KR102006011B1 - Wire gripping device and wire gripping method - Google Patents

Wire gripping device and wire gripping method Download PDF

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Publication number
KR102006011B1
KR102006011B1 KR1020177011550A KR20177011550A KR102006011B1 KR 102006011 B1 KR102006011 B1 KR 102006011B1 KR 1020177011550 A KR1020177011550 A KR 1020177011550A KR 20177011550 A KR20177011550 A KR 20177011550A KR 102006011 B1 KR102006011 B1 KR 102006011B1
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South Korea
Prior art keywords
pair
wire
pieces
rod
holding
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KR1020177011550A
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Korean (ko)
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KR20170066494A (en
Inventor
신지 스기모토
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닛또꾸 엔지니어링 가부시키가이샤
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
    • H01B13/0003—Apparatus or processes specially adapted for manufacturing conductors or cables for feeding conductors or cables
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
    • H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
    • H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Coil Winding Methods And Apparatuses (AREA)
  • Wire Processing (AREA)

Abstract

The wire rod holding apparatus 10 includes a pair of holding pieces 11 and 12 for holding the wire 9 existing between them and a pair of holding pieces 11 and 12 And a driving device (43) for moving the pair of gripping pieces (11, 12) away from or approaching each other against the urging force of the spring (26) (43) includes a cam (44) for separating or approaching the pair of holding pieces (11, 12) and a motor (45) for displacing the cam (44) to an arbitrary position.

Description

[0001] WIRE GRIPPING DEVICE AND WIRE GRIPPING METHOD [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wire rod gripping device and wire rod holding method used for a winding device and the like.

[0003] JP2000-331860A discloses a wire holding apparatus for use in a wire winding apparatus and the like. The wire holding apparatus includes a pair of sandwich pieces for holding a wire, a spring for pressing the pair of holding pieces in a direction approaching each other, And a fluid pressure cylinder for separating a pair of nip pieces by resistance.

JP2000-331860A

In recent years, in the winding apparatus, it has been developed to perform an end portion treatment of a rolled wire rod by drawing routing laying layout. Therefore, in the wire rod holding apparatus used in such a wire winding apparatus, movement of the wire rods relative to the pair of holding pieces is prohibited, and the wire rods sandwiched between the pair of holding pieces and the pair of holding pieces are moved together, It is possible to pull out the wire rod while allowing the wire rod to move relative to the pair of holding pieces by holding the wire rod with a relatively weak force by the pair of holding pieces and to slide the wire rod while slipping the wire between the pair of holding pieces .

However, in the conventional wire rod grasping apparatus in which the pair of the nipping pieces approach each other by the spring to grip the wire rod, in order to change the gripping force for grasping the wire rod, The spring to be pressurized must be replaced with a spring having a constant constant. Therefore, for example, it is difficult to arbitrarily change the gripping force for gripping the wire rod while the apparatus is in operation.

An object of the present invention is to provide a wire rod grasping apparatus and wire rod grasping method capable of easily changing a gripping force for grasping a wire rod.

According to an aspect of the present invention, there is provided a sliding device comprising: a sliding rod provided in a body portion to be movable forward and backward with respect to a body portion; A pair of holding pieces and a spring for pressing the sliding rod in a direction to withdraw the sliding rod from the main body part; and a mechanical handle mounted on the mounting plate provided with the mechanical hand, And a driving device for driving the pair of nipping pieces by entering the sliding rod, wherein the driving device includes a sliding rod, one end of which faces the protruding end of the sliding rod, A cam engaged with the other end of the operating rod, and a motor displacing the cam to an arbitrary position It is provided with a wire holding device.

According to another aspect of the present invention, there is provided a pneumatic tire comprising: a pair of nipping pieces that come close to each other and sandwich a wire existing between them; and a spring that presses the pair of nipping pieces in either one of a direction approaching each other and a direction of mutually separating And a motor for displacing the cam to an arbitrary position. The cam is displaced by the motor so that the pair of clamping pieces There is provided a wire holding method for changing gripping force.

