JPS634587Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to an interlocking mechanism for a workpiece holding device that requires two movements with different start timings.

(Prior Art) In general, interlocking mechanisms that require two movements are equipped with separate actuators to perform each movement, and each actuator is individually controlled to correspond to the timing of each movement. There is.

(Problems to be Solved by the Invention) According to the above configuration, not only a plurality of actuators are required, but also the number of related parts increases, which tends to lead to an increase in the size of the entire interlocking mechanism. Moreover, the control device for controlling the operation of each actuator also becomes complicated and large.

(Means for solving the problems) In order to solve the above problems, the present invention is configured as follows. That is, in FIG. 1, a transfer link 4 is rotatably attached to a support arm 2 fixed to a base 1, and a substantially middle portion of a holding arm 11 is also rotatably attached to this link 4. installed. A spring 6 is provided between the support arm 2 and the transfer link 4, which always applies a rotational force to the link 4 in the operating direction (transfer direction) for holding the workpiece 21. The amount of rotation of the link 4 due to the elasticity of the spring 6 is regulated by stoppers 7 and 8.

On the other hand, the tip of an actuation rod 15 of an actuator 14 such as a hydraulic cylinder or an air cylinder mounted on the base 1 side (which may be a part of the support arm 2 as shown) is connected to one end of the holding arm 11. has been done.

(Function) In the above configuration, when the operating rod 15 of the actuator 14 in the state shown in FIG. The transfer link 4 to which rotational force is applied rotates relative to the support arm 2. After the rotation of the link 4 is restricted by the stoppers 7 and 8, the holding arm 11 then rotates relative to the link 4. In this way, for example, when holding the workpiece 21, the transfer link 4 is first rotated by controlling the operation of the single actuator 14, and then the holding arm 11 is rotated to hold the workpiece 21. Conversely, when releasing the holding of the workpiece 21, the holding arm 11 in the workpiece holding state is first rotated, and then the transfer link 4 is rotated.

(Example) Hereinafter, the configuration of the present invention will be specifically explained according to an example shown in the drawings.

In FIG. 1, the lower end of the support arm 2 whose upper end is fixed to the base 1 extends diagonally downward to the left, and one end of the transfer link 4 is rotatably attached thereto by a hinge pin 5. There is.
At the other end of this transfer link 4, a holding arm 11 is provided.
Similarly, approximately the middle portion thereof is rotatably attached by a hinge pin 13. Between this support arm 2 and the transfer link 4, there is a clockwise direction (hereinafter referred to as the "transfer direction") in FIG. 1 with respect to the link 4.
A tension spring 6 is applied to constantly apply rotational force to the shaft. Further, a stopper claw 7 is integrally formed at the end of the transfer link 4 on the hinge pin 5 side, and when this stopper claw 7 comes into contact with a stopper bolt 8 attached to the support arm 2 side, Link 4
The amount of rotation in the transfer direction is now regulated.

A holding claw 12 for holding a workpiece 21, which will be described later, is fixed to one end of the holding arm 11, and the tip of an operating rod 15 of an actuator 14 such as a hydraulic cylinder or an air cylinder is connected to a connecting tool 16 at the other end. and are connected by a pin 17. Note that this actuator 14
The base end of the support arm 2 is rotatably supported by a pin 10 to a bracket 3 formed on a part of the support arm 2.

When the workpiece 21 has been processed, for example by welding, as shown in FIG.
After that, the workpiece is an object to be sent to the next predetermined process by the workpiece holding device of this embodiment.

In the above configuration, when holding the workpiece 21, the reference member 22 is first rotated about its pin 23 from the state shown by the solid line in FIG. 1 to the state shown by the imaginary line and retreated. After that, control of the actuator 14 described above is started. By controlling this actuator 14, the operating rod 1
5 starts the ejecting operation, the link 4, which is given the amount of rotation in the transfer direction by the tension spring 6 as described above, moves clockwise before the holding arm 11 rotates relative to the link 4. Start rotating in the rotation direction (transfer direction).
The rotation of the link 4 is regulated by the stopper pawl 7 coming into contact with the stopper bolt 8 of the support arm 2, so that the link 4 is locked at the rotational position (transfer position) shown by the solid line in FIG. state. As the actuator 14 continues to protrude the operating rod 15, the holding arm 11 begins to rotate clockwise relative to the link 4, as shown in FIG. The first stopper pin 18 is connected to the link 4.
It rotates until it comes into contact with the first stopper surface 9a of the stopper block 9 which is fixed in advance on the side.
The base 1 rises from the state shown in FIG. 3, so that the workpiece 21 is held by the workpiece holding claw 12 of the holding arm 11.

Next, the operation of sending the workpiece 21 held as described above to the next process will be explained. When the operating rod 15 of the actuator 14 starts to move backward from the state shown in FIG.
The link 4 attempts to rotate counterclockwise around the rotation center 3, but the elasticity of the tension spring 6 acts on the link 4 as resistance against the rotation direction at this time. Therefore, the actuator 14
When the operating rod 15 moves backward, the holding arm 11 starts rotating counterclockwise before the link 4 rotates. The rotation of the holding arm 11 is stopped when the second stopper pin 19 comes into contact with the second stopper surface 9b of the stopper block 9 on the link 4 side (see the solid line in FIG. 2). In this way, holding arm 1
1 moves backward as shown by the solid line in FIG. 2 from the holding state of the work 21 shown by the imaginary line in FIG. It is.

Now, from the state shown in Fig. 2, actuator 1
When the actuating rod 15 is further retracted at 4, the holding arm 11 can no longer pivot relative to the link 4, and the link 4 is now moved against the support arm 2 by the elasticity of the tension spring 6. Overcome it and start rotating counterclockwise. Thereafter, as the operating rod 15 retreats to its stroke end, the link 4 and the holding arm 11 return to the original state shown in FIG. 1.

(Effect of the invention) As described above, the present invention uses a spring that applies rotational force to the transfer link and a stopper that restricts the amount of rotation of this link, and connects the transfer link and the holding arm into a single unit. By controlling the actuator, the actuator is sequentially rotated at mechanical timing with a time lag, thereby performing the two operations necessary for holding and releasing the workpiece. The release operation can be performed reliably, the structure of the entire mechanism can be simplified and downsized, and there is no need for a complicated control device that sequentially switches and controls multiple actuators.
The advantage is that the operation time for holding or releasing the workpiece is shortened.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 is a front view showing the interlocking mechanism of the workpiece holding device, and Figs. 2 and 3 sequentially show the operation from the state shown in Fig. 1 in the direction of holding the workpiece. FIG. 1... Base, 2... Support arm, 4... Transfer link, 6... Spring, 7, 8... Stopper, 11... Holding arm, 14... Actuator, 15... Operating rod, 21... Work .

Claims (1)

[Scope of utility model registration request] To sequentially rotate a transfer link rotatably attached to a support arm fixed to a base and a holding arm rotatably attached to this link with a time lag. In the workpiece holding device that can hold or release a predetermined workpiece, a rotational force is always applied between the support arm and the transfer link in the operating direction to hold the workpiece to this link. The retaining arm is provided with a spring for restricting the rotation of the link in the operating direction to a predetermined amount, and the retaining arm is rotatably attached to the transfer link at approximately the middle portion thereof, and the retaining arm is provided with the retaining arm at one end thereof so as to be rotatable with respect to the transfer link. An interlocking mechanism for a workpiece holding device, characterized in that an operating rod of an actuator mounted on the base side is connected.