WO2016208339A1 - Wire gripping device and wire gripping method - Google Patents

Wire gripping device and wire gripping method Download PDF

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Publication number
WO2016208339A1
WO2016208339A1 PCT/JP2016/066145 JP2016066145W WO2016208339A1 WO 2016208339 A1 WO2016208339 A1 WO 2016208339A1 JP 2016066145 W JP2016066145 W JP 2016066145W WO 2016208339 A1 WO2016208339 A1 WO 2016208339A1
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WO
WIPO (PCT)
Prior art keywords
pair
wire
rod
pieces
cam
Prior art date
Application number
PCT/JP2016/066145
Other languages
French (fr)
Japanese (ja)
Inventor
進司 杉本
Original Assignee
日特エンジニアリング株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日特エンジニアリング株式会社 filed Critical 日特エンジニアリング株式会社
Priority to CN201680003445.2A priority Critical patent/CN107112127B/en
Priority to KR1020177011550A priority patent/KR102006011B1/en
Publication of WO2016208339A1 publication Critical patent/WO2016208339A1/en

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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

Definitions

  • the present invention relates to a wire rod gripping device and a wire rod gripping method used for a winding device or the like.
  • JP2000-331860A as a wire rod gripping device used for a winding device etc., a pair of sandwiching pieces sandwiching the wire, a spring biasing the pair of sandwiching pieces in a direction to make them approach each other, and a biasing force of the spring A fluid pressure cylinder for opposingly separating a pair of clamping pieces is disclosed.
  • An object of the present invention is to provide a wire rod gripping device and a wire rod gripping method which can easily change the gripping force for gripping a wire rod.
  • a sliding rod provided to be able to move back and forth with respect to the main body, and a wire rod can be held close to each other according to the approach or withdrawal of the sliding rod provided on the main body.
  • a mechanical hand having a pair of holding pieces, and a spring for urging the sliding rod in a direction to withdraw from the main body, and a mounting plate provided with the mechanical hand against the urging force of the spring
  • a driving device for moving the sliding rod into the main body to drive the pair of holding pieces, and the driving device is an extension of the sliding rod with one end facing the projecting end of the sliding rod.
  • a wire rod gripping device having an operating rod provided on the upper mounting plate, a cam engaged with the other end of the operating rod, and a motor for displacing the cam to an arbitrary position.
  • a pair of sandwiching pieces for sandwiching a wire rod that are close to each other and a direction in which the pair of sandwiching pieces are moved closer to or away from each other
  • a cam for driving the pair of sandwiching pieces against the biasing force of the spring, and a motor for displacing the cam to an arbitrary position, and the cam is displaced by the motor.
  • FIG. 1 is a cross-sectional view showing a wire rod gripping device according to a first embodiment of the present invention, and is a cross-sectional view taken along the line AA of FIG.
  • FIG. 2 is a cross-sectional view showing a state in which the wire gripping device according to the first embodiment of the present invention grips a wire.
  • FIG. 3 is a cross-sectional view showing a state in which the wire gripping device according to the first embodiment of the present invention weakly grips the wire.
  • FIG. 4 is a side view of the wire rod gripping device 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 gripping device according to the first embodiment of the present invention has moved.
  • FIG. 1 is a cross-sectional view showing a wire rod gripping device according to a first embodiment of the present invention, and is a cross-sectional view taken along the line AA of FIG.
  • FIG. 2 is a cross-sectional
  • FIG. 6 is a top view of the wire rod gripping device according to the first embodiment of the present invention.
  • FIG. 7 is a structural view of a mechanical hand of the wire rod gripping device according to the first embodiment of the present invention.
  • FIG. 8A is a view for explaining the drawing of the wire by the wire holding device according to the first embodiment of the present invention.
  • FIG. 8B is a view for explaining the drawing of the wire by the wire holding device according to the first embodiment of the present invention.
  • FIG. 8C is a view for explaining the drawing of the wire by the wire holding device according to the first embodiment of the present invention.
  • FIG. 8D is a view for explaining the drawing of the wire by the wire holding device according to the first embodiment of the present invention.
  • FIG. 9 is a cross-sectional view corresponding to FIG.
  • FIG. 10 is a cross-sectional view showing a state in which the wire gripping device according to the second embodiment of the present invention grips a wire.
  • FIG. 11 is a cross-sectional view showing a state in which the wire rod gripping device according to the second embodiment of the present invention weakly grips a wire rod.
  • the wire rod gripping device 10 includes a pair of sandwiching pieces 11 and 12 sandwiching the wire rod 9 existing therebetween by approaching each other.
  • the pair of sandwiching pieces 11 and 12 is attached to the pair of movable stands 21 and 22 of the horizontally moving mechanical hand 20.
  • the mechanical hand 20 includes a pair of movable tables 21 and 22, a main body 23 in which a pair of movable tables 21 and 22 are arranged side by side so as to reciprocate, and a pair of movable tables on the main body 23.
  • the sliding rod 24 is provided slidably in the direction orthogonal to the moving directions of 21 and 22, and the both ends thereof are pivotally supported by the sliding rod 24 and the moving stands 21 and 22 housed in the inside of the main body 23 And a pair of lever members (not shown) pivotally supported by the main body portion 23 in the middle portion.
  • the wire rod holding device 10 further includes a first coil spring 26 as a spring that biases the pair of sandwiching pieces 11 and 12 in the direction in which the pair of sandwiching pieces 11 and 12 approach each other, that is, the direction in which the pair of sandwiching pieces 11 and 12 close.
  • the first coil spring 26 is disposed on the outer periphery of the sliding rod 24 projecting from the main body 23 of the mechanical hand 20.
  • the projecting end of the sliding rod 24 is provided with a pressing cover 27 in which the end of the first coil spring 26 is engaged. Accordingly, the first coil spring 26 is interposed in a compressed state between the main body portion 23 and the pressing cover 27 and biases the pressing cover 27 away from the main body portion 23 by the extension force. Urges the sliding rod 24 attached to the end in a direction to withdraw from the main body 23.
  • the wire rod holding device 10 is provided with a mounting plate 13 for being attached to a winding device or the like.
  • the mechanical hand 20 is pivotally supported by the mounting plate 13 via the rotary table 14.
  • the rotating table 14 has a cylindrical portion 14a directly supported by the mounting plate 13 via a bearing 16 and a mounting piece 14b provided at one end of the cylindrical portion 14a.
  • the mechanical hand 20 is attached to the attachment piece 14 b via the slide member 15.
  • the slide member 15 has a fixed plate 15a and a movable plate 15b superimposed, and the fixed plate 15a is provided with parallel rails 15c with which both sides of the movable plate 15b are engaged.
  • the movable plate 15b is provided movably in the direction in which the rail 15c extends with respect to the fixed plate 15a.
  • the fixed plate 15a is attached to the mounting piece 14b such that the direction in which the rail 15c extends is orthogonal to the central axis of the cylindrical portion 14a of the turntable 14.
  • a first stopper member 28 with which one end edge of the movable plate 15b abuts is provided at one end edge of the fixed plate 15a in the moving direction of the movable plate 15b, and the movement of the movable plate 15b At the other end of the fixed plate 15a in the direction, a small spring 29 is provided which biases the movable plate 15b such that one end of the movable plate 15b abuts on the first stopper member 28.
  • a female screw member 31 having a female screw hole formed therethrough is attached to the other edge of the fixing plate 15a.
  • the small spring 29 is a coil spring, and is inserted into the female screw member 31 so that one end thereof abuts on the other end of the movable plate 15b. Further, a small screw 32 is screwed into the female screw hole of the female screw member 31 so as to abut on the other end of the small spring 29. That is, the small spring 29 is interposed between the movable plate 15 b and the small screw 32 in a compressed state. For this reason, changing the amount of compression of the small spring 29 by changing the screwing depth of the small screw 32 with respect to the female screw member 31 changes the biasing force of the small spring 29 applied to the movable plate 15b. it can.
  • symbol 33 in FIG. 4 is a nut which prevents the looseness of the small screw 32 screwed by the internal thread member 31. As shown in FIG.
  • the main body 23 of the mechanical hand 20 is attached to the attachment plate 20a attached to the movable plate 15b via the small screw 14c.
  • the moving direction of the pair of holding pieces 11 and 12 is a direction orthogonal to the moving direction of the movable plate 15 b. That is, the mechanical hand 20 attached to the movable plate 15b via the attachment plate 20a is movable in the direction orthogonal to both the moving direction of the pair of holding pieces 11 and 12 and the moving direction of the sliding rod 24. .
  • 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, since the mechanical hand 20 attached to the rotary table 14 via the slide member 15 rotates with the rotary table 14, the mechanical hand 20 can rotate with respect to the mounting plate 13, that is, in a pivotally supported state by the mounting plate 13. is there.
  • the small spring 29 for urging the movable plate 15b is a coil spring
  • the movable plate 15b resists the urging force of the small spring 29, as shown by the solid arrow in FIG.
  • the mechanical hand 20 and the fixed plate 15 a can be moved in the extension direction of 9.
  • a second stopper member 36 is provided which regulates the amount of movement of the mechanical hand 20 so that the amount of movement of the mechanical hand 20 in the extending direction of the wire 9 does not exceed a predetermined value.
  • the second stopper member 36 has a crank-like crank plate 37 with one end 37a attached to the attachment plate 20a, and an L-shaped contact plate 38 with one end 38a attached to the attachment piece 14b.
  • the crank plate 37 and the L-shaped contact plate 38 are arranged such that the other end 37 b of the crank plate 37 contacts the other end 38 b of the L-shaped contact plate 38 when the mechanical hand 20 moves by a predetermined value or more.
  • Each insertion hole 15d, 15e, as shown in FIG. 5, has a size that allows the pressing cover 27 to be inserted even when the other end 37b of the crank plate 37 and the other end 38b of the L-shaped contact plate 38 are in contact. Is formed.
  • the member indicated by reference numeral 39 in FIGS. 4 and 5 is a detection sensor 39 which 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.
  • the detection value of the detection sensor 39 is input to a control device (not shown).
  • the mounting plate 13 is provided with a servomotor 18 for rotating the rotary table 14 to an arbitrary position.
  • the servomotor 18 is mounted such that its rotation axis 18a is parallel to the rotation axis of the cylindrical portion 14a at a position separated from the cylindrical portion 14a by a predetermined distance.
  • a pulley 17 b is provided on the rotation shaft 18 a of the servomotor 18. Further, a pulley 17 a is attached to the cylindrical portion 14 a opposite to the mechanical hand 20 with the mounting plate 13 interposed therebetween.
  • a belt 17c is wound around the pulleys 17a and 17b.
  • a member indicated by reference numeral 19a in the figure is a mounting base 19a for mounting the servomotor 18, and is mounted on the mounting plate 13 via the mounting leg 19b so as to be parallel to the mounting plate 13.
  • a bolt 19c as shown in FIG.
  • a screw stand 19d is provided upright on the mounting plate 13 on the opposite side to the rotary table 14 with the mounting table 19a interposed therebetween.
  • a screw member 19e whose front end contacts the mounting base 19a is screwed in parallel with the mounting plate 13 to the screw base 19d.
  • the servomotor 18 can be disposed on the mounting plate 13 at a desired distance from the rotary table 14 by tightening the bolt 19 c at a desired position.
  • the operation rod 41 one end of which can abut against the pressing cover 27 provided on the sliding rod 24, is biased in a direction to move the operating rod 41 away from the sliding rod 24.
  • a second coil spring 42 is disposed.
  • the operating rod 41 is moved against the biasing force of the second coil spring 42, the end of the operating rod 41 abuts on the pressing cover 27.
  • the sliding rod 24 provided with the pressing cover 27 enters the main body 23 against the biasing force of the first coil spring 26, and the pair of moving stands 21 of the mechanical hand 20, 22 is moved away from each other together with the pair of sandwiching pieces 11 and 12.