1 is a cross-sectional view of a wire rod holding apparatus according to a first embodiment of the present invention, and is a cross-sectional view taken along the line AA of Fig.
2 is a cross-sectional view showing a state in which a wire rod holding apparatus according to a first embodiment of the present invention grasps a wire rod.
3 is a cross-sectional view showing a state in which the wire rod holding apparatus according to the first embodiment of the present invention grasps the wire rod lightly.
Fig. 4 is a side view of the wire rod holding apparatus according to the first embodiment of the present invention. Fig.
5 is a side view showing a state in which the mechanical hand of the wire rod grasping apparatus according to the first embodiment of the present invention is moved.
Fig. 6 is a top view of the wire rod holding apparatus according to the first embodiment of the present invention. Fig.
Fig. 7 is a structural view of a mechanical hand of the wire rope holding device according to the first embodiment of the present invention. Fig.
8A is a view for explaining the pulling of the wire rod by the wire rod holding device according to the first embodiment of the present invention.
FIG. 8B is a view for explaining the pulling-out of the wire rod by the wire rod grasping apparatus according to the first embodiment of the present invention; FIG.
8C is a view for explaining the pulling of the wire rod by the wire rod grasping apparatus according to the first embodiment of the present invention.
Fig. 8D is a view for explaining the pulling of the wire rod by the wire rod grasping apparatus according to the first embodiment of the present invention. Fig.
Fig. 9 is a cross-sectional view corresponding to Fig. 1 showing a wire rod grasping apparatus according to a second embodiment of the present invention.
10 is a cross-sectional view showing a state in which a wire rod holding apparatus according to a second embodiment of the present invention grasps a wire rod.
11 is a cross-sectional view showing a state in which the wire rod holding device according to the second embodiment of the present invention grasps the wire rod lightly.

The wire holding apparatus according to the embodiment of the present invention will be described with reference to the drawings.

≪ First Embodiment >

1 to 7, a wire rod grasping apparatus 10 according to a first embodiment of the present invention will be described.

As shown in Figs. 1 and 4, the wire rod holding device 10 has a pair of holding pieces 11, 12 for holding a wire 9 existing between them by approaching each other. In the present embodiment, the pair of holding pieces 11 and 12 are mounted on a pair of moving pieces 21 and 22 of the horizontal moving type mechanical hand 20.

7, the mechanical hand 20 includes a main body portion 23 provided with a pair of movable belts 21 and 22, a pair of movable belts 21 and 22 capable of reciprocating in parallel, A sliding rod 24 slidably mounted on the main body 23 in a direction orthogonal to the moving direction of the pair of movable stands 21 and 22 and a sliding rod 24 housed in the main body 23, And a pair of lever members (not shown), both ends of which are supported by the moving bases 21 and 22, respectively, and the intermediate portion is pivotally supported by the main body portion 23.

In the mechanical hand 20, when the sliding rod 24 enters the main body 23, a pair of lever members (not shown) are rotated respectively, and the pair of movable stands 21 and 22 are spaced apart from each other . On the other hand, when the sliding rod 24 is retracted from the main body 23, a pair of lever members (not shown) are rotated in opposite directions, and the pair of movable belts 21 and 22 approach each other.

That is, when the sliding rod 24 that has entered the main body 23 is withdrawn from the main body 23, the pair of holding pieces 11, 12 provided on the pair of movable tables 21, 1 to 3) are present between the pair of movable pieces 21 and 22 and the wire 9 is held by the pair of holding pieces 11 and 12 Is held.

The wire rod holding apparatus 10 further comprises a first coil spring 12 as a spring for pressing the pair of holding pieces 11 and 12 in a direction approaching each other, that is, in a direction in which the pair of holding pieces 11 and 12 are closed, (26). The first coil spring 26 is disposed on the outer periphery of the sliding rod 24 protruding from the main body portion 23 of the mechanical hand 20. A pressing cover 27 is attached to the protruding end of the sliding rod 24 so that the end of the first coil spring 26 is caught. The first coil spring 26 is interposed between the main body portion 23 and the pressurizing cover 27 in a compressed state and the pressurizing cover 27 is pressed against the main body portion 23 so that the pressing cover 27 presses the sliding rod 24 attached to the end portion in a direction of withdrawing the sliding rod 24 from the main body portion 23. [

As shown in Figs. 1 to 3, the wire rod holding apparatus 10 is provided with a mounting plate 13 for mounting to a winding apparatus or the like. The mechanical hand 20 is pivotally supported on the mounting plate 13 via the rotating table 14. [ The turntable 14 has a cylindrical portion 14a directly supported on the mounting plate 13 through the bearing 16 and a mounting piece 14b provided at one end of the cylindrical portion 14a. The mechanical hand 20 is mounted to the mounting piece 14b through the sliding member 15. [

The sliding member 15 has an overlapped fixing plate 15a and a movable plate 15b and a parallel rail 15c to which both side portions of the movable plate 15b are engaged is fixed to the fixing plate 15a Respectively. Thus, the movable plate 15b is provided so as to be movable in the direction in which the rail 15c extends with respect to the fixed plate 15a. The fixing plate 15a is attached to the mounting piece 14b so that the extending direction of the rail 15c is orthogonal to the central axis of the cylindrical portion 14a of the swivel base 14.

