation〉 The movement of the jig is restrained by the moving jig 9, and by appropriately selecting the configuration angle of each link, the grip part of the IR moving dagrip member is pressed by the pressing means with a force substantially perpendicular to the surface of the conveyed material. At the same time, the grip portion is pushed even more strongly against the surface of the conveyed material due to inertial force or the like acting along the conveyance direction, thereby preventing slippage between the grip portion and the conveyed material.

<Example> An example of the present invention will be described in detail below with reference to FIGS. 1 to 3. FIG. 1 is a partially cutaway top view of a movable gripper portion of a gripper feed according to an embodiment of the present invention, FIG. 2 is a perspective view of the main part thereof, and FIG. 3 is an explanatory view of the operation.

The movable gripper body 21 is guided by a guide shaft 22 so as to be movable along the conveyance direction of the conveyed material 14. A fixed grip part 23 is fixed to the main body 21 and is located on the lower surface side of the conveyed material 14.
A pair of movable grip members 24a and 24b are disposed on the upper surface side of the movable grip member 24, facing the fixed grip portion 23. At the lower ends of the movable grip members 24a and 24b, there is a conveyed material 14.
Grip portions 25a and 25b are respectively formed to abut on the fixed grip portion 23 and the movable grip member 24a,
24bc7) The conveyed material 14 is gripped by the grips 25a and 25b.

One movable grip member 24a has its grip portion 25.
One end of the first link 28a is pivotally connected to the pin 27a in proximity to the first link 28a, and one end of the second link 28a is pivotally connected to the upper part of the first link 28a by the pin 28a, while the first and second links 28a , 28a are located opposite to each other with respect to the movable grip member 24a and are pivotally connected to the main body 21 by pins 30a, 31a, whereby the movable grip member 24a is supported relative to the main body 21. A spring 3 serving as a pressing means is provided between the movable grip member 24a and the main body 21 at the upper end of the movable grip member 24a on the opposite side from the grip portion 25a.
2a is provided, and the bulge 1 of the spring 32a also biases the top end of the movable grip member 24a to the left in FIG. 1 by the spring force. Furthermore, a release cam 3 serving as a release means is provided between the movable grip member 24a and facing the spring 32a.
3 is provided, and the movable grip member 2 is rotated by a drive source (not shown) against the spring force of the spring 32a.
4a is pushed back. Further, a rotation stopper 34a of the movable grip member 24a is implanted in the main body 21.

The other movable grip member 24b is symmetrical to the movable grip member 24a laterally (front and back in the conveying direction of the conveyed material 14) with respect to the center line in FIG. 1, and the movable grip member 24b is similarly symmetrical. , first and second pivoted to the main body 21 by pins 3Qb and 31b, respectively.
The links 28b, 28b are pivotally connected to the movable grip member 24b by pins 27b, 29b, and the spring 3
2b, it has a shared release cam 331 rotation stopper 34b.

The operation of such a configuration will be explained with reference to FIG. 3. In addition, FIG. 3 shows one movable grip member 24.
Only a is shown. When the biasing force P is applied to the upper end of the movable grip member 24a by the spring 32a, the movable grip member 24a rotates clockwise while being restrained by the rotation trajectory of the first and second links 28a, 28a, that is, the motion trajectory of the pins 27a, 28a. At the same time, it moves downward, and the conveyed material 14 is pinched and gripped with a grip force F between the grip part 25a provided at the lower end and the fixed grip part 23 fixed to the main body 21.

The grip force F increases as the angle θl in FIG. 3 becomes larger and as the angle θ2 becomes smaller. Therefore, when the movable gripper main body 21 starts to the right after gripping the conveyed material 14, a large tension is exerted in the direction opposite to the movement (X direction) due to inertia force, sliding resistance, etc. acting on the conveyed material 14. This force acts in the direction of increasing the angle θl of the first link 2Ba and decreasing the angle θ2 of the second link 28a due to friction between the grip portion 25a and the surface of the conveyed material 14. As a result, the grip force F increases, and slippage at the grip portion during startup is prevented.

Similarly, in the other movable grip member 24b, when the opposite force in the Y direction is (fJ), the swelling force F increases. That is, in this embodiment, the force is 0f.

The movable grip member 24a prevents the gripper body 21 from sagging due to the tension in the X direction that is applied when the gripper body 21 is started, and prevents the other movable grip member 24b'-q from sagging due to the tension in the Y direction that is applied when the gripper body 21 is stopped. As a result, damage can be completely prevented in both cases of start-up and temporary stop, and highly accurate conveyance during high-speed operation is possible.

In this embodiment, a pair of movable grip members are provided for the movable glyph; however, the present invention can also be applied to a fixed gripper, such as by providing only one Iif movable grip member.

<Effects of the Invention> As described above in detail with reference to one embodiment, according to the present invention, sufficient gripping force can be obtained without causing sagging even when a large force is applied, such as when starting or stopping. Because it is possible to
It enables highly accurate conveyance during high-speed operation and has excellent durability.

[Brief explanation of the drawing]

1st. - Figures 3 to 3 relate to one embodiment of the present invention, and the first
The figure is a partially cutaway front view of the movable gripper section of the gripper feed, FIG. 2 is a perspective view of the main part thereof, and FIG. 3 is a state tax diagram. FIG. 4 is a partially cutaway front view of the main part of a conventional green engine. In the figure □, 14 is a conveying material □, 21 is a movable gripper main body, 23 is a fixed grip part, 24a, 24b are movable grip members, 25a, 25
b is the grip part, 28a, 2[1b is the first link, 28a, 2sb+1'l12 link, 32a, 3
2b is a spring, and 33 is a release cam.

Claims (1)

[Claims] A movable grip member having a fixed grip part fixed to the main body, and a grip part that is located opposite to the fixed grip part while holding the material to be transported and cooperates with the fixed grip part to clamp and grip the material to be transported. first and second links having one end pivotally connected to the main body and the other end pivotally connected to the movable grip member to support the movable grip member; and biasing the movable grip member. 1. A gripping device for a gripper feed, comprising: a pressing means for pressing the grip portion toward the fixed grip portion; and a releasing means for releasing the biasing force of the pressing means.