  • the wire rod holding device 10 further includes a drive device 43 that separates the pair of holding pieces 11 and 12 against the biasing force of the first coil spring 26.
  • the drive device 43 has a cam 44 for driving the pair of holding pieces 11 and 12 in a direction to move 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 servomotor 45.
  • the rotation shaft 45 a of the servomotor 45 is attached to the disk-shaped plate cam 44 at a position deviated from the center.
  • the servomotor 45 is attached to the mounting plate 13 such that its rotation axis 45a is orthogonal to the central axis of the cylindrical portion 14a.
  • the outer periphery of the plate cam 44 eccentrically provided on the rotation shaft 45a of the servomotor 45 always contacts the end of the operation rod 41 projecting from the cylindrical portion 14a.
  • the mounting member 47 is mounted on the mounting plate 13 via the support 46 so as to close the end of the operation rod 41.
  • the mounting member 47 is formed with an axial hole 47a (FIG. 4) orthogonal to the central axis of the cylindrical portion 14a.
  • the rotation shaft 45a of the servomotor 45 is inserted into the shaft hole 47a.
  • the mounting member 47 is formed with a slit 47 b which intersects the shaft hole 47 a and is opened on the opposite side to the operation rod 41 at a position facing the end of the operation rod 41. Further, the mounting member 47 is formed with a long hole 47c which is open in the slit 47b and opened in the side of the operation rod 41 and has an oval cross-sectional shape.
  • the plate cam 44 is attached to the rotary shaft 45a passing through the slit 47b, is displaceable in the space constituted by the slit 47b and the long hole 47c, and the end of the operation rod 41 always contacts the outer periphery thereof .
  • the wire rod gripping device 10 is provided with the servomotor 45 for displacing the cam 44 to an arbitrary position, displacing the cam 44 with the servomotor 45 enables the gripping force of the pair of sandwiching pieces 11 and 12 It can be changed.
  • the cam 44 is rotationally displaced by the servomotor 45, and the operating rod 41 is moved toward the mechanical hand 20.
  • the operating rod 41 is moved against the biasing force of the second coil spring 42
  • the end of the operating rod 41 contacts the pressing cover 27 of the mechanical hand 20.
  • the sliding rod 24 provided with the pressing cover 27 enters the main body 23 against the biasing force of the first coil spring 26, and the pair of moving tables 21, 22 is a pair Together with the clamping pieces 11 and 12 in the direction away from each other.
  • a space through which the wire 9 passes is formed between the pair of sandwiching pieces 11 and 12.
  • the wire 9 is made to enter between the pair of holding pieces 11 and 12 .
  • the entry of the wire rod 9 can be performed by moving a nozzle for feeding out the wire rod 9 provided in a winding device or the like (not shown) or moving the wire rod gripping device 10 itself.
  • the wire 9 existing between the pair of sandwiching pieces 11 and 12 is clamped by the pair of sandwiching pieces 11 and 12 with a relatively strong force by the biasing force of the first coil spring 26. That is, since the pair of sandwiching pieces 11 and 12 approach each other by the biasing force of the first coil spring 26, the wire 9 existing between the pair of sandwiching pieces 11 and 12 corresponds to the biasing force of the first coil spring 26 It is clamped by the clamping force.
  • the cross section of the wire 9 is deformed by elasticity and the distance A between the pair of holding pieces 11 and 12 is smaller than the diameter of the wire.
  • the cam 44 for opening the pair of holding pieces 11 and 12 can be displaced to an arbitrary position by the servomotor 45. Therefore, when the cam 44 is displaced by the servomotor 45 and maintained in the state just before the end of the operation rod 41 separates from the slide rod 24 as shown in FIG.
  • the wire 9 existing between the two is held by the biasing force of the first coil spring 26 in a slightly compressed state as compared with the case shown in FIG.
  • the wire 9 existing between the pair of sandwiching pieces 11 and 12 is clamped in a state where the pair of sandwiching pieces 11 and 12 are slightly opened as compared with the case shown in FIG. Therefore, as shown in the enlarged view of FIG. 3, the distance B between the pair of sandwiching pieces 11 and 12 is such that the pair of sandwiching pieces 11 and 12 sandwiches the wire 9 by the biasing force of the first coil spring 26. It becomes larger than the interval A.
  • the pair of sandwiching pieces 11 and 12 is driven according to the displacement of the cam 44, that is, the advancing and retracting of the sliding rod 24 with respect to the main body 23.
  • the distance between the pair of sandwiching pieces 11 and 12 changes. For this reason, it is possible to change the grasping power of wire rod 9 by a pair of pinching pieces 11 and 12.
  • the displacement amount of the cam 44 can be easily changed by the servomotor 45, the holding force for holding the wire 9 can be easily changed and adjusted in the wire holding device 10 and the wire holding method.
  • the wire 9 is held relatively strongly between the pair of holding pieces 11 and 12, and the movement of the wire 9 with respect to the pair of holding pieces 11 and 12 is inhibited, and the pair of holding pieces 11 and 12 is held If it is moved together with the wire rod 9, it is possible to freely draw the wire rod 9 held.
  • the mechanical hand 20 of the wire rod gripping device 10 is rotatably supported with respect to the mounting plate 13, the servomotor 18 is driven to rotate and move the mechanical hand 20, for example, as shown in FIG. 8A.
  • the wire can be drawn in a circular arc as indicated by the broken arrow of.
  • the wire rod gripping device 10 a direction perpendicular to both the moving direction of the pair of sandwiching pieces 11 and 12 and the moving direction of the operation rod 41, ie, the extending direction of the wire rod 9 pinched by the pair of sandwiching pieces 11 and 12
  • the mechanical hand 20 is movable. Therefore, for example, when the wire rod 9 held by the pair of holding members 11 and 12 is drawn as shown in FIG. 8A and then pulled as shown in FIG. 8B, the biasing force of the small spring 29 resists as shown in FIG. Then, the mechanical hand 20 moves in the other direction. At this time, the wire 9 is pulled by a force equal to the biasing force that the small spring 29 applies to the mechanical hand 20.
  • 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 urges the pressing cover 27 away from the main body portion 23 by an extension force, and urges the sliding rod 24 in a direction to withdraw from the main body portion 23. Therefore, as shown in FIG. 9, the first coil spring 26 in the wire rod gripping device 10 functions as a spring for displacing the pair of sandwiching pieces 11 and 12 in the direction in which they are separated from each other.
  • an operation rod 41 one end of which can abut against the pressing cover 27 provided on the sliding rod 24, and an urging rod 41 for urging the operating rod 41 away from the sliding rod 24
  • a two coil spring 42 is disposed.
  • the drive device 43 of the wire rod holding device 10 includes a cam 44 that drives the pair of holding pieces 11 and 12 in a direction in which they approach each other, and a servomotor 45 that displaces the cam 44 to any position.
  • the cam 44 is a plate cam 44, and the rotational shaft 45a of the servomotor 45 is attached to the disk-shaped plate cam 44 at a position deviated from the center.
  • the servomotor 45 is attached to the mounting plate 13 such that its rotation axis 45a is orthogonal to the central axis of the cylindrical portion 14a.
  • the outer periphery of the plate cam 44 eccentrically provided on the rotation shaft 45a of the servomotor 45 contacts the end of the operation rod 41 projecting from the cylindrical portion 14a.
  • the wire rod holding device 10 includes the servomotor 45 for displacing the cam 44 to a desired position.
  • the grip force of 12 can be changed.
  • the servomotor 45 rotationally displaces the cam 44, and the biasing force of the first coil spring 26 causes the operating rod 41 to move to the main body
  • the pair of moving tables 21 and 22 are moved away from each other in the direction away from each other with the pair of holding pieces 11 and 12.
  • a space through which the wire 9 passes is formed between the pair of sandwiching pieces 11 and 12.
  • the wire 9 is made to enter between the pair of holding pieces 11 and 12.
  • the entry of the wire rod 9 can be performed by moving a nozzle for feeding out the wire rod 9 provided in a winding device or the like (not shown) or moving the wire rod gripping device 10 itself.
  • the wire 9 existing between the pair of sandwiching members 11 and 12 attempts to hold the force that causes the sliding rod 24 to enter the main body 23, that is, to maintain the position of the cam 44. It is clamped by a pair of clamping pieces 11 and 12 by the clamping force according to relatively strong power.
  • the cross section of the wire 9 is deformed by the elasticity, and the distance A between the pair of sandwiching pieces 11 and 12 is smaller than the diameter of the wire .
  • a sandwiching force for sandwiching the wire 9 is generated between the pair of sandwiching pieces 11 and 12 according to the force with which the servo motor 45 tries to rotate the cam 44.
  • the wire 9 existing between the pair of sandwiching pieces 11 and 12 has elasticity, it generates an opposing force that opposes the sandwiching force of the pair of sandwiching pieces 11 and 12. Therefore, the rotational displacement of the cam 44 is stopped when the opposing force of the wire 9 and the clamping force of the pair of clamping pieces 11 and 12 become equal.
  • the wire 9 existing between the pair of sandwiching pieces 11 and 12 is in a state of being clamped by the clamping force corresponding to the force that the cam 44 tends to rotate and displace.
  • the opposing force of the wire 9 prevents the pair of sandwiching pieces 11 and 12 from coming closer to each other, ie, the cam 44 further increases. It will be in the state which can not carry out rotational displacement. At this time, the wire 9 is held by a relatively strong holding force.
  • the wire rod holding device 10 can displace the cam 44 closing the pair of holding pieces 11 and 12 to an arbitrary position by the servomotor 45. For this reason, as shown in FIG. 11, it is also possible to stop the rotational displacement of the cam 44 immediately before the position where the rotational displacement of the cam 44 is considered to stop due to the opposing force of the wire 9.
  • the wire 9 existing between the pair of sandwiching pieces 11 and 12 is clamped by the pair of sandwiching pieces 11 and 12 which approach each other according to the rotational displacement of the cam 44.
  • the wire 9 is held in a state where the pair of holding pieces 11 and 12 is slightly opened as shown in the enlarged view of FIG. That is, as shown in the enlarged view of FIG. 11, the distance B between the pair of holding pieces 11 and 12 in this case is larger than the distance A shown in the enlarged view of FIG.
  • the cross section of the wire 9 sandwiched by the pair of sandwiching pieces 11 and 12 is deformed.
  • the amount of deformation of the cross section of the wire 9 differs depending on the amount of rotational displacement of the cam 44, and as shown in the enlarged view of FIG. 10, when the deformation of the cross section of the wire 9 is large, the wire 9 by the pair of holding pieces 11 and 12
  • the clamping force is also large, and as shown in the enlarged view of FIG. 11, when the deformation of the cross section of the wire 9 is small, the clamping force of the wire 9 by the pair of clamping pieces 11 and 12 is also small. That is, within the elastic range of the wire 9, the holding force by the pair of holding pieces 11 and 12 can be changed according to the amount of rotational displacement of the cam 44.
  • the pair of sandwiching pieces 11 and 12 respond to the displacement of the cam 44, that is, the advancing and retracting of the sliding rod 24 with respect to the main body 23.
  • the distance between the pair of sandwiching pieces 11 and 12 changes.
  • the gripping force for gripping the wire 9 can be easily changed and adjusted by the wire gripping device 10 and the wire gripping method according to the present embodiment. it can.
  • the mechanical hand 20 is movable in the extending direction. Therefore, after the wire 9 is drawn, it is possible to pull the wire 9 with a force equal to the biasing force applied to the mechanical hand 20 by the small spring 29.
  • the spring 26 which biases the pair of holding pieces 11 and 12 in the direction in which they approach or separate from each other is a coil spring.