As shown in Fig. 4, a first stopper member 28 is provided on one end of the fixed plate 15a in the moving direction of the movable plate 15b. The first stopper member 28 abuts against one end of the movable plate 15b. The movable plate 15b is pressed against the first stopper member 28 so that one end of the movable plate 15b abuts against the first stopper member 28 at the other end edge of the fixed plate 15a in the moving direction of the movable plate 15b. A small spring 29 is installed.

On the other end of the fixing plate 15a, a female screw member 31 formed with a female screw hole is mounted. The small spring 29 is a coil spring and is inserted into the female screw member 31 so that one end of the small spring 29 abuts against the other end of the movable plate 15b. Further, a small screw 32 is screwed to the female screw hole of the female screw member 31 so as to abut the other end of the small spring 29. That is, the small spring 29 is interposed between the movable plate 15b and the small screw 32 in a compressed state. Therefore, by changing the depth of the screw insertion of the small screw 32 with respect to the female screw member 31, the compression amount of the small spring 29 applied to the movable plate 15b is changed by changing the compression amount of the small spring 29 Can be changed. 4, the member denoted by reference numeral 33 is a nut for preventing the small screw 32 screwed to the female screw member 31 from loosening.

As described above, one end of the movable plate 15b is abutted against the first stopper member 28 by the urging force of the small spring 29. [ The pressing cover 27 provided on the sliding rod 24 can be inserted into both of the overlapped fixing plate 15a and the movable plate 15b in a state in which the movable plate 15b is in contact with the first stopper member 28 Insertion holes 15d and 15e are formed at substantially the center thereof through them.

On the other hand, the main body portion 23 of the mechanical hand 20 is mounted on the small plate 20a mounted on the movable plate 15b through the small screw 14c. Here, the moving direction of the pair of holding pieces 11, 12 is a direction orthogonal to the moving direction of the movable plate 15b. That is, the mecha- nal hand 20 mounted on the movable plate 15b through the mounting plate 20a is orthogonal to both the moving direction of the pair of holding pieces 11, 12 and the moving direction of the sliding rod 24, In the direction of movement. The central axis of the sliding rod 24 is in a state of coinciding with the central axis of the cylindrical portion 14a. That is, the mecha- ner hand 20 mounted on the swivel base 14 via the sliding member 15 rotates together with the swivel base 14, so that the swivel base 14 is rotatable with respect to the mounting plate 13, The shaft is supported.

Since the small spring 29 that presses the movable plate 15b is a coil spring, the movable plate 15b is pressed against the pressing force of the small spring 29, as indicated by the solid line arrow in Fig. 5, 20 can move with respect to the fixed plate 15a together with the mechanical hand 20 in the extending direction of the wire member 9 held thereon. A second stopper member 36 for restricting the amount of movement of the mechanical hand 20 is provided so that the movement amount of the mechanical hand 20 in the extending direction of the wire member 9 does not become a predetermined value or more.

The second stopper member 36 includes a crank crank plate 37 having one end 37a mounted on the mounting plate 20a and an L-shaped contact plate 37a having one end 38a mounted on the mounting piece 14b 38). The crank plate 37 and the L-shaped contact plate 38 are configured so that the other end 37b of the crank plate 37 is in contact with the other end of the L-shaped contact plate 38 38b. Each of the insertion holes 15d and 15e is formed so as to be in contact with the pressing cover 27 even when the other end 37b of the crank plate 37 and the other end 38b of the L- Is formed in such a size as to be insertable. 4 and 5, the member indicated by reference numeral 39 detects whether or not the other end 38b of the L-shaped contact plate 38 is in contact with the other end 37b of the crank plate 37 And a detection sensor 39. The detection value of the detection sensor 39 is input to a control device (not shown).

1 to 3, the mounting plate 13 is provided with a servomotor 18 for rotating the turntable 14 to an arbitrary position. The servo motor 18 is mounted such that its rotational axis 18a is parallel to the rotational axis of the cylindrical portion 14a at a position spaced from the cylindrical portion 14a by a predetermined distance. A pulley 17b is provided on the rotary shaft 18a of the servo motor 18. [ A pulley 17a is mounted on the cylindrical portion 14a on the side opposite to the mechanical hand 20 with the mounting plate 13 interposed therebetween. A belt 17c is caught between these pulleys 17a and 17b.

The rotation of the rotary shaft 18a is transmitted to the cylindrical portion 14a through the pulleys 17a and 17b and the belt 17c and the mechanical hand 20 is rotated by the rotary table 18a 14 to rotate to an arbitrary position.

