JPS6250045A - Handling method for brittle articles - Google Patents

Abstract

PURPOSE:To hold an axisymmetrically shaped brittle article having at least two holes in a stable state and to convey said article at a high speed without damaging the article by inserting a pair of gripping claws into the two holes of the article, relatively moving the claws and gripping the part having the higher strength. CONSTITUTION:A handling device is moved over a molding 20 when said molding is formed and is discharged to a prescribed position. The two claws 11, 12 in the state of setting the space therebetween at approximately the center between the holes on both sides are inserted into the respective holes 21a, 23a. A cylinder 6b is then actuated to move a moving side arm 10 toward a stationary side arm 3 so that the claws 11, 12 at the top ends of the arms are grasped in contact with both sides of an intermediate part 22. The centroid of the work can be therefore set between the griping parts. The work is surely gripped even if the gripping force is decreased. The work is thereby conveyed without being dropped.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is applicable to the processing of comparatively soft and easily damaged fragile articles such as cores and pre-sintered compacts using automatic machines such as robots. Concerning methods for handling.

[Conventional technology]

A method of transporting a relatively fragile and easily damaged workpiece 2o, such as a pre-sintered molded body, to a sintering device after it has been molded, using an automatic transport device. Conventionally, as shown in Fig. 6, there is a method in which conveyance is carried out using a device such as a belt conveyor A with the belt conveyor placed on the conveyance surface, and as shown in Fig. 7 (A), The pusher B1 operated by the cylinder B may be used to move the workpiece 20 on the guide surface, or alternatively, the pusher B1 operated by the cylinder B may be used to move the workpiece 20 on the guide surface.
1 is inserted, and the workpiece is conveyed by pulling it on a guide surface by reciprocating the air cylinder C.

However, in the conventional conveyance method described above, when the workpiece is placed on a conveyor and conveyed, undesirable shocks may be applied to the workpiece due to vibrations on the conveyance surface or differences in level at the conveyor connection. . In addition, if a pusher or pin is used to slide the workpiece on the guide surface, friction between the sliding surface and the workpiece may damage the lower surface of the workpiece or damage the part that contacts the handling member. Unfavorable conditions such as smearing are likely to occur.

In order to prevent such damage from occurring,
Methods have been used to reduce vibration and impact by slowing down the transport speed, but this increases the workpiece transport time and causes major problems such as slowing down the cycle time of processing equipment. .

Also, instead of the above-mentioned handling device, an eighth
As shown in the figure, when the workpiece 20 is clamped using the gripping claw D1 of a gripping member such as a robot, when the workpiece has a simple shape, the handling is relatively good. However, in the case of objects with complex shapes such as connecting rods, it is relatively difficult to grasp only the center of gravity, and it is difficult to lift the workpiece in a stable state.
When gripping relatively weak parts such as annular parts at both ends, accidents are likely to occur, such as crushing the parts.

In addition, in conventional sintering equipment, when sintering a compact, a workpiece that is damaged in the furnace may get caught in the transfer member in the furnace, and it takes time to recover. For this reason, it is required to minimize the occurrence of damage during transport of the workpiece.

[Problem that the invention seeks to solve]

The present invention eliminates the drawbacks of conventionally used devices as described above, and makes it possible to stably hold workpieces such as molded bodies that have a special shape and are relatively fragile. The object of the present invention is to provide a handling method that enables high-speed conveyance, and for this purpose, the object is to use a hand using an air cylinder as a driving source.

[Means for solving problems]

The present invention was developed as a result of intensive research into means for achieving the above-mentioned object, and the following method for handling fragile articles was developed.

That is, the method for handling a fragile article of the present invention includes a method for handling a fragile article that has holes in at least two places and is formed in an axially symmetrical shape. Using a gripping device having a pair of gripping claws, each of the pair of gripping claws is inserted into two holes of the fragile article, and the center of gravity is located between the pair of gripping claws, and the center of gravity is located in the middle of the pair of gripping claws, and the gripping claw is inserted into the two holes of the fragile article. This method is characterized in that the fragile article is gripped by relatively moving the gripping claws so as to grip the fragile article.