  • the spring is not limited to a coil spring, and may be a spring of a type other than a coil spring such as a leaf spring, and any type of spring as long as it can be opened and closed by a pair of holding pieces 11 and 12 Good.
  • the plate cam 44 is used as the cam.
  • the cam may be a front cam (groove cam) or a three-dimensional cam, and any type of cam may be used as long as the opening degree of the pair of holding pieces 11 and 12 can be changed. Good.
  • a servomotor 45 is used as a motor for displacing the cam 44 to an arbitrary position.
  • the motor may be another type of motor as long as the cam 44 can be rotationally displaced to an arbitrary position.

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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

This wire gripping device (10) is provided with: a pair of clamping pieces (11, 12) which come into close proximity to each other to clamp a wire (9) present therebetween; a spring (26) which biases the pair of clamping pieces (11, 12) in a direction so as to come into close proximity to each other or in a direction so as to separate from each other; and a drive device (43) that goes against the biasing force of the spring (26) to cause the pair of clamping pieces (11, 12) to separate or come into close proximity to each other. The drive device (43) is provided with: a cam (44) for causing the pair of clamping pieces (11, 12) to separate or come into close proximity to each other; and a motor (45) for displacing the cam (44) to any position.

Description

線材把持装置及び線材把持方法Wire rod gripping device and wire rod gripping method
　本発明は、巻線装置などに使用される線材把持装置及び線材把持方法に関するものである。 The present invention relates to a wire rod gripping device and a wire rod gripping method used for a winding device or the like.
　ＪＰ２０００－３３１８６０Ａには、巻線装置などに使用される線材把持装置として、線材を挟持する一対の挟持片と、一対の挟持片を互いに接近させる方向に付勢するバネと、バネの付勢力に抗して一対の挟持片を離間させる流体圧シリンダと、を備えたものが開示されている。 In JP2000-331860A, as a wire rod gripping device used for a winding device etc., a pair of sandwiching pieces sandwiching the wire, a spring biasing the pair of sandwiching pieces in a direction to make them approach each other, and a biasing force of the spring A fluid pressure cylinder for opposingly separating a pair of clamping pieces is disclosed.
　近年、巻線装置では、線材の引き回しから巻き回された線材の端部処理まで行うものが開発されている。従って、このような巻線装置に使用される線材把持装置では、一対の挟持片に対する線材の移動を禁止し、一対の挟持片と一対の挟持片により挟持された線材とを共に移動させて線材を引き回すことが可能であるとともに、一対の挟持片により線材を比較的弱い力で挟持することで一対の挟持片に対する線材の移動を許容し、一対の挟持片の間で線材を滑らせながら引き延ばすことが可能であることが要求される。 In recent years, in winding devices, devices that perform processing from the winding of a wire rod to the end processing of the wound wire rod have been developed. Therefore, in the wire rod holding device used in such a winding device, the movement of the wire rod with respect to the pair of sandwiching pieces is prohibited, and the wire rod sandwiched by the pair of sandwiching pieces and the pair of sandwiching pieces is moved together By holding the wire with a relatively weak force between the pair of sandwiching pieces, allowing movement of the wire relative to the pair of sandwiching pieces, and stretching the wire while sliding the wire between the pair of sandwiching pieces It is required that it is possible.
　しかしながら、バネにより一対の挟持片を互いに接近させて線材を把持する従来の線材把持装置では、線材を把持する把持力を変更するためには、一対の挟持片を互いに接近させる方向に付勢するバネをバネ定数の異なるバネに取り替えなければならない。このため、例えば装置が稼働している状態において線材を把持する把持力を任意に変更することは困難である。 However, in a conventional wire rod gripping device in which a pair of sandwiching pieces are brought close to each other by a spring and the wire rod is gripped, in order to change the gripping force for gripping the wire rod, the pair of sandwiching pieces are urged in a direction to approach each other The springs must be replaced with springs of different spring constants. For this reason, for example, it is difficult to arbitrarily change the gripping force for gripping the wire while the device is in operation.
　本発明は、線材を把持する把持力を容易に変更し得る線材把持装置及び線材把持方法を提供することを目的とする。 An object of the present invention is to provide a wire rod gripping device and a wire rod gripping method which can easily change the gripping force for gripping a wire rod.
　本発明のある態様によれば、本体部に対して進退自在に設けられた摺動ロッドと、前記本体部に設けられ前記摺動ロッドの進入または退出に応じて互いに接近し線材を挟持可能な一対の挟持片と、前記摺動ロッドを前記本体部から退出させる方向に付勢するバネと、を有するメカハンドと、前記メカハンドが設けられた取付板に設けられ前記バネの付勢力に抗して前記摺動ロッドを前記本体部に進入させて前記一対の挟持片を駆動させる駆動装置と、を備え、前記駆動装置は、前記摺動ロッドの突出端に一端が臨んで前記摺動ロッドの延長上の前記取付板に設けられた操作ロッドと、前記操作ロッドの他端に係合するカムと、前記カムを任意の位置に変位させるモータと、を有する線材把持装置が提供される。 According to an aspect of the present invention, a sliding rod provided to be able to move back and forth with respect to the main body, and a wire rod can be held close to each other according to the approach or withdrawal of the sliding rod provided on the main body. A mechanical hand having a pair of holding pieces, and a spring for urging the sliding rod in a direction to withdraw from the main body, and a mounting plate provided with the mechanical hand against the urging force of the spring And a driving device for moving the sliding rod into the main body to drive the pair of holding pieces, and the driving device is an extension of the sliding rod with one end facing the projecting end of the sliding rod. There is provided a wire rod gripping device having an operating rod provided on the upper mounting plate, a cam engaged with the other end of the operating rod, and a motor for displacing the cam to an arbitrary position.
　本発明の別のある態様によれば、互いに接近して間に存在する線材を挟持する一対の挟持片と、前記一対の挟持片を互いに接近させる方向及び互いに離間させる方向の何れか一方の方向に付勢するバネと、前記バネの付勢力に抗して前記一対の挟持片を駆動させるカムと、前記カムを任意の位置に変位させるモータと、を備え、前記モータにより前記カムを変位させることによって前記一対の挟持片の把持力を変更させる線材把持方法が提供される。 According to another aspect of the present invention, a pair of sandwiching pieces for sandwiching a wire rod that are close to each other and a direction in which the pair of sandwiching pieces are moved closer to or away from each other And a cam for driving the pair of sandwiching pieces against the biasing force of the spring, and a motor for displacing the cam to an arbitrary position, and the cam is displaced by the motor. Thus, the wire rod gripping method for changing the gripping force of the pair of sandwiching pieces is provided.
図１は、本発明の第１実施形態に係る線材把持装置を示す断面図であり、図４のＡ－Ａ線に沿う断面図である。FIG. 1 is a cross-sectional view showing a wire rod gripping device according to a first embodiment of the present invention, and is a cross-sectional view taken along the line AA of FIG. 図２は、本発明の第１実施形態に係る線材把持装置が線材を把持した状態を示す断面図である。FIG. 2 is a cross-sectional view showing a state in which the wire gripping device according to the first embodiment of the present invention grips a wire. 図３は、本発明の第１実施形態に係る線材把持装置が線材を弱く把持した状態を示す断面図である。FIG. 3 is a cross-sectional view showing a state in which the wire gripping device according to the first embodiment of the present invention weakly grips the wire. 図４は、本発明の第１実施形態に係る線材把持装置の側面図である。FIG. 4 is a side view of the wire rod gripping device according to the first embodiment of the present invention. 図５は、本発明の第１実施形態に係る線材把持装置のメカハンドが移動した状態を示す側面図である。FIG. 5 is a side view showing a state in which the mechanical hand of the wire rod gripping device according to the first embodiment of the present invention has moved. 図６は、本発明の第１実施形態に係る線材把持装置の上面図である。FIG. 6 is a top view of the wire rod gripping device according to the first embodiment of the present invention. 図７は、本発明の第１実施形態に係る線材把持装置のメカハンドの構造図である。FIG. 7 is a structural view of a mechanical hand of the wire rod gripping device according to the first embodiment of the present invention. 図８Ａは、本発明の第１実施形態に係る線材把持装置による線材の引き回しを説明するための図である。FIG. 8A is a view for explaining the drawing of the wire by the wire holding device according to the first embodiment of the present invention. 図８Ｂは、本発明の第１実施形態に係る線材把持装置による線材の引き回しを説明するための図である。FIG. 8B is a view for explaining the drawing of the wire by the wire holding device according to the first embodiment of the present invention. 図８Ｃは、本発明の第１実施形態に係る線材把持装置による線材の引き回しを説明するための図である。FIG. 8C is a view for explaining the drawing of the wire by the wire holding device according to the first embodiment of the present invention. 図８Ｄは、本発明の第１実施形態に係る線材把持装置による線材の引き回しを説明するための図である。FIG. 8D is a view for explaining the drawing of the wire by the wire holding device according to the first embodiment of the present invention. 図９は、本発明の第２実施形態に係る線材把持装置を示す図１に対応する断面図である。FIG. 9 is a cross-sectional view corresponding to FIG. 1 showing a wire rod gripping device according to a second embodiment of the present invention. 図１０は、本発明の第２実施形態に係る線材把持装置が線材を把持した状態を示す断面図である。FIG. 10 is a cross-sectional view showing a state in which the wire gripping device according to the second embodiment of the present invention grips a wire. 図１１は、本発明の第２実施形態に係る線材把持装置が線材を弱く把持した状態を示す断面図である。FIG. 11 is a cross-sectional view showing a state in which the wire rod gripping device according to the second embodiment of the present invention weakly grips a wire rod.
　図面を参照して、本発明の実施形態に係る線材把持装置について説明する。 A wire rod gripping device according to an embodiment of the present invention will be described with reference to the drawings.
　＜第１実施形態＞
　図１～図７を参照して、本発明の第１実施形態に係る線材把持装置１０について説明する。 First Embodiment
A wire rod gripping device 10 according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 7.
　図１及び図４に示すように、線材把持装置１０は、互いに接近することで間に存在する線材９を挟持する一対の挟持片１１，１２を備える。本実施形態では、一対の挟持片１１，１２は、水平移動型メカハンド２０の一対の移動台２１，２２に取付けられている。 As shown in FIGS. 1 and 4, the wire rod gripping device 10 includes a pair of sandwiching pieces 11 and 12 sandwiching the wire rod 9 existing therebetween by approaching each other. In the present embodiment, the pair of sandwiching pieces 11 and 12 is attached to the pair of movable stands 21 and 22 of the horizontally moving mechanical hand 20.
　図７に示すように、メカハンド２０は、一対の移動台２１，２２と、一対の移動台２１，２２が並んで往復移動可能に設けられた本体部２３と、本体部２３に一対の移動台２１，２２の移動方向に直交する方向に摺動可能に設けられた摺動ロッド２４と、本体部２３の内部に収容され摺動ロッド２４と移動台２１，２２とに両端部がそれぞれ枢支され中間部が本体部２３に枢支された一対のレバー部材（図示せず）と、を備える。 As shown in FIG. 7, the mechanical hand 20 includes a pair of movable tables 21 and 22, a main body 23 in which a pair of movable tables 21 and 22 are arranged side by side so as to reciprocate, and a pair of movable tables on the main body 23. The sliding rod 24 is provided slidably in the direction orthogonal to the moving directions of 21 and 22, and the both ends thereof are pivotally supported by the sliding rod 24 and the moving stands 21 and 22 housed in the inside of the main body 23 And a pair of lever members (not shown) pivotally supported by the main body portion 23 in the middle portion.