The member indicated by reference numeral 19a in the figure is a mounting table 19a for mounting the servo motor 18 and is mounted on the mounting plate 13 through a mounting leg 19b so as to be parallel to the mounting plate 13. [ 13. Mounting of the mounting table 19a to the mounting leg 19b is performed by the bolt 19c as shown in Fig. A screw base 19d is installed upright on the mounting plate 13 on the opposite side of the rotating table 14 with the mounting base 19a interposed therebetween. A screw member 19e whose tip contacts the mounting table 19a is screwed in parallel with the mounting plate 13 in the screw base 19d.

Therefore, when the bolt 19c is loosened and the screw member 19e is rotated, the mounting table 19a on which the tip of the screw member 19e comes into contact can be moved. By fastening the bolt 19c at a desired position, the servo motor 18 can be arranged on the mounting plate 13 at a desired distance from the rotating table 14. [

An operating rod 41 whose one end can abut the pressing cover 27 provided on the sliding rod 24 and the operating rod 41 which is in contact with the sliding rod 24 And a second coil spring 42 for urging the second coil spring 42 in a direction away from the second coil spring 42. When the operating rod 41 is moved against the urging force of the second coil spring 42, the end of the operating rod 41 abuts against the pressing cover 27. When the operating rod 41 is moved, the sliding rod 24 provided with the pressing cover 27 enters the main body portion 23 against the urging force of the first coil spring 26, 22 and the pair of movable legs 21, 22 in the direction in which they are spaced apart from each other together with the pair of holding pieces 11, 12.

The wire rod grasping device 10 further includes a driving device 43 for separating the pair of holding pieces 11 and 12 from the pressing force of the first coil spring 26. [ The driving device 43 has a cam 44 for driving the pair of gripping pieces 11 and 12 in a direction to move them away from each other and a motor 45 for displacing the cam 44 to an arbitrary position.

The cam 44 is a plate cam 44 and the motor 45 for displacing the cam 44 to an arbitrary position is a servo motor 45. [ A rotational shaft 45a of the servomotor 45 is mounted on the disc-shaped plate cam 44 at a position bending from the center. The servomotor 45 is mounted on the mounting plate 13 such that its rotational axis 45a is orthogonal to the central axis of the cylindrical portion 14a. The outer periphery of the plate cam 44 provided eccentrically to the rotary shaft 45a of the servo motor 45 is always in contact with the end of the operation rod 41 projecting from the cylindrical portion 14a.

1 to 6, a mounting member 47 is mounted on the mounting plate 13 via a column 46 so as to close the end portion of the operating rod 41. As shown in Fig. The mounting member 47 is formed with a shaft hole 47a (FIG. 4) perpendicular to the central axis of the cylindrical portion 14a. The rotary shaft 45a of the servo motor 45 is inserted into the shaft hole 47a.

The mounting member 47 is formed with a slit 47b which intersects with the shaft hole 47a and opens at the side opposite to the operating rod 41 at a position opposite to the end of the operating rod 41 do. The mounting member 47 is formed with a circular long hole 47c having a long cross-sectional shape that opens at the slit 47b and opens at the operation rod 41 side.

The plate cam 44 is mounted on the rotary shaft 45a passing through the slit 47b and can be displaced in the space formed by the slit 47b and the elongated hole 47c, The end of the rod 41 always contacts.

Next, a method of holding wire rods by the wire rope holding apparatus having the above-described structure will be described.

As described above, the wire rod holding apparatus 10 includes the servomotor 45 for displacing the cam 44 to an arbitrary position. Therefore, by displacing the cam 44 by the servomotor 45, It is possible to change the gripping force of the nipping pieces 11, 12.

Specifically, as shown in Fig. 1, the cam 44 is rotationally displaced by the servomotor 45 so as to grip the operating rod 41 against the mechanical hand 20 Lt; / RTI > When the operating rod 41 is moved against the urging force of the second coil spring 42 as described above, the end of the operating rod 41 comes into contact with the urging cover 27 of the mechanical hand 20. The sliding rod 24 provided with the pressing cover 27 enters the main body portion 23 against the urging force of the first coil spring 26 so that the pair of moving rods 21, and 22 are moved together with the pair of holding pieces 11 and 12 in directions away from each other. In this manner, a space through which the wire rod 9 passes is formed between the pair of holding pieces 11, 12.

As shown in Fig. 1, when the pair of nipping pieces 11 and 12 are spaced apart from each other, that is, in a state in which the pair of nipping pieces 11 and 12 are opened, (11, 12). The entry of the wire rod 9 can be performed by moving a nozzle for feeding the wire rod 9 provided on a winding device or the like, not shown, or by moving the wire rod holding device 10 itself.