[Effect]

In the handling method of the present invention, claws are inserted into holes at both ends of a fragile powder compact workpiece before sintering, such as a connecting rod that has a relatively complex shape, and the center of gravity of the workpiece is positioned between the claws. In addition, since the workpiece is transported while being able to grip the strongest part, it is possible to stabilize the posture of the workpiece when it is lifted, and the claws also prevent damage to the weakest part of the workpiece. This will ensure that accidents such as accidents can be prevented from occurring.

〔Example〕

One embodiment of the present invention will be described based on the drawings. As shown in FIG. The large diameter part 21 and the small diameter part 23 are provided with holes 21a and 23a, respectively, and the middle part 22 has an I-shaped cross section. is formed.

This sintered connecting rod shaped body 20 is formed by compression molding iron powder into a predetermined shape.

It is vulnerable to charges and susceptible to damage. However, since the intermediate portion 22 of the sintered connecting rod molded body 20 has a relatively large cross-sectional shape, it has relatively high strength against compression. , the gripping force is applied to the intermediate portion.

One handling device of the present invention shown in FIG. 1 is attached to the tip of an arm of a device such as a robot, and a flange mounting jig 1 is configured to be fixed to the tip of the arm of the robot. There is.

An air cylinder main body 6a is fixed to the flange fixing metal fitting 2, which is fixed to the flange mounting jig 1 using bolts 4, and the fixed side arm 3, using a nut 5.
The cylinder is driven using a solenoid valve 7. Further, the solenoid valve 7 is configured to have its operation controlled via the regulator 13, and by controlling the air supply source 8, the rod 6b is expanded and contracted.
The movable arm 10 provided at the end of b is moved in the direction of arrow A. In each of the embodiments, the air cylinder has a small diameter, and its clamping force is set to be relatively small.

In this example, the fixed arm 3 is provided with a fixed claw 11 at its tip, and the moving arm 10 is also provided with a moving claw 12 at its tip, and these claws 11 and 12 are shown in FIG. In the embodiment shown, the connecting rods are inserted into the holes 21a and 23a of the sintered connecting rod molded body 20, and the interval between the claws is narrowed by the operation of an air cylinder, so that the intermediate portion 22 is held from both sides.

FIG. 4 shows another embodiment of the present invention. In this embodiment, an air cylinder with a larger diameter is used, compared to the example shown in FIG. 1. The clamping force is set large. In this example, flange fixing fittings 2 are attached to both ends of the flange fixing fitting 1.
, 3 are respectively attached, and a stationary arm 3' is fixedly formed at a predetermined intermediate portion thereof, and the air cylinder 6a is fixed to the flange fixing fitting 2.2 using a nut 5.

Then, by driving the air cylinder 6a, the movable arm 10 is moved in the direction of arrow A, and the claws 11 and 12 provided at the lower portions of the fixed arm 3' and the fixed arm 10 are activated. It is configured to hold the sintered connecting rod molded body 20.

Furthermore, the claws 11 and 12 in the device of the present invention are constructed as shown in FIG. 5, respectively. For example, the claw 12 may be formed by curving the surface 12a that contacts the workpiece, and knurling the surface 12a, or simply forming a curved surface 12b. A type 11a with a large diameter and a knurled surface, or a type llb with a small diameter is now used.

In any case, the claw member of the present invention must be configured so that it can be easily inserted into the hole when clamping the workpiece 20 and can perform the clamping operation reliably. A necessary condition is to ensure that the workpiece can be held securely even if some impact is applied to the workpiece.

Furthermore, as will be described later, when performing a clamping operation in the device of the present invention, the work to be handled is a very fragile molded product before sintering, and the clamping force It is necessary to set the capacity of the air cylinder 6a in consideration of the fact that if the clamping force is exerted, the workpiece 20 will be crushed.Furthermore, if the clamping force is weak, sufficient holding will not be possible.

Next, the operation when handling is performed using the apparatus of the present invention will be explained. In the embodiment shown in FIG. 1, when the sintered connecting rod molded body 2° is formed by a method such as press molding and is discharged to a predetermined position, the handling device is moved over it, and the two claws 11 .12
is inserted into each of the holes 21a and 23a with the interval set approximately at the center of the holes on both sides.