　このメカハンド２０では、摺動ロッド２４が本体部２３に進入すると、図示しない一対のレバー部材がそれぞれ回動し、一対の移動台２１，２２は互いに離間する。一方、摺動ロッド２４が本体部２３から退出すると、図示しない一対のレバー部材がそれぞれ反対方向に回動し、一対の移動台２１，２２は互いに接近する。 In the mechanical hand 20, when the slide rod 24 enters the main body 23, a pair of lever members (not shown) rotate, and the pair of movable tables 21 and 22 separate from each other. On the other hand, when the slide rod 24 withdraws from the main body portion 23, a pair of lever members (not shown) respectively pivot in opposite directions, and the pair of movable tables 21 and 22 approach each other.
　つまり、本体部２３に進入した摺動ロッド２４を本体部２３から退出させると、一対の移動台２１，２２に設けられた一対の挟持片１１，１２は、一対の移動台２１，２２とともに互いに接近し、それらの間に線材９（図１～３）が存在したならば、線材９は一対の挟持片１１，１２によって挟持される。 That is, when the sliding rod 24 having entered the main body portion 23 is withdrawn from the main body portion 23, the pair of holding pieces 11, 12 provided on the pair of moving bases 21, 22 together with the pair of moving bases 21, 22 mutually When approaching and the wire 9 (FIGS. 1 to 3) is present between them, the wire 9 is clamped by the pair of clamping pieces 11 and 12.
　また、線材把持装置１０は、一対の挟持片１１，１２を互いに接近させる方向、すなわち、一対の挟持片１１，１２が閉じる方向に付勢するバネとしての第一コイルスプリング２６を備える。第一コイルスプリング２６は、メカハンド２０の本体部２３から突出する摺動ロッド２４の外周に配置される。摺動ロッド２４の突出端には、第一コイルスプリング２６の端部が係止される押さえカバー２７が設けられる。従って、第一コイルスプリング２６は、本体部２３と押さえカバー２７との間に圧縮された状態で介装され、伸張力により押さえカバー２７を本体部２３から遠ざける方向に付勢し、押さえカバー２７が端部に取付けられた摺動ロッド２４を本体部２３から退出させる方向に付勢している。 The wire rod holding device 10 further includes a first coil spring 26 as a spring that biases the pair of sandwiching pieces 11 and 12 in the direction in which the pair of sandwiching pieces 11 and 12 approach each other, that is, the direction in which the pair of sandwiching pieces 11 and 12 close. The first coil spring 26 is disposed on the outer periphery of the sliding rod 24 projecting from the main body 23 of the mechanical hand 20. The projecting end of the sliding rod 24 is provided with a pressing cover 27 in which the end of the first coil spring 26 is engaged. Accordingly, the first coil spring 26 is interposed in a compressed state between the main body portion 23 and the pressing cover 27 and biases the pressing cover 27 away from the main body portion 23 by the extension force. Urges the sliding rod 24 attached to the end in a direction to withdraw from the main body 23.
　図１～図３に示すように、線材把持装置１０は、巻線装置などに取付けられるための取付板１３を備える。メカハンド２０は回転台１４を介して取付板１３に枢支される。回転台１４は、取付板１３にベアリング１６を介して直接枢支される円筒部１４ａと、円筒部１４ａの一方の端部に設けられた取付片１４ｂと、を有する。メカハンド２０は、スライド部材１５を介して取付片１４ｂに取付けられる。 As shown in FIGS. 1 to 3, the wire rod holding device 10 is provided with a mounting plate 13 for being attached to a winding device or the like. The mechanical hand 20 is pivotally supported by the mounting plate 13 via the rotary table 14. The rotating table 14 has a cylindrical portion 14a directly supported by the mounting plate 13 via a bearing 16 and a mounting piece 14b provided at one end of the cylindrical portion 14a. The mechanical hand 20 is attached to the attachment piece 14 b via the slide member 15.
　スライド部材１５は、重ね合わせられた固定板１５ａと可動板１５ｂとを有し、固定板１５ａには可動板１５ｂの両側部が係合する平行なレール１５ｃが設けられる。このように可動板１５ｂは固定板１５ａに対してレール１５ｃが延びる方向に移動可能に設けられる。固定板１５ａは、回転台１４の円筒部１４ａの中心軸に対して、レール１５ｃが延びる方向が直交するように、取付片１４ｂに取付けられる。 The slide member 15 has a fixed plate 15a and a movable plate 15b superimposed, and the fixed plate 15a is provided with parallel rails 15c with which both sides of the movable plate 15b are engaged. Thus, the movable plate 15b is provided movably in the direction in which the rail 15c extends with respect to the fixed plate 15a. The fixed plate 15a is attached to the mounting piece 14b such that the direction in which the rail 15c extends is orthogonal to the central axis of the cylindrical portion 14a of the turntable 14.
　図４に示すように、可動板１５ｂの移動方向における固定板１５ａの一方の端縁には、可動板１５ｂの一方の端縁が当接する第一ストッパ部材２８が設けられ、可動板１５ｂの移動方向における固定板１５ａの他方の端縁には、可動板１５ｂの一方の端縁を第一ストッパ部材２８に当接させるように可動板１５ｂを付勢する小バネ２９が設けられる。 As shown in FIG. 4, a first stopper member 28 with which one end edge of the movable plate 15b abuts is provided at one end edge of the fixed plate 15a in the moving direction of the movable plate 15b, and the movement of the movable plate 15b At the other end of the fixed plate 15a in the direction, a small spring 29 is provided which biases the movable plate 15b such that one end of the movable plate 15b abuts on the first stopper member 28.
　固定板１５ａの他方の端縁には、雌ねじ孔が貫通して形成された雌ねじ部材３１が取付けられる。小バネ２９はコイルスプリングであり、一端が可動板１５ｂの他方の端縁に当接するように、雌ねじ部材３１内に挿通される。また、雌ねじ部材３１の雌ねじ孔には、小バネ２９の他端に当接するように小ねじ３２が螺合される。つまり、小バネ２９は、可動板１５ｂと小ねじ３２との間に圧縮された状態で介装される。このため、雌ねじ部材３１に対する小ねじ３２のねじ込み深さを変更することによって、小バネ２９の圧縮量を変化させることで、可動板１５ｂに付与される小バネ２９の付勢力を変更することができる。なお、図４において符号３３で示される部材は、雌ねじ部材３１に螺合された小ねじ３２の緩みを防止するナットである。 A female screw member 31 having a female screw hole formed therethrough is attached to the other edge of the fixing plate 15a. The small spring 29 is a coil spring, and is inserted into the female screw member 31 so that one end thereof abuts on the other end of the movable plate 15b. Further, a small screw 32 is screwed into the female screw hole of the female screw member 31 so as to abut on the other end of the small spring 29. That is, the small spring 29 is interposed between the movable plate 15 b and the small screw 32 in a compressed state. For this reason, changing the amount of compression of the small spring 29 by changing the screwing depth of the small screw 32 with respect to the female screw member 31 changes the biasing force of the small spring 29 applied to the movable plate 15b. it can. In addition, the member shown with the code | symbol 33 in FIG. 4 is a nut which prevents the looseness of the small screw 32 screwed by the internal thread member 31. As shown in FIG.
　このように、可動板１５ｂは、小バネ２９の付勢力により、一方の端縁が第一ストッパ部材２８に当接する。重ね合わせられた固定板１５ａと可動板１５ｂの双方には、可動板１５ｂが第一ストッパ部材２８に当接した状態において、摺動ロッド２４に設けられた押さえカバー２７が挿通可能な挿通孔１５ｄ，１５ｅがそれらの略中央にそれらを貫通して形成される。 Thus, one end edge of the movable plate 15 b abuts on the first stopper member 28 by the biasing force of the small spring 29. Insertion hole 15 d through which the pressing cover 27 provided on the sliding rod 24 can be inserted in both the fixed plate 15 a and the movable plate 15 b stacked in a state where the movable plate 15 b is in contact with the first stopper member 28. , 15e are formed through them at about their center.
　一方、メカハンド２０の本体部２３は、可動板１５ｂに取付けられた取付小板２０ａに小ねじ１４ｃを介して取付けられる。ここで、一対の挟持片１１，１２の移動方向は、可動板１５ｂの移動方向に対して直交する方向である。つまり、取付小板２０ａを介して可動板１５ｂに取付けられたメカハンド２０は、一対の挟持片１１，１２の移動方向と摺動ロッド２４の移動方向との双方に直交する方向に移動可能である。また、摺動ロッド２４の中心軸は、円筒部１４ａの中心軸に一致した状態となる。つまり、スライド部材１５を介して回転台１４に取り付けられたメカハンド２０は、回転台１４と共に回転するため、取付板１３に対して回転可能な状態、すなわち、取付板１３に枢支された状態にある。 On the other hand, the main body 23 of the mechanical hand 20 is attached to the attachment plate 20a attached to the movable plate 15b via the small screw 14c. Here, the moving direction of the pair of holding pieces 11 and 12 is a direction orthogonal to the moving direction of the movable plate 15 b. That is, the mechanical hand 20 attached to the movable plate 15b via the attachment plate 20a is movable in the direction orthogonal to both the moving direction of the pair of holding pieces 11 and 12 and the moving direction of the sliding rod 24. . Further, 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, since the mechanical hand 20 attached to the rotary table 14 via the slide member 15 rotates with the rotary table 14, the mechanical hand 20 can rotate with respect to the mounting plate 13, that is, in a pivotally supported state by the mounting plate 13. is there.
　また、可動板１５ｂを付勢する小バネ２９はコイルスプリングであるため、図５の実線矢印で示すように、可動板１５ｂは、小バネ２９の付勢力に抗してメカハンド２０が挟持する線材９の延在方向に、メカハンド２０とともに固定板１５ａに対して移動可能である。このような線材９の延在方向へのメカハンド２０の移動量が所定値以上とならないように、メカハンド２０の移動量を規制する第二ストッパ部材３６が設けられる。 Further, since the small spring 29 for urging the movable plate 15b is a coil spring, the movable plate 15b resists the urging force of the small spring 29, as shown by the solid arrow in FIG. The mechanical hand 20 and the fixed plate 15 a can be moved in the extension direction of 9. A second stopper member 36 is provided which regulates the amount of movement of the mechanical hand 20 so that the amount of movement of the mechanical hand 20 in the extending direction of the wire 9 does not exceed a predetermined value.
　第二ストッパ部材３６は、取付小板２０ａに一端３７ａが取付けられたクランク状のクランク板３７と、取付片１４ｂに一端３８ａが取付けられたＬ型当接板３８と、を有する。クランク板３７とＬ型当接板３８とは、メカハンド２０が所定値以上移動した場合に、クランク板３７の他端３７ｂがＬ型当接板３８の他端３８ｂに当接するように配置される。各挿通孔１５ｄ，１５ｅは、図５に示されるように、クランク板３７の他端３７ｂとＬ型当接板３８の他端３８ｂとが当接した状態においても押さえカバー２７が挿通可能な大きさに形成される。なお、図４及び図５において符号３９で示される部材は、クランク板３７の他端３７ｂにＬ型当接板３８の他端３８ｂが当接しているか否かを検出する検出センサ３９である。検出センサ３９の検出値は、図示しない制御装置に入力される。 The second stopper member 36 has a crank-like crank plate 37 with one end 37a attached to the attachment plate 20a, and an L-shaped contact plate 38 with one end 38a attached to the attachment piece 14b. The crank plate 37 and the L-shaped contact plate 38 are arranged such that the other end 37 b of the crank plate 37 contacts the other end 38 b of the L-shaped contact plate 38 when the mechanical hand 20 moves by a predetermined value or more. . Each insertion hole 15d, 15e, as shown in FIG. 5, has a size that allows the pressing cover 27 to be inserted even when the other end 37b of the crank plate 37 and the other end 38b of the L-shaped contact plate 38 are in contact. Is formed. The member indicated by reference numeral 39 in FIGS. 4 and 5 is a detection sensor 39 which 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. The detection value of the detection sensor 39 is input to a control device (not shown).