Next, in a state in which the wire rod 9 enters between the pair of holding pieces 11 and 12, the cam 44 is rotated again by the servomotor 45 and the operating rod 41 is rotated And is moved toward the cam 44 side by the urging force of the coil spring 42. The operation rod 41 moves in the direction away from the mechanical hand 20 and moves until the end of the operation rod 41 is separated from the pressure cover 27 of the mechanical hand 20 as shown in Fig. The sliding rod 24 is retracted from the main body portion 23 by the urging force of the first coil spring 26. When the sliding rod 24 is retracted from the main body 23, the pair of holding pieces 11 and 12 together with the pair of moving pieces 21 and 22 come close to each other, that is, 11 and 12 are closed.

Thus, the wire rod 9 existing between the pair of the holding pieces 11 and 12 is pressed against the pair of holding pieces 11 and 12 by a relatively strong force by the urging force of the first coil spring 26 . That is, since the pair of holding pieces 11 and 12 approach each other due to the pressing force of the first coil spring 26, the wire 9 existing between the pair of holding pieces 11 and 12, And is held by the holding force corresponding to the pressing force of the coil spring (26).

2, the cross section of the wire 9 is deformed by elasticity, and the interval A of the pair of holding pieces 11, Becomes smaller.

Here, as described above, the wire holding apparatus 10 is capable of displacing the cam 44, which opens the pair of holding pieces 11, 12, to an arbitrary position by the servomotor 45. [ Therefore, when the cam 44 is displaced by the servomotor 45 and the end of the operating rod 41 is held in a state immediately before being separated from the sliding rod 24 as shown in Fig. 3, The wire rod 9 existing between the nipping pieces 11 and 12 is sandwiched by the urging force of the first coil spring 26 in a slightly compressed state as compared with the case shown in Fig. In other words, as compared with the case shown in Fig. 2, the wire rods 9 existing between the pair of nipping pieces 11, 12 are sandwiched with the pair of nipping pieces 11, 12 slightly open . Therefore, as shown in the enlarged view of FIG. 3, the interval B between the pair of holding pieces 11 and 12 is set such that the pair of holding pieces 11 and 12 are pressed by the first coil spring 26, Becomes larger than the interval A in Fig.

When the wire rod 9 has elasticity in a state immediately before the end of the operating rod 41 is separated from the sliding rod 24 as described above, as shown in the enlarged view of FIG. 3, The deformation of the end face of the wire rod 9 is small compared with the case shown in Fig. That is, as compared with the case shown in Fig. 2, the wire rod 9 is grasped with weak gripping force. In other words, in the elastic range of the wire 9, the holding force of the pair of holding pieces 11 and 12 is changed according to the pressing force of the first coil spring 26 which is changed by rotating the cam 44 .

As described above, in the wire rod grasping apparatus 10 and the wire rod grasping method according to the present embodiment, a pair of holding pieces (a pair of holding pieces) is formed in accordance with the displacement of the cam 44, 11 and 12 are driven, and the distance between the pair of holding pieces 11 and 12 changes. Therefore, it is possible to change the holding force of the wire rod 9 by the pair of holding pieces 11, 12. Since the amount of displacement of the cam 44 can be easily changed by the servomotor 45, the gripping force for gripping the wire rod 9 can be easily changed and adjusted in the wire rod holding device 10 and the wire rod holding method .

As a result, the wire member 9 is held relatively strongly by the pair of holding pieces 11 and 12 so that the wire member 9 is prevented from moving relative to the pair of holding pieces 11 and 12, It is possible to satisfactorily pull out the held wire rods 9 by moving the holding pieces 11 and 12 of the wire rods 9 and 12 together with the wire rod 9 gripped. Since the mechanical hand 20 of the wire rod holding apparatus 10 is pivotally supported on the mounting plate 13, the servomotor 18 is driven and the mechanical hand 20 is rotated and moved , The wire rod can be drawn out in an arcuate shape, for example, as indicated by a broken line arrow in Fig. 8A.

In the wire rod grasping device 10, the direction perpendicular to both the moving direction of the pair of holding pieces 11 and 12 and the moving direction of the operating rod 41, that is, the pair of holding pieces 11 and 12, The mecha- nal hand 20 can move in the extending direction of the wire member 9 to be held. Therefore, for example, when the wire rod 9 held by the pair of nipping pieces 11 and 12 is pulled as shown in Fig. 8A and then pulled as shown in Fig. 8B, 29, the mechanical hand 20 moves in the other direction. At this time, the wire rod 9 is pulled by a force equivalent to the pressing force applied to the mechanical hand 20 by the small spring 29.

