KR19980014785A - Attachment and removal device of gripper for handling between presses - Google Patents

Abstract

The present invention relates to a gripper for attaching and detaching a gripper for transferring a semi-finished product formed in a press between presses to and from a robot, and more particularly, And the gripper is not detached from the body even if the supply of air pressure in the factory is interrupted due to a power failure during the operation.

To this end, a frame 6, to which a plurality of suction pads 5 are fixed, is selectively coupled to the body 7 in accordance with the size and shape of the material to be molded. A pair of first links 19 which are hinged to the rod 18 of the cylinder and a pair of second links 19 which are hinged to the rod 18 of the cylinder, A pair of second links 20 hinged to the fixing plate and hinged to the first link at the other end thereof, and a clamp which is coupled at one end to the hinge coupling portion of the first and second links and toggles according to the operation of the cylinder (22) fixed to one side of the frame (6) and having a hole (22a) for exposing the clamp to the upper part, and clamping the clamp according to the driving of the cylinder.

Description

Device for attaching and detaching gripper for handling between presses

The present invention relates to a gripper for attaching and detaching a gripper for transferring a semi-finished product formed in a press between presses to and from a robot, and more particularly, And the gripper is not detached from the body even if the supply of air pressure in the factory is interrupted due to a power failure during the operation.

As shown in Fig. 1, in order to automatically load and unload a material in a press composed of a top mold 1 and a bottom mold 2, the robot 3 is loaded on the upper surface of the lower mold 2, And a gripper 4 for transferring the processed material to the next press.

The number and position of the adsorption pads 5 provided on the frame 6 of the gripper are determined by the number of the adsorption pads 5, The gripper 4 must be replaced from the body 7 fixed to the robot 3 when the shape of the workpiece to be processed is different. Therefore, the body 7 fixed to the robot 3 and the gripper 4 must be provided with means for attaching and detaching them.

2 is a partial vertical sectional view showing a mounting state of a conventional device. The rod 10 is capable of protruding and retracting into a body 7 fixed to a robot 3 and a fastening hole 7a formed obliquely to the front end of the body. A holder 11 formed on both sides thereof with an insertion hole 11a to which a rod of a cylinder is coupled and a holder 11 formed on the body 7 so as to correspond to a fastening hole formed in the body, A solenoid valve 12 fixed to the cylinder 11 so as to operate the cylinder, a guide 14 formed at one side of the holder 11 and connected to a hand-operated cantilever 13 serving as a positioning member during replacement of the gripper, A frame 6 to which a plurality of adsorption pads 5 for adsorbing material are fixed, and an ejector 15 fixed to the body and generating vacuum pressure on the adsorption pad.

The holder 11 is inserted into the fastening hole 7a and the rod 10 of the cylinders 8 and 9 is inserted into the insertion hole 11a of the holder, The gripper 4 is moved by the operation of the robot 3 to load the material on the upper surface of the lower mold 2 in accordance with the process, As shown in FIG.

When one of the grippers 4 is mounted on the body 7 to load or unload a material as shown in FIG. 2 and then a material having a different size and shape is to be loaded or unloaded, the gripper 4 4) and then attach a new gripper to the body (7) to match the shape of the product.

To this end, the guide 14 of the desired gripper is placed on the upper surface of the hand knob 13, and the signal is applied to the solenoid valve 12 to retract the rod 10 of the cylinders 8 and 9, The gripper 4 that has been used is separated from the gripper 7.

Thereafter, the robot 3 is driven to apply a signal to the solenoid valve 12 when the fastening hole 7a formed in the body 7 is fastened to the holder 11 of the gripper so that the cylinder 8 (9 As shown in the initial state.

As a result, the rod 10 advances and is inserted into the insertion hole 11a of the holder 11, so that the mounting operation of the gripper 4 is completed.