　また、図１～図３に示すように、取付板１３には、回転台１４を任意の位置に回転させるサーボモータ１８が取り付けられる。サーボモータ１８は、円筒部１４ａから所定の距離だけ離れた位置において、その回転軸１８ａが円筒部１４ａの回転軸に対して平行となるように取付けられる。サーボモータ１８の回転軸１８ａにはプーリ１７ｂが設けられる。また、取付板１３を挟んでメカハンド２０とは反対側の円筒部１４ａにはプーリ１７ａが取付けられる。これらプーリ１７ａ，１７ｂ間にはベルト１７ｃが掛け回される。 Further, as shown in FIGS. 1 to 3, the mounting plate 13 is provided with a servomotor 18 for rotating the rotary table 14 to an arbitrary position. The servomotor 18 is mounted such that its rotation axis 18a is parallel to the rotation axis of the cylindrical portion 14a at a position separated from the cylindrical portion 14a by a predetermined distance. A pulley 17 b is provided on the rotation shaft 18 a of the servomotor 18. Further, a pulley 17 a is attached to the cylindrical portion 14 a opposite to the mechanical hand 20 with the mounting plate 13 interposed therebetween. A belt 17c is wound around the pulleys 17a and 17b.
　サーボモータ１８が駆動し回転軸１８ａが回転すると、その回転はプーリ１７ａ，１７ｂ及びベルト１７ｃを介して円筒部１４ａに伝達され、メカハンド２０は、回転台１４と共に任意の位置へと回転移動する。 When the servomotor 18 is driven and the rotation shaft 18a is rotated, the rotation is transmitted to the cylindrical portion 14a via the pulleys 17a and 17b and the belt 17c, and the mechanical hand 20 is rotationally moved to an arbitrary position together with the rotation base 14.
　ここで、図中における符号１９ａで示される部材は、サーボモータ１８を取付けるための取付台１９ａであって、取付板１３に対して平行となるように取付脚１９ｂを介して取付板１３に取付けられる。取付台１９ａの取付脚１９ｂへの取付けは、図６に示されるように、ボルト１９ｃにより行われる。また、取付台１９ａを挟んで回転台１４とは反対側の取付板１３にはネジ台１９ｄが立設される。ネジ台１９ｄには先端が取付台１９ａに接触するネジ部材１９ｅが取付板１３と平行に螺着される。 Here, a member indicated by reference numeral 19a in the figure is a mounting base 19a for mounting the servomotor 18, and is mounted on the mounting plate 13 via the mounting leg 19b so as to be parallel to the mounting plate 13. Be The attachment of the mounting base 19a to the mounting leg 19b is performed by a bolt 19c as shown in FIG. Further, a screw stand 19d is provided upright on the mounting plate 13 on the opposite side to the rotary table 14 with the mounting table 19a interposed therebetween. A screw member 19e whose front end contacts the mounting base 19a is screwed in parallel with the mounting plate 13 to the screw base 19d.
　よって、ボルト１９ｃを緩めて、ネジ部材１９ｅを回転させれば、ネジ部材１９ｅの先端が接触する取付台１９ａを移動させることができる。そして、所望の位置においてボルト１９ｃを締め付けることにより、サーボモータ１８を回転台１４から所望の間隔を開けて取付板１３に配置することができる。 Therefore, by loosening the bolt 19c and rotating the screw member 19e, it is possible to move the mount 19a with which the tip of the screw member 19e contacts. Then, the servomotor 18 can be disposed on the mounting plate 13 at a desired distance from the rotary table 14 by tightening the bolt 19 c at a desired position.
　また、回転台１４の円筒部１４ａ内には、一端が摺動ロッド２４に設けられた押さえカバー２７に当接可能な操作ロッド４１と、操作ロッド４１を摺動ロッド２４から遠ざける方向に付勢する第二コイルスプリング４２と、が配置される。第二コイルスプリング４２の付勢力に抗して操作ロッド４１を移動させると、操作ロッド４１の端部は押さえカバー２７に当接する。さらに操作ロッド４１を移動させると、押さえカバー２７が設けられた摺動ロッド２４は、第一コイルスプリング２６の付勢力に抗して本体部２３に進入し、メカハンド２０の一対の移動台２１，２２を、一対の挟持片１１，１２とともに互いに離れる方向へと移動させる。 Further, in the cylindrical portion 14 a of the rotary table 14, the operation rod 41, one end of which can abut against the pressing cover 27 provided on the sliding rod 24, is biased in a direction to move the operating rod 41 away from the sliding rod 24. And a second coil spring 42 is disposed. When the operating rod 41 is moved against the biasing force of the second coil spring 42, the end of the operating rod 41 abuts on the pressing cover 27. When the operating rod 41 is further moved, the sliding rod 24 provided with the pressing cover 27 enters the main body 23 against the biasing force of the first coil spring 26, and the pair of moving stands 21 of the mechanical hand 20, 22 is moved away from each other together with the pair of sandwiching pieces 11 and 12.
　線材把持装置１０は、第一コイルスプリング２６の付勢力に抗して一対の挟持片１１，１２を離間させる駆動装置４３をさらに備える。駆動装置４３は、一対の挟持片１１，１２を互いに離間する方向に駆動させるカム４４と、カム４４を任意の位置に変位させるモータ４５と、を有する。 The wire rod holding device 10 further includes a drive device 43 that separates the pair of holding pieces 11 and 12 against the biasing force of the first coil spring 26. The drive device 43 has a cam 44 for driving the pair of holding pieces 11 and 12 in a direction to move away from each other, and a motor 45 for displacing the cam 44 to an arbitrary position.
　カム４４は板カム４４であって、カム４４を任意の位置に変位させるモータ４５はサーボモータ４５である。円板状の板カム４４には、中心から偏倚した位置にサーボモータ４５の回転軸４５ａが取付けられる。サーボモータ４５は、その回転軸４５ａが円筒部１４ａの中心軸に対して直交するように取付板１３に取付けられる。サーボモータ４５の回転軸４５ａに偏心して設けられた板カム４４の外周は、円筒部１４ａから突出する操作ロッド４１の端部に常に接触する。 The cam 44 is a plate cam 44, and the motor 45 for displacing the cam 44 to an arbitrary position is a servomotor 45. The rotation shaft 45 a of the servomotor 45 is attached to the disk-shaped plate cam 44 at a position deviated from the center. The servomotor 45 is attached to the mounting plate 13 such that its rotation axis 45a is orthogonal to the central axis of the cylindrical portion 14a. The outer periphery of the plate cam 44 eccentrically provided on the rotation shaft 45a of the servomotor 45 always contacts the end of the operation rod 41 projecting from the cylindrical portion 14a.
　また、取付板１３には、図１～図６に示すように、操作ロッド４１の端部を塞ぐように、取付部材４７が支柱４６を介して取付けられる。取付部材４７には、円筒部１４ａの中心軸に対して直交する軸孔４７ａ（図４）が形成される。軸孔４７ａにはサーボモータ４５の回転軸４５ａが挿通される。 Further, as shown in FIGS. 1 to 6, the mounting member 47 is mounted on the mounting plate 13 via the support 46 so as to close the end of the operation rod 41. The mounting member 47 is formed with an axial hole 47a (FIG. 4) orthogonal to the central axis of the cylindrical portion 14a. The rotation shaft 45a of the servomotor 45 is inserted into the shaft hole 47a.
　また、取付部材４７には、操作ロッド４１の端部に対向する位置に、軸孔４７ａに交差し、操作ロッド４１とは反対側において開口するスリット４７ｂが形成される。また、取付部材４７には、スリット４７ｂに開口するとともに操作ロッド４１側において開口する断面形状が長円状の長孔４７ｃが形成される。 Further, the mounting member 47 is formed with a slit 47 b which intersects the shaft hole 47 a and is opened on the opposite side to the operation rod 41 at a position facing the end of the operation rod 41. Further, the mounting member 47 is formed with a long hole 47c which is open in the slit 47b and opened in the side of the operation rod 41 and has an oval cross-sectional shape.
　板カム４４は、スリット４７ｂを通過する回転軸４５ａに取付けられ、スリット４７ｂと長孔４７ｃとにより構成される空間内において変位可能であり、その外周には操作ロッド４１の端部が常に接触する。 The plate cam 44 is attached to the rotary shaft 45a passing through the slit 47b, is displaceable in the space constituted by the slit 47b and the long hole 47c, and the end of the operation rod 41 always contacts the outer periphery thereof .
　次に、上記構成の線材把持装置による線材把持方法について説明する。 Next, the wire holding method by the wire holding device with the above configuration will be described.
　上述のように線材把持装置１０は、カム４４を任意の位置に変位させるサーボモータ４５を備えているため、サーボモータ４５によりカム４４を変位させることによって一対の挟持片１１，１２の把持力を変更させることができる。 As described above, since the wire rod gripping device 10 is provided with the servomotor 45 for displacing the cam 44 to an arbitrary position, displacing the cam 44 with the servomotor 45 enables the gripping force of the pair of sandwiching pieces 11 and 12 It can be changed.
　具体的には、線材９を把持するために、まず、図１に示すように、サーボモータ４５によってカム４４を回転変位させ、操作ロッド４１をメカハンド２０に向けて移動させる。このように、第二コイルスプリング４２の付勢力に抗して操作ロッド４１を移動させると、操作ロッド４１の端部がメカハンド２０の押さえカバー２７に接触する。操作ロッド４１をさらに移動させると、押さえカバー２７が設けられた摺動ロッド２４は第一コイルスプリング２６の付勢力に抗して本体部２３に進入し、一対の移動台２１，２２を、一対の挟持片１１，１２とともに、互いに離れる方向へと移動させる。このようにして、一対の挟持片１１，１２の間には、線材９が通る空間が形成される。 Specifically, in order to grip the wire 9, first, as shown in FIG. 1, the cam 44 is rotationally displaced by the servomotor 45, and the operating rod 41 is moved toward the mechanical hand 20. As described above, when the operating rod 41 is moved against the biasing force of the second coil spring 42, the end of the operating rod 41 contacts the pressing cover 27 of the mechanical hand 20. When the operating rod 41 is further moved, the sliding rod 24 provided with the pressing cover 27 enters the main body 23 against the biasing force of the first coil spring 26, and the pair of moving tables 21, 22 is a pair Together with the clamping pieces 11 and 12 in the direction away from each other. Thus, a space through which the wire 9 passes is formed between the pair of sandwiching pieces 11 and 12.
　図１に示すように、一対の挟持片１１，１２が互いに離れた状態、すなわち、一対の挟持片１１，１２が開いた状態で、線材９を一対の挟持片１１，１２の間に進入させる。線材９の進入は、図示しない巻線装置等に設けられた線材９を繰出すノズルを移動させることや、線材把持装置１０自体を移動させることによって行うことができる。 As shown in FIG. 1, in a state in which the pair of holding pieces 11 and 12 are separated from each other, that is, in a state in which the pair of holding pieces 11 and 12 are open, the wire 9 is made to enter between the pair of holding pieces 11 and 12 . The entry of the wire rod 9 can be performed by moving a nozzle for feeding out the wire rod 9 provided in a winding device or the like (not shown) or moving the wire rod gripping device 10 itself.