When the mechanical hand 20 moves in the other direction, the other end 38b of the L-shaped contact plate 38 abuts against the other end 37b of the crank plate 37 before long. Therefore, the mechanical hand 20 can not move further in the other direction. This state is detected by the detection sensor 39. [ Therefore, when the abutment between the crank plate 37 and the L-shaped contact plate 38 is detected by the detection sensor 39, the nipping of the wire rod 9 by the pair of nipping pieces 11, The pulling of the wire rod 9 can be finished in a state in which a force equivalent to the pressing force by which the small spring 29 is applied to the wire rod 9 is applied.

2, the wire members 9 are strongly held by the pair of holding pieces 11 and 12 and the movement of the wire members 9 relative to the pair of holding pieces 11 and 12 8 (c), it is also possible to pull and cut the wire 9 in the vicinity of the pin 8, for example.

On the other hand, as shown in Fig. 3, when the wire 9 is sandwiched by the pair of holding pieces 11 and 12 with a relatively weak force, the wire 9 is pressed against the pair of holding pieces 11 and 12 Movement is allowed. When the pair of nipping pieces 11 and 12 are moved while allowing the movement of the wire 9 as described above, the wire rods 9 held by the pair of nipping pieces 11 and 12, as shown in Fig. 8D, Can be pulled out while being slid between the pair of nipping pieces 11, 12.

≪ Second Embodiment >

Next, a wire rod grasping apparatus 10 according to a second embodiment of the present invention will be described with reference to Figs. 9 to 11. Fig. Hereinafter, differences from the first embodiment will be mainly described, and the same components as those of the first embodiment are denoted by the same reference numerals, and a description thereof will be omitted.

When the sliding rod 24 enters the main body portion 23, the pair of movable stands 21 and 22 approach each other (Fig. 10) The pair of moving stands 21 and 22 are spaced apart from each other (FIG. 9) when the arm 24 is withdrawn from the main body 23.

10, when the sliding rod 24 is inserted into the main body 23, the pair of holding pieces 11, 12 provided on the pair of moving tables 21, The wire rods 9 are held by the pair of gripping pieces 11 and 12 when the wire rods 9 are present between them.

The first coil spring 26 disposed on the outer periphery of the sliding rod 24 protruding from the main body 23 is interposed between the main body 23 and the pressing cover 27 in a compressed state. The first coil spring 26 presses the pressing cover 27 in the direction away from the main body 23 by the stretching force and presses the sliding rod 24 in the direction of withdrawing the sliding rod 24 from the main body 23. Therefore, the first coil spring 26 in the wire rod holding apparatus 10 functions as a spring for displacing the pair of gripping pieces 11, 12 in the direction of separating them from each other, as shown in Fig.

An operation rod 41 whose one end can abut the pressure cover 27 provided on the sliding rod 24 and the operation rod 41 which abuts the operation rod 41 from the sliding rod 24 are provided in the cylindrical portion 14a of the swivel base 14, And a second coil spring 42 for urging in a direction away from the second coil spring 42 is disposed.

The driving device 43 of the wire rod holding device 10 includes a cam 44 for driving the pair of holding pieces 11 and 12 in directions approaching each other and a servo 44 for displacing the cam 44 to an arbitrary position And a motor (45). The cam 44 is a plate cam 44 and a disk 45a of a circular plate is mounted on the rotary shaft 45a of the servomotor 45 at a position offset from the center. The servomotor 45 is mounted on the mounting plate 13 such that its rotational axis 45a is orthogonal to the central axis of the cylindrical portion 14a. The outer periphery of the plate cam 44 eccentrically formed on the rotary shaft 45a of the servo motor 45 is in contact with the end of the operation rod 41 projecting from the cylindrical portion 14a.

Next, a method of holding wire rods by the wire rope holding apparatus having the above-described structure will be described.

Since the wire holding apparatus 10 includes the servomotor 45 for displacing the cam 44 to a desired position as in the first embodiment described above, by displacing the cam 44 by the servomotor 45 It is possible to change the gripping force of the pair of gripping pieces 11, 12.

Specifically, as shown in Fig. 9, the servomotor 45 rotates and displaces the cam 44 to grasp the wire rod 9, and by the pressing force of the first coil spring 26, The rod 41 is withdrawn from the main body 23 to move the pair of movable belts 21 and 22 together with the pair of holding pieces 11 and 12 in directions away from each other. In this manner, a space through which the wire rod 9 passes is formed between the pair of holding pieces 11, 12.

The wire rods 9 are held between the pair of nipping pieces 11 and 12 in a state where the pair of nipping pieces 11 and 12 are spaced apart from each other, Enter. The entry of the wire rod 9 can be performed by moving a nozzle for feeding the wire rod 9 provided on a winding device or the like, not shown, or by moving the wire rod holding device 10 itself.