However, in the conventional apparatus, the gripper 4 formed on the body 7 is precisely mounted on the body by precisely machining the holder 11 formed in the fastening hole 7a and the frame 6, There is a possibility that a clearance may be generated between them due to a great deal of difficulty in processing.

Secondly, since the weight of the gripper (4) for loading and unloading the heavy material has to be minimized, expensive materials have to be used.

Thirdly, when the vacuum pressure is applied to the adsorption pad 5 by the operation of the ejector 15 to convey the material, and the supply of air pressure to the factory is stopped due to a power failure or the like, the rod 10 of the cylinder 8 (9) There is a danger of a safety accident.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to precisely couple a gripper to a body without using a separate hand-operated gear and to securely mount a gripper on a body by a toggle principle. There is a purpose.

According to an aspect of the present invention, there is provided a body for selectively attaching a frame, on which a plurality of absorption pads are fixed, according to the size and shape of a material to be molded, the body including a fixed plate fixed to one end of the body, A pair of first links hinged to the rod of the cylinder, one end of which is hinged to the fixed plate, and the other end of which is hinged to the fixed plate, and the other end of which is hinged to the first link A clamp which is coupled to one end of the hinge joint part of the first and second links and toggles according to the operation of the cylinder, and a hole fixed to one side of the frame and exposing the clamp at the top, There is provided an attachment / detachment device for an inter-press gripping gripper comprising a seat plate for clamping a clamp in accordance with driving of the grip.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view showing a use state of a gripper for handling between presses; FIG.

2 is a partial longitudinal sectional view showing a mounting state of a conventional apparatus.

3 is a plan view of the device of the present invention.

Fig. 4 is a front view showing a part of Fig. 3 in section; Fig.

5 is a sectional view taken along the line A-A in Fig.

6 is a sectional view taken along the line B-B in Fig.

Description of the Related Art [0002]

4: gripper 5: adsorption pad

6: Frame 7: Body

12: Solenoid valve 15: Ejector

16: fixed plate 17: cylinder

18: load 19: first link

20: second link 21: clamp

22: seat plate 22b: reference pin insertion hole

23: Reference pin 24: Vacuum air connection

25:

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings which show an embodiment thereof with reference to FIG. 3 to FIG. 6.

FIG. 3 is a plan view showing the apparatus of the present invention, FIG. 4 is a front view showing a part of FIG. 3 in a section, and FIGS. 5 and 6 are a sectional view taken along line AA and BB in FIG. A fixed plate 16 is fixed to the tip of the fixed body 7 and a cylinder 17 is provided in the fixed plate to operate according to a signal applied to the solenoid valve 12. [

A pair of first links 19 are hinged to a rod 18 of the vibrator 17 and a pair of second links 20 are hinged between the other end of the first link and the fixed plate 6. [ And a clamp 21, which toggles according to the operation of the cylinder 17, is hinged to the hinge-joining portion of the first and second links.

A clamping plate 21 is fixed to one side of a frame 6 to which a plurality of suction pads 5 are fixed and a clamping plate 22 is fixed on the clamping plate 21 when the gripper 4 is clamped on the body 7, And a hole 22a is formed to allow the clamp 21 to be connected to the seat plate when the cylinder 17 is driven.

As shown in FIG. 5, at least one reference pin 23 is fixed to the fixing plate 16, and a reference pin insertion hole 22b is formed in the mounting plate 22 to pinch the reference pin to position the gripper 4, Respectively.

This is to set the position of the gripper more accurately when the gripper 4 is mounted on the body 7 and at the same time to ensure that the clamp 21 clamps the seat plate 22 securely.

The vacuum air connection port 24 is fixed to the fixing plate 16 and the air hole 24a formed in the vacuum air connection port 24 is fixed to the suction pad 5 are fixed to the connecting piece 25 to be connected therewith.

At this time, a tapered portion 24b is formed at the tip end of the vacuum air connection port 24, a coupling hole 25a corresponding to the tapered portion is formed in the coupling piece 25, and an O- (26) is fixed.