　続いて、線材９が一対の挟持片１１，１２の間に進入した状態で、サーボモータ４５によりカム４４を再び回転変位させ、操作ロッド４１を第二コイルスプリング４２の付勢力によりカム４４側に向かって移動させる。操作ロッド４１がメカハンド２０から遠ざかる方向に移動し、図２に示すように操作ロッド４１の端部がメカハンド２０の押さえカバー２７から離間するまで移動すると、第一コイルスプリング２６の付勢力により摺動ロッド２４は本体部２３から退出する。摺動ロッド２４が本体部２３から退出すると、一対の移動台２１，２２と共に一対の挟持片１１，１２は互いに接近した状態、すなわち、一対の挟持片１１，１２が閉じた状態となる。 Subsequently, with the wire 9 entering between the pair of holding pieces 11 and 12, the cam 44 is again rotated and displaced by the servomotor 45, and the operating rod 41 is urged toward the cam 44 by the biasing force of the second coil spring 42. Move towards When the operating rod 41 moves away from the mechanical hand 20 and the end of the operating rod 41 moves away from the pressing cover 27 of the mechanical hand 20 as shown in FIG. The rod 24 exits the main body 23. When the slide rod 24 withdraws from the main body portion 23, the pair of movable tables 21 and 22 and the pair of sandwiching pieces 11 and 12 approach each other, that is, the pair of sandwiching pieces 11 and 12 close.
　このようにして、一対の挟持片１１，１２の間に存在する線材９は、第一コイルスプリング２６の付勢力によって比較的強い力で一対の挟持片１１，１２により挟持されることになる。つまり、一対の挟持片１１，１２は第一コイルスプリング２６の付勢力によって互いに接近するため、一対の挟持片１１，１２の間に存在する線材９は第一コイルスプリング２６の付勢力に応じた挟持力により挟持される。 Thus, the wire 9 existing between the pair of sandwiching pieces 11 and 12 is clamped by the pair of sandwiching pieces 11 and 12 with a relatively strong force by the biasing force of the first coil spring 26. That is, since the pair of sandwiching pieces 11 and 12 approach each other by the biasing force of the first coil spring 26, the wire 9 existing between the pair of sandwiching pieces 11 and 12 corresponds to the biasing force of the first coil spring 26 It is clamped by the clamping force.
　線材９が弾性を有する場合は、図２の拡大図に示すように、線材９の断面は弾性により変形し、一対の挟持片１１，１２の間隔Ａは、線材の直径より小さくなる。 When the wire 9 has elasticity, as shown in the enlarged view of FIG. 2, the cross section of the wire 9 is deformed by elasticity and the distance A between the pair of holding pieces 11 and 12 is smaller than the diameter of the wire.
　ここで、線材把持装置１０は、上述のように、一対の挟持片１１，１２を開かせるカム４４をサーボモータ４５により任意の位置にまで変位可能である。このため、サーボモータ４５によりカム４４を変位させて、図３に示すように、操作ロッド４１の端部が摺動ロッド２４から離間する直前の状態で維持させると、一対の挟持片１１，１２の間に存在する線材９は、図２に示す場合と比較してわずかに圧縮された状態の第一コイルスプリング２６の付勢力により挟持される。換言すれば、一対の挟持片１１，１２の間に存在する線材９は、図２に示す場合に比較して、一対の挟持片１１，１２が僅かに開いた状態で挟持される。このため、図３の拡大図に示すように、一対の挟持片１１，１２の間隔Ｂは、第一コイルスプリング２６の付勢力により一対の挟持片１１，１２が線材９を挟持する図２の間隔Ａより大きくなる。 Here, in the wire rod holding device 10, as described above, the cam 44 for opening the pair of holding pieces 11 and 12 can be displaced to an arbitrary position by the servomotor 45. Therefore, when the cam 44 is displaced by the servomotor 45 and maintained in the state just before the end of the operation rod 41 separates from the slide rod 24 as shown in FIG. The wire 9 existing between the two is held by the biasing force of the first coil spring 26 in a slightly compressed state as compared with the case shown in FIG. In other words, the wire 9 existing between the pair of sandwiching pieces 11 and 12 is clamped in a state where the pair of sandwiching pieces 11 and 12 are slightly opened as compared with the case shown in FIG. Therefore, as shown in the enlarged view of FIG. 3, the distance B between the pair of sandwiching pieces 11 and 12 is such that the pair of sandwiching pieces 11 and 12 sandwiches the wire 9 by the biasing force of the first coil spring 26. It becomes larger than the interval A.
　このように、操作ロッド４１の端部が摺動ロッド２４から離間する直前の状態では、線材９が弾性を有する場合、図３の拡大図に示すように、線材９の断面は弾性により変形するが、図２に示す場合と比較して線材９の断面の変形は小さなものとなる。つまり、図２に示す場合と比較して、線材９は弱い挟持力で把持された状態となる。換言すれば、線材９の弾性範囲内であれば、カム４４を回転変位させることで変化する第一コイルスプリング２６の付勢力に応じて、一対の挟持片１１，１２による挟持力を変更することができる。 As described above, in the state immediately before the end of the operation rod 41 separates from the sliding rod 24, when the wire 9 has elasticity, as shown in the enlarged view of FIG. However, the deformation of the cross section of the wire 9 is small compared to the case shown in FIG. That is, in comparison with the case shown in FIG. 2, the wire 9 is held by a weak holding force. In other words, if it is within the elastic range of the wire 9, changing the holding force by the pair of holding pieces 11, 12 according to the biasing force of the first coil spring 26 which is changed by rotating the cam 44. Can.
　このように、本実施形態に係る線材把持装置１０及び線材把持方法では、カム４４の変位、すなわち、本体部２３に対する摺動ロッド２４の進退に応じて、一対の挟持片１１，１２が駆動され、一対の挟持片１１，１２間の間隔が変化する。このため、一対の挟持片１１，１２による線材９の把持力を変更させることが可能である。また、カム４４の変位量は、サーボモータ４５によって容易に変更できるため、線材把持装置１０及び線材把持方法では、線材９を把持する把持力を容易に変更調整することができる。 As described above, in the wire rod gripping device 10 and the wire rod gripping method according to the present embodiment, the pair of sandwiching pieces 11 and 12 is driven according to the displacement of the cam 44, that is, the advancing and retracting of the sliding rod 24 with respect to the main body 23. The distance between the pair of sandwiching pieces 11 and 12 changes. For this reason, it is possible to change the grasping power of wire rod 9 by a pair of pinching pieces 11 and 12. Further, since the displacement amount of the cam 44 can be easily changed by the servomotor 45, the holding force for holding the wire 9 can be easily changed and adjusted in the wire holding device 10 and the wire holding method.
　この結果、線材９を一対の挟持片１１，１２により比較的強く挟持して、一対の挟持片１１，１２に対して線材９が移動することを禁止し、一対の挟持片１１，１２を把持された線材９と共に移動させれば、挟持された線材９を自在に引き回すことが可能となる。ここで、線材把持装置１０のメカハンド２０は、取付板１３に対して回転可能に枢支されているので、サーボモータ１８を駆動し、メカハンド２０を回転させつつ移動させることにより、例えば、図８Ａの破線矢印で示すように、線材を円弧状に引き回すことができる。 As a result, the wire 9 is held relatively strongly between the pair of holding pieces 11 and 12, and the movement of the wire 9 with respect to the pair of holding pieces 11 and 12 is inhibited, and the pair of holding pieces 11 and 12 is held If it is moved together with the wire rod 9, it is possible to freely draw the wire rod 9 held. Here, since the mechanical hand 20 of the wire rod gripping device 10 is rotatably supported with respect to the mounting plate 13, the servomotor 18 is driven to rotate and move the mechanical hand 20, for example, as shown in FIG. 8A. The wire can be drawn in a circular arc as indicated by the broken arrow of.
　また、線材把持装置１０では、一対の挟持片１１，１２の移動方向と操作ロッド４１の移動方向の双方に直交する方向、すなわち、一対の挟持片１１，１２が挟持する線材９の延在方向にメカハンド２０が移動可能である。このため、例えば、一対の挟持片１１，１２が把持する線材９を図８Ａのように引き回し、その後、図８Ｂのように引っ張ると、図５に示すように、小バネ２９の付勢力に抗してメカハンド２０は他方の方向へ移動する。このとき線材９は、小バネ２９がメカハンド２０に付与する付勢力に等しい力で引っ張られる。 Further, in the wire rod gripping device 10, a direction perpendicular to both the moving direction of the pair of sandwiching pieces 11 and 12 and the moving direction of the operation rod 41, ie, the extending direction of the wire rod 9 pinched by the pair of sandwiching pieces 11 and 12 The mechanical hand 20 is movable. Therefore, for example, when the wire rod 9 held by the pair of holding members 11 and 12 is drawn as shown in FIG. 8A and then pulled as shown in FIG. 8B, the biasing force of the small spring 29 resists as shown in FIG. Then, the mechanical hand 20 moves in the other direction. At this time, the wire 9 is pulled by a force equal to the biasing force that the small spring 29 applies to the mechanical hand 20.
　メカハンド２０が他方の方向に移動すると、やがてクランク板３７の他端３７ｂにＬ型当接板３８の他端３８ｂが当接する。このため、メカハンド２０は、それ以上他方の方向へ移動することが不能となる。そして、この状態は検出センサ３９により検出される。よって、検出センサ３９によりクランク板３７とＬ型当接板３８との当接が検出されたときに一対の挟持片１１，１２による線材９の挟持を解消すれば、線材９に小バネ２９が付勢する付勢力に等しい力を加えた状態で線材９の引き回しを終了させることができる。 When the mechanical hand 20 moves in the other direction, the other end 38 b of the L-shaped contact plate 38 abuts on the other end 37 b of the crank plate 37 soon. Therefore, the mechanical hand 20 can not move further in the other direction. Then, this state is detected by the detection sensor 39. Therefore, when the detection sensor 39 detects the contact between the crank plate 37 and the L-shaped contact plate 38, the small spring 29 is fixed to the wire 9 if the holding of the wire 9 by the pair of holding pieces 11 and 12 is cancelled. The wire 9 can be terminated in a state in which a force equal to the biasing force is applied.
　また、図２に示すように、一対の挟持片１１，１２により線材９を比較的強く挟持し、線材９の一対の挟持片１１，１２に対する移動を禁止した状態で更に引っ張ると、図８Ｃに示すように、線材９を引き回しの途中、例えばピン８の近傍において引き千切ることも可能となる。 Further, as shown in FIG. 2, when the wire 9 is held relatively strongly by the pair of sandwiching pieces 11 and 12 and the movement of the wire 9 to the pair of sandwiching pieces 11 and 12 is prohibited, the wire 9 is further pulled as shown in FIG. As shown, it is also possible to cut the wire 9 in the middle of drawing, for example, in the vicinity of the pin 8.
　一方、図３に示すように、一対の挟持片１１，１２により線材９を比較的弱い力で挟持すれば、一対の挟持片１１，１２に対する線材９の移動は許容される。このように、線材９の移動を許容しつつ一対の挟持片１１，１２を移動させれば、図８Ｄに示すように、一対の挟持片１１，１２に挟持された線材９を一対の挟持片１１，１２の間で滑らせながら引き延ばすことも可能となる。 On the other hand, as shown in FIG. 3, if the wire 9 is held by a relatively weak force between the pair of holding pieces 11 and 12, the movement of the wire 9 with respect to the pair of holding pieces 11 and 12 is permitted. Thus, if the pair of sandwiching pieces 11 and 12 are moved while allowing the movement of the wire rod 9, as shown in FIG. 8D, the wire rod 9 clamped by the pair of sandwiching pieces 11 and 12 is paired with the pair of sandwiching pieces It is also possible to stretch while sliding between 11 and 12.
　＜第２実施形態＞
　次に、図９～図１１を参照して、本発明の第２実施形態に係る線材把持装置１０について説明する。以下では、第１実施形態と異なる点を中心に説明し、第１実施形態と同様の構成には、同一の符号を付し説明を省略する。 Second Embodiment
Next, with reference to FIGS. 9 to 11, a wire rod gripping device 10 according to a second embodiment of the present invention will be described. In the following, differences from the first embodiment will be mainly described, and the same components as in the first embodiment will be assigned the same reference numerals and descriptions thereof will be omitted.