The cam 44 is rotationally displaced by the servo motor 45 in a state in which the wire 9 enters between the pair of holding pieces 11 and 12 so that the operating rod 41 is rotated by the second coil spring 45. [ And moves close to the mechanical hand 20 against the pressing force of the mechanical handle. When the operating rod 41 is moved so as to be closer to the mechanical hand 20 after the operating rod 41 is brought into contact with the pressing cover 27 of the sliding rod 24, ). When the sliding rod 24 enters the main body 23, the pair of holding pieces 11 and 12 together with the pair of moving tables 21 and 22 approach each other.

10, the wire rod 9 existing between the pair of nipping pieces 11 and 12 moves in a direction in which the sliding rod 24 is inserted into the body portion 23, that is, And is held by the pair of nipping pieces 11 and 12 by the nipping force according to the relatively strong force that keeps the position of the nipping pieces 11 and 12. [

10, the cross section of the wire 9 is deformed by elasticity, and the interval A between the pair of holding pieces 11 and 12 is , And becomes smaller than the diameter of the wire rod. A clamping force for clamping the wire rods 9 is generated between the pair of gripping pieces 11 and 12 depending on the force by which the servo motor 45 rotates the cam 44. [ On the other hand, since the wire rod 9 existing between the pair of the holding pieces 11 and 12 has elasticity, a counterforce against the holding force of the pair of holding pieces 11 and 12 is generated. Thus, in a place where the opposing force of the wire member 9 and the clamping force of the pair of nip pieces 11, 12 are equal, the rotational displacement of the cam 44 stops. As a result, the wire rod 9 existing between the pair of the holding pieces 11 and 12 is held by the holding force according to the force for causing the cam 44 to be rotationally displaced.

As described above, even if the cam 44 is continuously rotated by the servo motor 45, the pair of holding pieces 11 and 12 can not be brought closer to each other due to the opposing force of the wire 9, That is, the cam 44 can not be further rotated and displaced. At this time, the wire rod 9 is clamped with a relatively strong clamping force.

On the other hand, the wire rod holding device 10 can displace the cam 44 closing the pair of holding pieces 11, 12 to an arbitrary position by the servomotor 45. [ Therefore, as shown in Fig. 11, the rotational displacement of the cam 44 may be stopped immediately before the position where the rotational displacement of the cam 44 is supposed to stop due to the opposing force of the wire rod 9. [

In this case, the wire members 9 existing between the pair of the holding pieces 11, 12 are held by the pair of holding pieces 11, 12 which are brought close to each other in accordance with the rotational displacement of the cam 44. [ In this case, however, as compared with the case shown in Fig. 10, the wire rod 9 is sandwiched between the pair of gripping pieces 11 and 12 in a slightly opened state, as shown in the enlarged view of Fig. That is, as shown in the enlarged view of FIG. 11, the interval B between the pair of holding pieces 11 and 12 in this case becomes larger than the interval A shown by the enlargement in FIG.

As described above, when the wire 9 has elasticity, the cross section of the wire 9 held by the pair of holding pieces 11, 12 is deformed. The amount of deformation of the end face of the wire 9 differs depending on the amount of rotational displacement of the cam 44. When the deformation of the end face of the wire 9 is large as shown in the enlarged view of Fig. The deformation of the end face of the wire 9 is small as shown in the enlarged view of Fig. 11, the pair of holding pieces 11, 12 The coiling force of the wire rods 9 is also reduced. That is, when the wire member 9 is within the elastic range, the clamping force by the pair of holding pieces 11, 12 can be changed according to the amount of rotational displacement of the cam 44.

As described above, in the wire rod holding apparatus 10 and the wire rod holding method according to the present embodiment, as the displacement of the cam 44, that is, the advance and retreat of the sliding rod 24 relative to the body portion 23, The nipping pieces 11 and 12 are driven and the interval between the pair of nipping pieces 11 and 12 is changed. Therefore, it is possible to change the holding force of the wire rod 9 by the pair of holding pieces 11, 12. The amount of displacement of the cam 44 can be easily changed by the servomotor 45 so that the gripping force for grasping the wire rod 9 can be easily controlled by the servomotor 45 even in the wire rod grasping apparatus 10 and the wire rod grasping method according to the present embodiment. It is easy to change and adjust.

In the same manner as in the first embodiment, a direction orthogonal to both the moving direction of the pair of holding pieces 11 and 12 and the moving direction of the operating rod 41, that is, the pair of holding pieces 11 and 12, The mecha- nal hand 20 can move in the extending direction of the wire member 9 which is sandwiched therebetween. Therefore, after the wire rod 9 is pulled and turned, it is also possible to tension the wire rod 9 with the same force applied to the mechanical hand 20 by the small spring 29.

