JPS61257721A - Positioning device in clamp of bar-shaped part - Google Patents

Abstract

PURPOSE:To enable a part to be positioned in its axial line direction while clamping the part through hands, by providing a stopping block in one hand while an extruding device in the other hand. CONSTITUTION:Two fingers 122 can be opened and closed by finger driving units 121 of right and left hands 12 provided hanging and opposed in the lower of a hand main unit 11, and the finger 122 provides inside a V-shaped clamp groove 123 respectively. While the clamp groove 123, providing in its both sloped surfaces respectively rollers 123a, enables a clamped shaft-shaped part to be moved and adjusted in its axial lie direction. Further the hand 12 provides in its outside a stopping block 13 in one side while an extruding device 14 in the other. Accordingly, a positioning device, while clamping the shaft-shaped part lined on a part lining pallet 15, presses the part to the stopping block 13 by the extruding device 14.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention is useful for clamping rod-like parts, such as shaft-like parts, arranged on a gret using an artificial clamp and supplying them to an assembly or processing device. The present invention relates to a clamp positioning device for parts.

(Prior art) In recent years, assembly work using rodets for electronic devices has been actively carried out, but a plurality of rod-shaped parts, such as shaft-shaped parts, are arranged on a glossy surface and then moved to the next assembly processing device using an artificial hand. Conventionally, the clamping position of the shaft-shaped component was regulated by the method shown in FIG. 5. In Fig. 5, 1 is part alignment 1? 2 is a shaft-shaped component, 3 is a V-groove plate having a predetermined height and a cross-section with a plurality of V-shaped grooves arranged at its upper end, and 4 is on the outside of one V-groove plate 3. The provided holding plate 5 is an extrusion device provided on the outside of the other V-groove plate, and simultaneously presses a plurality of shaft-shaped parts 2 against the holding plate 4 to position them in the axial direction. and,
6 is a hand.

To explain the operation of the conventional device configured as above,
Component Alignment: When the shaft-shaped components 2 are arranged in the V-shaped grooves of the pair of V-groove plates 3 arranged oppositely on the gullet 1, these shaft-shaped components are aligned at a predetermined height and interval. Therefore, when the extrusion device 5 is activated, the plurality of shaft-like parts 2 are pushed out all at once and pressed against the presser plate 4, so that the positioning of the shaft-like parts in the axial direction is completed. Therefore, when the hand 6 is lowered in this state, the clamp position has been regulated, and the above operations are sequentially repeated to supply the shaft-like component 2 to an assembly and processing device (not shown).

(Problems to be Solved by the Invention) However, in the device with the above configuration, (1) the extrusion device 5 is required, and (2) when the parts alignment pallet 1 is replaced, the V-groove plate 3 and the presser plate 4 are Variations in the relative accuracy between component alignment rules, including arrangement accuracy, affect the relative positional accuracy of the shaft-shaped component 2 in the axial direction, and (3) the shaft-shaped component affected by these When parts are clamped and supplied by a hand, there are many problems such as an adverse effect on the assembly processing equipment.

The present invention solves (2) out of the problems that the prior art had.
) and (3), the purpose is to ensure the same positional accuracy whenever a shaft-shaped component is clamped by a node, and to ensure stable supply to the assembly processing equipment.

(Means for Solving the Problems) The structure of the present invention for achieving the above object will be explained using FIGS. 1 to 3 corresponding to the embodiments. In a positioning device for clamping rod-shaped parts aligned with a hand by a hand, left and right hands 12.
V-shaped clamp grooves 123 are provided on the inner sides of the two fingers 122 that can be opened and closed in the 12 finger driving portions 121, and rollers 1231L are provided on both shoulder surfaces of the clamp grooves to clamp the fingers. The hand 12 is provided with a stop block 13 on one side and an extrusion device 14 on the other side.
The shaft-like parts 152 arranged in the same direction as 5 are pressed against the stopper 13 by the extrusion device 14 while being clamped.