Hereinafter, the operation of the present invention will be described.

First, when the rod 18 of the cylinder 17 is positioned at the bottom dead center and the clamp 21 is rotated inward mutually as shown by the one-dot chain line in Fig. 4, When the gripper 4 is connected to the body 7 so as to insert the pin insertion hole 22b, the clamp 21 which has been rotated inward is exposed upward through the hole 22a formed in the seat plate 22, The tapered portion 24b of the vacuum air connection port 24 is fitted into the coupling hole 25a of the coupling piece 25 as shown in Fig.

In this state, when a signal is applied to the solenoid valve 12 to raise the rod 18, one end of the first and second links 19 and 20 is hinged to the upper portion of the rod and the fixed plate 16, Since the clamps 21 are hinged to the hinge coupling portions of the first and second links, the positions of the first and second links 19 and 20 are changed as shown by solid lines in FIG. 4, and the clamp 21 is pressed downward .

As a result, the clamp 21 presses the peripheral edge of the hole 22a formed in the seat plate 22 as shown in FIG. 3, thus completing the mounting operation of the gripper 4.

When the mounting of the gripper 4 is completed, the seating plate 22 is pushed toward the fixed plate 16 by the pressing force of the clamp 21, so that the tapered portion 24b of the vacuum air connection port 24 is engaged with the engagement piece 25 And the airtightness is maintained by the O-ring 26. Therefore, when the vacuum pressure is applied to the adsorption pad 5 by the action of the ejector 15, the compressed air flows out through these gaps to the outside It will not leak.

As described above, in the state where the gripper 4 has been mounted, the robot 3 is driven to load the workpiece onto the upper surface of the lower mold 2, unloading the workpiece of the semi-finished product and transfer it to the press side And reloaded.

On the other hand, when the gripper is separated from the used gripper by changing the size or shape of the molded product while loading a certain type of material and a new gripper is to be mounted on the body 7, a signal is applied to the solenoid valve 12, And moves the rod 18 of the cylinder 17 to the bottom dead center.

4, the gripper can be separated from the fixing plate 16 by the clamp 21, which presses the periphery of the hole 22a formed in the seating plate 22, as shown by the dotted line in FIG.

When the gripper used is removed from the fixing plate 16, a new gripper is mounted by the above-described operation, so that the work of loading or unloading the work can be continuously performed.

As described above, according to the present invention, first, since the upper surface of the seating plate 22 is pressed by the clamp 21, the processing becomes relatively easy.

Secondly, the structure of the gripper is simplified accordingly, so that the overall weight of the gripper can be lightly reduced.

Thirdly, since the gripper 4 is fixed by the toggle principle, vacuum pressure is applied to the adsorption pad 5 by the action of the ejector 15, so that even when supply of the pneumatic pressure to the factory is stopped due to, The rod 18 of the rod 17 is not retracted, thereby preventing a safety accident from occurring.

Claims (2)

A fixed plate 16 fixed to one end of the body 7 is integrally formed with the body 7 so as to selectively connect the frame 6 to which the plurality of absorption pads 5 are fixed according to the size and shape of the material to be molded. A pair of first links 19 hinged to the rod 18 of the cylinder and one end of which is hinged to a fixing plate, A second link 20 hinged to the first link at the other end thereof, a clamp 21 coupled to the hinge connection portion of the first and second links at one end thereof and toggling according to the operation of the cylinder, And a seating plate (22) fixed to one side of the frame (6) and having a hole (22a) formed therein so that the clamp is exposed upwardly and the clamp is clamped by the driving of the cylinder. The method according to claim 1, At least one reference pin 23 is fixed to the fixing plate 16 and a reference pin insertion hole 22b is formed in the seating plate 22 so that the reference pin is inserted and the gripper 4 is positioned. A device for attaching and detaching a gripper for handling between presses.