　線材把持装置１０のメカハンド２０は、摺動ロッド２４が本体部２３に進入すると、一対の移動台２１，２２が互いに接近し（図１０）、摺動ロッド２４が本体部２３から退出すると、一対の移動台２１，２２が互いに離間する（図９）ものである。 In the mechanical hand 20 of the wire rod gripping device 10, when the sliding rod 24 enters the main body 23, the pair of movable tables 21 and 22 approach each other (FIG. 10), and when the sliding rod 24 retreats from the main body 23, the pair The moving stands 21 and 22 of this are mutually spaced apart (FIG. 9).
　従って、図１０に示すように、摺動ロッド２４を本体部２３に進入させると、一対の移動台２１，２２に設けられた一対の挟持片１１，１２は、一対の移動台２１，２２とともに互いに接近し、それらの間に線材９が存在したならば、線材９は一対の挟持片１１，１２によって挟持される。 Therefore, as shown in FIG. 10, when the sliding rod 24 is made to enter the main body portion 23, the pair of holding pieces 11 and 12 provided on the pair of moving stands 21 and 22 together with the pair of moving stands 21 and 22 The wires 9 are pinched by the pair of pinching pieces 11 and 12 if they approach each other and the wire 9 exists between them.
　また、本体部２３から突出する摺動ロッド２４の外周に配置された第一コイルスプリング２６は、本体部２３と押さえカバー２７間の間に圧縮された状態で介装される。第一コイルスプリング２６は、伸張力により押さえカバー２７を本体部２３から遠ざける方向に付勢し、摺動ロッド２４を本体部２３から退出させる方向に付勢する。従って、線材把持装置１０における第一コイルスプリング２６は、図９に示すように、一対の挟持片１１，１２を互いに離間させる方向に変位させるバネとして機能する。 Further, 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 urges the pressing cover 27 away from the main body portion 23 by an extension force, and urges the sliding rod 24 in a direction to withdraw from the main body portion 23. Therefore, as shown in FIG. 9, the first coil spring 26 in the wire rod gripping device 10 functions as a spring for displacing the pair of sandwiching pieces 11 and 12 in the direction in which they are separated from each other.
　回転台１４の円筒部１４ａ内には、一端が摺動ロッド２４に設けられた押さえカバー２７に当接可能な操作ロッド４１と、操作ロッド４１を摺動ロッド２４から遠ざける方向に付勢する第二コイルスプリング４２と、が配置される。 In the cylindrical portion 14 a of the rotary table 14, an operation rod 41, one end of which can abut against the pressing cover 27 provided on the sliding rod 24, and an urging rod 41 for urging the operating rod 41 away from the sliding rod 24 A two coil spring 42 is disposed.
　線材把持装置１０の駆動装置４３は、一対の挟持片１１，１２を互いに接近する方向に駆動させるカム４４と、カム４４を任意の位置に変位させるサーボモータ４５と、を備える。カム４４は板カム４４であり、円板状の板カム４４には、中心から偏倚した位置にサーボモータ４５の回転軸４５ａを取付けられる。サーボモータ４５は、その回転軸４５ａが円筒部１４ａの中心軸に対して直交するように取付板１３に取り付けられる。サーボモータ４５の回転軸４５ａに偏心して設けられた板カム４４の外周は、円筒部１４ａから突出する操作ロッド４１の端部に接触する。 The drive device 43 of the wire rod holding device 10 includes a cam 44 that drives the pair of holding pieces 11 and 12 in a direction in which they approach each other, and a servomotor 45 that displaces the cam 44 to any position. The cam 44 is a plate cam 44, and the rotational shaft 45a of the servomotor 45 is attached to the disk-shaped plate cam 44 at a position deviated from the center. The servomotor 45 is attached to the mounting plate 13 such that its rotation axis 45a is orthogonal to the central axis of the cylindrical portion 14a. The outer periphery of the plate cam 44 eccentrically provided on the rotation shaft 45a of the servomotor 45 contacts the end of the operation rod 41 projecting from the cylindrical portion 14a.
　次に、上記構成の線材把持装置による線材把持方法について説明する。 Next, the wire holding method by the wire holding device with the above configuration will be described.
　線材把持装置１０は、上記第１実施形態と同様に、カム４４を所望の位置に変位させるサーボモータ４５を備えているため、サーボモータ４５によりカム４４を変位させることによって一対の挟持片１１，１２の把持力を変更させることができる。 As in the first embodiment, the wire rod holding device 10 includes the servomotor 45 for displacing the cam 44 to a desired position. The grip force of 12 can be changed.
　具体的には、線材９を把持するために、まず、図９に示すように、サーボモータ４５がカム４４を回転変位させて、第一コイルスプリング２６の付勢力により、操作ロッド４１を本体部２３から退出させて、一対の移動台２１，２２を、一対の挟持片１１，１２とともに、互いに遠ざかる方向へと移動させる。このようにして、一対の挟持片１１，１２の間には、線材９が通る空間が形成される。 Specifically, in order to grip the wire rod 9, as shown in FIG. 9, the servomotor 45 rotationally displaces the cam 44, and the biasing force of the first coil spring 26 causes the operating rod 41 to move to the main body The pair of moving tables 21 and 22 are moved away from each other in the direction away from each other with the pair of holding pieces 11 and 12. Thus, a space through which the wire 9 passes is formed between the pair of sandwiching pieces 11 and 12.
　一対の挟持片１１，１２が互いに離れた状態、すなわち、一対の挟持片１１，１２が開いた状態で、線材９を一対の挟持片１１，１２の間に進入させる。線材９の進入は、図示しない巻線装置等に設けられた線材９を繰出すノズルを移動させることや、線材把持装置１０自体を移動させることによって行うことができる。 In a state in which the pair of holding pieces 11 and 12 are separated from each other, that is, in a state in which the pair of holding pieces 11 and 12 are open, the wire 9 is made to enter between the pair of holding pieces 11 and 12. The entry of the wire rod 9 can be performed by moving a nozzle for feeding out the wire rod 9 provided in a winding device or the like (not shown) or moving the wire rod gripping device 10 itself.
　続いて、線材９が一対の挟持片１１，１２の間に進入した状態で、サーボモータ４５によりカム４４を回転変位させ、操作ロッド４１を第二コイルスプリング４２の付勢力に抗してメカハンド２０に近づくように移動させる。摺動ロッド２４の押さえカバー２７に操作ロッド４１が接触した後、さらにメカハンド２０に近づくように操作ロッド４１を移動させると、摺動ロッド２４は本体部２３に進入する。摺動ロッド２４が本体部２３に進入すると、一対の移動台２１，２２と共に一対の挟持片１１，１２は互いに接近する。 Subsequently, with the wire 9 entering between the pair of sandwiching pieces 11 and 12, the cam 44 is rotationally displaced by the servomotor 45, and the operating rod 41 resists the biasing force of the second coil spring 42 and the mechanical hand 20 Move closer to After the operating rod 41 comes into contact with the pressing cover 27 of the sliding rod 24 and the operating rod 41 is further moved so as to approach the mechanical hand 20, the sliding rod 24 enters the main body portion 23. When the sliding rod 24 enters the main body portion 23, the pair of holding plates 11, 12 as well as the pair of moving tables 21, 22 approach each other.
　この結果、図１０に示されるように、一対の挟持片１１，１２の間に存在する線材９は、摺動ロッド２４を本体部２３に進入させる力、すなわち、カム４４の位置を保持しようとする比較的強い力に応じた挟持力で一対の挟持片１１，１２により挟持されることになる。 As a result, as shown in FIG. 10, the wire 9 existing between the pair of sandwiching members 11 and 12 attempts to hold the force that causes the sliding rod 24 to enter the main body 23, that is, to maintain the position of the cam 44. It is clamped by a pair of clamping pieces 11 and 12 by the clamping force according to relatively strong power.
　ここで、線材９が弾性を有する場合は、図１０の拡大図に示すように、線材９の断面は弾性により変形し、一対の挟持片１１，１２の間隔Ａは、線材の直径より小さくなる。サーボモータ４５がカム４４を回転させようとする力に応じて一対の挟持片１１，１２の間には、線材９を挟持する挟持力が生じる。一方、一対の挟持片１１，１２の間に存在する線材９は、弾性を有することから、一対の挟持片１１，１２の挟持力に対抗する対抗力を生じる。したがって、線材９の対抗力と一対の挟持片１１，１２の挟持力とが等しくなったところで、カム４４の回転変位は停止する。この結果、一対の挟持片１１，１２の間に存在する線材９は、カム４４が回転変位しようとする力に応じた挟持力によって挟持された状態となる。 Here, when the wire 9 has elasticity, as shown in the enlarged view of FIG. 10, the cross section of the wire 9 is deformed by the elasticity, and the distance A between the pair of sandwiching pieces 11 and 12 is smaller than the diameter of the wire . A sandwiching force for sandwiching the wire 9 is generated between the pair of sandwiching pieces 11 and 12 according to the force with which the servo motor 45 tries to rotate the cam 44. On the other hand, since the wire 9 existing between the pair of sandwiching pieces 11 and 12 has elasticity, it generates an opposing force that opposes the sandwiching force of the pair of sandwiching pieces 11 and 12. Therefore, the rotational displacement of the cam 44 is stopped when the opposing force of the wire 9 and the clamping force of the pair of clamping pieces 11 and 12 become equal. As a result, the wire 9 existing between the pair of sandwiching pieces 11 and 12 is in a state of being clamped by the clamping force corresponding to the force that the cam 44 tends to rotate and displace.
　このように、サーボモータ４５によりカム４４を回転変位させ続けようとしても、線材９の対抗力により、一対の挟持片１１，１２がそれ以上互いに近づくことができない状態、すなわち、カム４４がそれ以上回転変位できない状態となる。このとき、線材９は比較的強い挟持力で挟持される。 As described above, even if it is attempted to keep the cam 44 rotated and displaced by the servomotor 45, the opposing force of the wire 9 prevents the pair of sandwiching pieces 11 and 12 from coming closer to each other, ie, the cam 44 further increases. It will be in the state which can not carry out rotational displacement. At this time, the wire 9 is held by a relatively strong holding force.
　一方で、線材把持装置１０は、一対の挟持片１１，１２を閉じるカム４４をサーボモータ４５により任意の位置に変位させることが可能である。このため、図１１に示すように、線材９の対抗力によりカム４４の回転変位が停止すると考えられる位置の直前でカム４４の回転変位を停止させた状態とすることも可能である。 On the other hand, the wire rod holding device 10 can displace the cam 44 closing the pair of holding pieces 11 and 12 to an arbitrary position by the servomotor 45. For this reason, as shown in FIG. 11, it is also possible to stop the rotational displacement of the cam 44 immediately before the position where the rotational displacement of the cam 44 is considered to stop due to the opposing force of the wire 9.
　この場合、一対の挟持片１１，１２の間に存在する線材９は、カム４４の回転変位に応じて互いに近づいた一対の挟持片１１，１２により挟持される。しかしながら、この場合は、図１０に示される場合と比較して、線材９は、図１１の拡大図に示すように、一対の挟持片１１，１２が僅かに開いた状態で挟持される。つまり、図１１の拡大図に示すように、この場合の一対の挟持片１１，１２の間隔Ｂは、図１０の拡大図に示される間隔Ａより大きくなる。 In this case, the wire 9 existing between the pair of sandwiching pieces 11 and 12 is clamped by the pair of sandwiching pieces 11 and 12 which approach each other according to the rotational displacement of the cam 44. However, in this case, as compared with the case shown in FIG. 10, the wire 9 is held in a state where the pair of holding pieces 11 and 12 is slightly opened as shown in the enlarged view of FIG. That is, as shown in the enlarged view of FIG. 11, the distance B between the pair of holding pieces 11 and 12 in this case is larger than the distance A shown in the enlarged view of FIG.