(Function) According to the present invention, since the positioning device for clamping a rod-shaped component, for example, a shaft-shaped component, is configured as described above, the fingers 122 of the hand 12 are opened and closed by the operation of the finger driving section 121, and the shaft-shaped component 152 is opened and closed. When clamped, roller 123a
At the same time, the shaft-like part 152 is pushed out by the push-out device 14 provided on the outside of the hand 12, and is then pushed out by the stopper 13 provided on the opposite side. Because I can be held back,
The position in the axial direction at which the hand 12 clamps the shaft-like parts 152 is always constant for the shaft-like parts 152 that are sequentially clamped, and the clamping grooves 123 of the fingers 122 are formed in a figure 7 shape and the rollers 123a Therefore, the height or lateral positional deviation of the shaft-like component 152 during clamping is absorbed when clamping is completed, so positioning accuracy in the direction perpendicular to the axial direction is also ensured.Therefore, the above problem can be solved. Points can be removed.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view showing the entire hand structure of the present invention, and FIG. 2 is a detailed view of the finger portion of the hand. . In both figures, 11 is a hand body, 12 is a pair of hands vertically installed below the hand body 11, 121 is a finger drive unit that drives fingers 122, and 123 is a V-shaped part provided on the surface facing the fingers 1220. A roller 123a is provided on the inclined surface of the clamp groove as shown in the figure, and is rotatable in a direction perpendicular to the opening/closing direction of the finger 122 (see FIG. 2). 13 is a stop block vertically installed near the outside of one hand 12, and 14 is an extrusion device installed near the outside of the other hand 12, which includes a small cylinder 141, a pusher, and a pusher 142 as driving parts.
and a guide rod 143 which has the function of preventing rotation of the push block 142 and guiding it. In this case, the stop block 13 serves as an axial reference for receiving and stopping the end of the shaft-shaped component pushed in the axial direction by the extrusion device 14.

Next, the operation of the present invention will be explained using FIG. 3. FIG. 3(I) shows the state before the hand 11 descends in the direction of the arrow and clamps the shaft-like parts 152 aligned in the 7-shaped grooves of the V-groove plate 151 installed opposite to the parts alignment/pick 15. Indicates the condition. First, the positioning of the shaft-shaped component 152 in the axial direction is regulated within the stroke range of the extrusion device 14 by the component aligner 4let 15. Next, see Figure 3 (
As shown in FIG. 3(II), when the hand main body 11 is lowered and the left and right hands 12 are clamping the shaft-shaped component 152, the extrusion device 14 is not activated yet, and the state shown in FIG.
), the shaft-like component 152 is clamped for the first time, the hand body 11 rises, and at the same time the push-out device 14 operates to press the shaft-like component 152 against the stop block 13, completing the axial positioning.

As described above, the present invention has the clamp positioning effect in the axial direction, but at the same time, it also has the positioning effect in the direction perpendicular to the axial direction. That is, as shown in FIG. 4, since the fingers of the left and right hands both have V-shaped clamp grooves,
Even if there is a positional deviation in the direction perpendicular to the axial direction as shown in Figure 4 (1) or (If) at the beginning of clamping, the positional deviation will be absorbed when clamping is completed as shown in Figure 4 (E). This has the effect of regulating the positioning also in the direction perpendicular to the axis of the shaft-like component.

(Effects of the Invention) As described in detail above, according to the present invention, in the conventional device, a stop block and a push-out device as an axial regulating device are provided on the component alignment pallet, so that the problem occurs when replacing the component alignment pallet. In contrast to the negative effects caused by variations in relative accuracy between the left and right sides, the present invention provides a shaft-like component adjusting device, that is, a stop block and a pushing device on the hand body. , the negative effects caused by component alignment and replacement of gorets are eliminated, and while the shaft-shaped component is clamped by the hand, the clamp positioning accuracy in the axial direction is ensured by the adjustment device, and the rollers provided in the V-shaped clamp groove of the finger are This ensures the positioning of shaft-shaped parts in the direction perpendicular to the axial direction, and can be expected to provide stable and highly accurate supply to assembly processing equipment.Furthermore, the present invention can be applied to rod-shaped parts other than shaft-shaped parts. It is possible.

[Brief explanation of drawings]

Fig. 1 is a schematic perspective view showing the hand structure of the embodiment of the present invention, Fig. 2 is a partial detailed view, Fig. 3 is an explanatory diagram of each state of the component clamp, and Fig. 4 is perpendicular to the axis of the shaft-shaped component. FIG. 5 is a perspective view of the conventional device. 11...Hand body, 12...Hand, 121...
- Finger drive unit, 122... Finger, 123... Clamp groove, 123a... Roller, 13... Stop block, 14
... Extrusion device, 141 ... Small cylinder, 14
2... Push block, 143... Guide rod, 15.
・・Parts alignment pallet, 151・V groove plate, 152・
・Shaft-shaped parts. Patent Applicant Oki Electric Industry Co., Ltd. Figure 2 123α: 2u Figure 4 Procedural Amendment (Master) 61.2.12 Showa Year Month Date

Claims (1)

[Claims] In a positioning device for clamping rod-like parts arranged on a pallet with hands, V is installed inside a pair of fingers that can be opened and closed on both hands that are vertically installed on the hand body.
In addition to providing a letter-shaped clamping groove, rollers are provided on both slopes of this clamping groove to enable movement and adjustment of the clamped rod-shaped component in its axial direction, and a stop block is provided on one side on the outside of both hands of the hand body. A positioning device for clamping a rod-shaped part, characterized in that the other is provided with an extrusion device, and the clamping position in the axial direction and the direction perpendicular thereto is regulated by pressing the rod-shaped part against a stop block while clamping. .