Although the embodiments of the present invention have been described above, the above embodiments are only illustrative of some of the application examples of the present invention, and the technical scope of the present invention is not limited to the specific configurations of the above embodiments.

For example, in the above embodiment, the spring 26 for urging the pair of gripping pieces 11, 12 in the direction of approaching each other or in the direction of mutually separating them is a coil spring. The spring is not limited to a coil spring, but may be a spring other than a coil spring such as a leaf spring, and any type of spring may be used as long as the pair of holding pieces 11 and 12 can be opened and closed.

In the above embodiment, the plate cam 44 is used as the cam. Instead, the cam may be a front cam (groove cam) or a stereoscopic cam, and any type of cam may be used as long as the degree of opening of the pair of gripping pieces 11, 12 can be changed .

In the above embodiment, the servomotor 45 is used as a motor for displacing the cam 44 to an arbitrary position. Instead, the motor may be a motor of another type, as long as it can rotationally displace the cam 44 to an arbitrary position.

9 to 11, in a mode in which the pair of holding pieces 11 and 12 are closed by the cam 44, the cam 44 is rotated by the servo motor 45 A clamping force for clamping the wire rod 9 is generated. Therefore, as the servomotor 45, a motor capable of changing the torque for rotating the cam 44 is used, and by changing the torque, the gripping force of the wire rod 9 by the pair of gripping pieces 11, May be changed.

The present application claims priority based on Japanese Patent Application No. 2015-125261 filed on June 23, 2015, the entire contents of which are incorporated herein by reference.

Claims (5)

As the wire holding apparatus,
A pair of sandwich pieces provided on the main body and capable of holding the wire rod in close contact with each other when the sliding rod enters or leaves the main body, And a spring for urging the rod in a direction of withdrawing the rod from the main body portion; And
A driving device installed on a mounting plate provided with the mechanical hand for moving the sliding rod against the pressing force of the spring to drive the pair of holding pieces;
Lt; / RTI >
The driving device includes:
An operating rod provided on the mounting plate on one end of the sliding rod and extending from the sliding rod;
A cam engaged with the other end of the operating rod; And
And a motor for displacing the cam to an arbitrary position,
Wherein the mechanical hand is provided on the mounting plate so as to be movable in a direction orthogonal to both the moving direction of the pair of holding pieces and the moving direction of the operating rod,
The wire rod-
A small spring for pressing the mechanical hand to move in one direction;
A first stopper member for inhibiting movement of the mechanical hand in one direction by a pressing force of the small spring; And
And a second stopper member for inhibiting movement of the mechanical hand in a second direction beyond a predetermined value against a pressing force of the small spring,
Wire rod holding device. The method according to claim 1,
Wherein the pair of nipping pieces move closer to each other in a direction orthogonal to the advancing and retreating direction of the sliding rod when the sliding rod is withdrawn from the main body portion and sandwich the wire rod existing between the pair of nipping pieces, A wire holding device that is separated from each other upon entry. The method according to claim 1,
The pair of nipping pieces are spaced apart from each other in a direction perpendicular to the moving direction of the sliding rod when the sliding rod is withdrawn from the main body portion. When the sliding rod enters the main body portion, Wire holding device for holding a wire rod. A pair of nipping pieces which are provided on the main body and approach each other when the sliding rod enters or exits and which sandwich the wire rod; And a spring for urging the pair of nip pieces in a direction of approaching each other and a direction of separating the pair of nip pieces from each other; And
A cam for driving the pair of nipping pieces against a pressing force of the spring through the sliding rod; and a motor for displacing the cam to an arbitrary position,
The cam is displaced by the motor to change the gripping force of the pair of gripping pieces,
The mechanical hand is pressed so as to move in one direction by using a small spring,
The movement of the mechanical hand in one direction by a predetermined value or more due to the pressing force of the small spring is inhibited by the first stopper member,
The second stopper member prohibits movement of the mechanical hand in the other direction by more than a predetermined value against the pressing force of the small spring,
Wire holding method. delete
KR1020177011550A 2015-06-23 2016-06-01 Wire gripping device and wire gripping method KR102006011B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JPJP-P-2015-125261 2015-06-23
JP2015125261A JP6460923B2 (en) 2015-06-23 2015-06-23 Wire holding apparatus and wire holding method
PCT/JP2016/066145 WO2016208339A1 (en) 2015-06-23 2016-06-01 Wire gripping device and wire gripping method

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KR20170066494A KR20170066494A (en) 2017-06-14
KR102006011B1 true KR102006011B1 (en) 2019-07-31

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KR20170066494A (en) 2017-06-14
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JP6460923B2 (en) 2019-01-30
CN107112127A (en) 2017-08-29

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