Next, the cylinder 6b is actuated to move the movable arm 10 toward the fixed arm 3, and the claws 11 and 12 provided at the tips of these arms are brought into contact with the portions on both sides of the intermediate portion 22, respectively. The clamping action is caused by pressure. In this case, the point of clamping is that the center of gravity of the sintered connecting rod forming body 20 must be aligned with the center axis of the sintered connecting rod forming body 20. Since the claws are formed symmetrically with respect to each other, each claw is engaged with a line passing through point B.

FIG. 3 shows a combination of claws each having the shapes shown in FIG.
The results are shown when a grip test of 0 was performed. Further, the test shown in this figure uses an air cylinder whose piston diameter is 1011I11.40.

As shown in this figure, the formed body 2 for sintered connecting rod
Even when gripping 0 repeatedly, in combinations such as those shown by mouth and 0, that is, when the diameter of the claw 11 on the fixed side is relatively large, even if the gripping force is set large, the sintered connecting rod It has been shown that there is almost no damage when gripping the production form 20, and that the gripping action can generally be performed safely in other cases as well.

Furthermore, the gripping force in the device of the present invention is determined by the air cylinder 6
Although it is determined by the diameter of the piston in a and the pressure of the supplied air, as shown in Fig. 3, even if the gripping force is changed, the gripping force of the member shown in Fig. When gripping against a line passing through the center of gravity, the force for gripping the formed body for sintered connecting rods should be increased from 2 kgf to 47 kg.
Even if it is changed to f, depending on the force within that range,
It has been shown that it can be held safely.

Furthermore, in the test results shown in Figure 3 above, if the sintered connecting rod molded body was not damaged even after being gripped 1000 times or more, the test was discontinued. As can be seen, it is clearly shown that the method of the present invention can reliably and safely grip a sintered connecting rod molded body.

〔Effect of the invention〕

Since the device used in the method for handling fragile articles such as the formed body for sintered connecting rods of the present invention has the above-described configuration, it is possible to accurately bring the bridge member into contact with the predetermined position of the workpiece. This makes it possible to transport the work without damaging it, and in addition, since it is gripped by the handle, the transport operation can be speeded up.

Furthermore, according to the method of the present invention, the center of gravity of the workpiece can be set between the gripping parts, so even if the gripping force is small, the gripping action can be performed reliably, and external force can be applied to the workpiece during transportation. Even if the workpiece is dropped, the workpiece is reliably prevented from falling.

[Brief explanation of drawings]

FIG. 1 is a side view showing the configuration of a handling device of the present invention, FIG. 2 is a plan view showing the configuration of a workpiece that is an object to be handled by the present invention, and FIG. 3 is an explanatory diagram showing the results of a gripping test. FIG. 4 is a side view showing another embodiment of the present invention, and FIG. 5 is a diagram showing the structure of the claw member. C), (
D) is a perspective view showing the structure of the claws on the fixed side, and FIGS. 6 to 8 are explanatory views showing the structure of conventional conveying devices, respectively. 7(B) shows a case using a pusher, FIG. 7(B) shows a case using a pin, and FIG. 8 shows a case using a gripping member of a robot. Reference numerals in the figure: 1...Flange mounting jig, 2...Flange fixing bracket, 3...Fixed side arm, 4...
...Bolt, 5...Natsuto, 6...
・Cylinder, 7... Solenoid valve, 8... Air supply source, 10... Moving side arm, 11...
...Fixed side claw, 12...Moving side claw, 13...
...Regulator, 20...Sintered connecting rod molded body, 21...Large diameter part, 22...
Middle part, 23... Small diameter part.

Claims (1)

[Claims] In a method for handling a fragile article having holes in at least two places and formed in an axially symmetrical shape, a gripping device having a pair of gripping claws whose positions can be relatively moved by a cylinder is used. A pair of gripping claws are each inserted into two holes of the fragile article, and the center of gravity is located between the pair of gripping claws, and the gripping claws are relatively moved so as to grip the strongest part of the fragile article. 1. A method for handling a fragile article, comprising: gripping the fragile article by holding the fragile article.