　このように、線材９が弾性を有する場合、一対の挟持片１１，１２により挟持される線材９の断面は変形する。線材９の断面の変形量は、カム４４の回転変位量により異なり、図１０の拡大図に示すように、線材９の断面の変形が大きな場合は、一対の挟持片１１，１２による線材９の挟持力も大きなものとなり、図１１の拡大図に示すように、線材９の断面の変形が小さな場合は、一対の挟持片１１，１２による線材９の挟持力も小さくなる。つまり、線材９の弾性範囲内であれば、カム４４の回転変位量に応じて一対の挟持片１１，１２による挟持力を変更することができる。 As described above, when the wire 9 has elasticity, the cross section of the wire 9 sandwiched by the pair of sandwiching pieces 11 and 12 is deformed. The amount of deformation of the cross section of the wire 9 differs depending on the amount of rotational displacement of the cam 44, and as shown in the enlarged view of FIG. 10, when the deformation of the cross section of the wire 9 is large, the wire 9 by the pair of holding pieces 11 and 12 The clamping force is also large, and as shown in the enlarged view of FIG. 11, when the deformation of the cross section of the wire 9 is small, the clamping force of the wire 9 by the pair of clamping pieces 11 and 12 is also small. That is, within the elastic range of the wire 9, the holding force by the pair of holding pieces 11 and 12 can be changed according to the amount of rotational displacement of the cam 44.
　上述のように、本実施形態に係る線材把持装置１０及び線材把持方法においても、カム４４の変位、すなわち、本体部２３に対する摺動ロッド２４の進退に応じて、一対の挟持片１１，１２が駆動され、一対の挟持片１１，１２間の間隔が変化する。このため、一対の挟持片１１，１２による線材９の把持力を変更させることが可能である。また、カム４４の変位量は、サーボモータ４５によって、容易に変更できるため、本実施形態に係る線材把持装置１０及び線材把持方法でも、線材９を把持する把持力を容易に変更調整することができる。 As described above, also in the wire rod gripping device 10 and the wire rod gripping method according to the present embodiment, the pair of sandwiching pieces 11 and 12 respond to the displacement of the cam 44, that is, the advancing and retracting of the sliding rod 24 with respect to the main body 23. As a result, the distance between the pair of sandwiching pieces 11 and 12 changes. For this reason, it is possible to change the grasping power of wire rod 9 by a pair of pinching pieces 11 and 12. Further, since the displacement amount of the cam 44 can be easily changed by the servomotor 45, the gripping force for gripping the wire 9 can be easily changed and adjusted by the wire gripping device 10 and the wire gripping method according to the present embodiment. it can.
　また、上記第１実施形態と同様に、一対の挟持片１１，１２の移動方向と操作ロッド４１の移動方向の双方に直交する方向、すなわち、一対の挟持片１１，１２が挟持する線材９の延在方向にメカハンド２０は移動可能である。このため、線材９を引き回した後、小バネ２９がメカハンド２０に付与する付勢力に等しい力で線材９を引っ張ることも可能である。 Further, as in the first embodiment, a direction perpendicular to both the moving direction of the pair of holding pieces 11 and 12 and the moving direction of the operation rod 41, that is, the wire rod 9 held by the pair of holding pieces 11 and 12 The mechanical hand 20 is movable in the extending direction. Therefore, after the wire 9 is drawn, it is possible to pull the wire 9 with a force equal to the biasing force applied to the mechanical hand 20 by the small spring 29.
　以上、本発明の実施形態について説明したが、上記実施形態は本発明の適用例の一部を示したに過ぎず、本発明の技術的範囲を上記実施形態の具体的構成に限定する趣旨ではない。 As mentioned above, although the embodiment of the present invention was described, the above-mentioned embodiment showed only a part of application example of the present invention, and in the meaning of limiting the technical scope of the present invention to the concrete composition of the above-mentioned embodiment. Absent.
　例えば、上記実施形態では、一対の挟持片１１，１２を互いに接近させる方向又は互いに離間させる方向に付勢するバネ２６はコイルスプリングである。バネはコイルスプリングに限定されず、板バネ等のコイルスプリング以外の形式のバネであっても良く、一対の挟持片１１，１２を開閉させることでできれば、どのような形式のものであってもよい。 For example, in the above-described embodiment, the spring 26 which biases the pair of holding pieces 11 and 12 in the direction in which they approach or separate from each other is a coil spring. The spring is not limited to a coil spring, and may be a spring of a type other than a coil spring such as a leaf spring, and any type of spring as long as it can be opened and closed by a pair of holding pieces 11 and 12 Good.
　また、上記実施形態では、カムとして板カム４４が用いられている。これに代えて、カムは、正面カム（溝カム）や立体カムであっても良く、一対の挟持片１１，１２の開度を変更することができれば、どのような形式のカムであってもよい。 Further, in the above embodiment, the plate cam 44 is used as the cam. Instead of this, the cam may be a front cam (groove cam) or a three-dimensional cam, and any type of cam may be used as long as the opening degree of the pair of holding pieces 11 and 12 can be changed. Good.
　また、上記実施形態では、カム４４を任意の位置に変位させるモータとしてサーボモータ４５が用いられている。これに代えて、モータは、カム４４を任意の位置に回転変位させることができれば、他の形式のモータであっても良い。 Further, in the above embodiment, a servomotor 45 is used as a motor for displacing the cam 44 to an arbitrary position. Alternatively, the motor may be another type of motor as long as the cam 44 can be rotationally displaced to an arbitrary position.
　また、図９～図１１に示すように、一対の挟持片１１，１２をカム４４によって閉じる形式においては、サーボモータ４５によりカム４４を回転させようとする力に応じて線材９を挟持する挟持力が生じる。このため、サーボモータ４５として、カム４４を回転させようとするトルクを変更可能なモータを用い、トルクを変更することにより、一対の挟持片１１，１２による線材９の把持力を変更するようにしても良い。 Further, as shown in FIGS. 9 to 11, in the type in which the pair of holding pieces 11 and 12 are closed by the cam 44, holding is performed to hold the wire 9 in accordance with the force to rotate the cam 44 by the servomotor 45. Force is generated. For this reason, a motor capable of changing the torque for rotating the cam 44 is used as the servomotor 45, and the holding force of the wire 9 by the pair of holding pieces 11 and 12 is changed by changing the torque. It is good.
　本願は２０１５年６月２３日に日本国特許庁に出願された特願２０１５－１２５２６１に基づく優先権を主張し、この出願の全ての内容は参照により本明細書に組み込まれる。 This application claims the priority based on Japanese Patent Application No. 2015-125261 filed on June 23, 2015 to the Japan Patent Office, and the entire contents of this application are incorporated herein by reference.

Claims (5)

  1. 　線材把持装置であって、
    　本体部に対して進退自在に設けられた摺動ロッドと、前記本体部に設けられ前記摺動ロッドの進入または退出に応じて互いに接近し線材を挟持可能な一対の挟持片と、前記摺動ロッドを前記本体部から退出させる方向に付勢するバネと、を有するメカハンドと、
    　前記メカハンドが設けられた取付板に設けられ前記バネの付勢力に抗して前記摺動ロッドを前記本体部に進入させて前記一対の挟持片を駆動させる駆動装置と、を備え、
    　前記駆動装置は、
    　前記摺動ロッドの突出端に一端が臨んで前記摺動ロッドの延長上の前記取付板に設けられた操作ロッドと、
    　前記操作ロッドの他端に係合するカムと、
    　前記カムを任意の位置に変位させるモータと、を有する線材把持装置。     A wire holding device,
    A sliding rod provided so as to be movable back and forth with respect to the main body, a pair of holding pieces provided on the main body and capable of approaching each other according to the movement of the sliding rod and the sliding rod; A mechanical hand having a spring for urging the rod in a direction to withdraw from the main body;
    And a drive device provided on a mounting plate provided with the mechanical hand and for causing the slide rod to enter the main body portion against the biasing force of the spring to drive the pair of holding pieces.
    The driving device is
    An operating rod provided at the mounting plate on the extension of the sliding rod with one end facing the projecting end of the sliding rod;
    A cam engaged with the other end of the operating rod;
    And a motor for displacing the cam to an arbitrary position.
  2. 　請求項１に記載の線材把持装置であって、
    　前記一対の挟持片は、前記摺動ロッドが前記本体部から退出すると前記摺動ロッドの進退方向に直交する方向に互いに接近移動して間に存在する線材を挟持し、前記摺動ロッドが前記本体部に進入すると互いに離間する線材把持装置。     The wire rod gripping device according to claim 1, wherein
    The pair of clamping pieces move closer to each other in the direction orthogonal to the advancing and retreating direction of the sliding rod when the sliding rod retreats from the main body portion, sandwiching the wire existing therebetween, and the sliding rod serves as the clamping rod. Wire rod gripping device that separates from each other when entering the main body.
  3. 　請求項１に記載の線材把持装置であって、
    　前記一対の挟持片は、前記摺動ロッドが前記本体部から退出すると前記摺動ロッドの進退方向に直交する方向に互いに離間し、前記摺動ロッドが前記本体部に進入すると互いに接近移動して間に存在する線材を挟持する線材把持装置。     The wire rod gripping device according to claim 1, wherein
    The pair of sandwiching pieces are separated from each other in the direction orthogonal to the advancing and retracting direction of the sliding rod when the sliding rod retreats from the main body, and moves closer to each other when the sliding rod enters the main body. A wire rod holding device for holding a wire rod existing between.
  4. 　請求項１から３の何れか１つに記載の線材把持装置であって、
    　前記メカハンドは、前記一対の挟持片の移動方向と前記操作ロッドの移動方向の双方に直交する方向に移動可能に前記取付板に設けられ、
    　前記線材把持装置は、
    　前記メカハンドを一方の方向に移動するように付勢する小バネと、
    　前記小バネの付勢力による前記メカハンドの所定値以上の一方の方向への移動を禁止する第一ストッパ部材と、
    　前記小バネの付勢力に抗して前記メカハンドの所定値以上の他方の方向への移動を禁止する第二ストッパ部材と、をさらに備える線材把持装置。     The wire rod holding device according to any one of claims 1 to 3, wherein
    The mechanical hand is provided on the mounting plate so as to be movable in a direction perpendicular to both the moving direction of the pair of holding pieces and the moving direction of the operation rod.
    The wire rod gripping device
    A small spring which biases the mechanical hand to move in one direction;
    A first stopper member for prohibiting movement of the mechanical hand in one direction equal to or more than a predetermined value by the biasing force of the small spring;
    And a second stopper member that prohibits the movement of the mechanical hand in the other direction equal to or more than a predetermined value against the biasing force of the small spring.
  5. 　互いに接近して間に存在する線材を挟持する一対の挟持片と、前記一対の挟持片を互いに接近させる方向及び互いに離間させる方向の何れか一方の方向に付勢するバネと、前記バネの付勢力に抗して前記一対の挟持片を駆動させるカムと、前記カムを任意の位置に変位させるモータと、を備え、
    　前記モータにより前記カムを変位させることによって前記一対の挟持片の把持力を変更させる線材把持方法。     A pair of sandwiching pieces for sandwiching a wire rod which is close to each other, a spring for biasing the pair of sandwiching pieces in one direction of bringing the pair of sandwiching pieces close to each other and a direction of separating them from each other A cam for driving the pair of holding pieces against a force, and a motor for displacing the cam to an arbitrary position,
    A wire rod gripping method, wherein the gripping force of the pair of sandwiching pieces is changed by displacing the cam with the motor.
PCT/JP2016/066145 2015-06-23 2016-06-01 Wire gripping device and wire gripping method WO2016208339A1 (en)

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