JPH0630858B2 - Chuck device - Google Patents

Description

Detailed Description of the Invention A. Object of the invention (1) Industrial field of application The present invention is for gripping and transporting articles having a circular cross section such as a zigzag spring in which a metal rod or an elastic wire is bent in a corrugated manner by a pair of chuck claws. Chuck device.

(2) Conventional technology Conventionally, as a chuck device that chucks and conveys a wire rod having a circular cross section, linear wire rods that are horizontally stacked are
It is known that the upper ones are picked up one by one in a concave portion and sucked by a vacuum chuck and conveyed (see, for example, Japanese Utility Model Laid-Open No. 55-55388).

(3) Problem to be Solved by the Invention However, although the above-described conventional chuck device can accurately chuck horizontally stacked wire rods, when the wire rods are inclined or intertwined with each other. If there is, there is a problem that the vacuum chuck and the wire material do not come into close contact with each other, and the adsorption becomes impossible.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a chuck device capable of accurately gripping an inclined bar or wire, or a zigzag spring that is easily intertwined with each other.

B. Configuration of the Invention (1) Means for Solving the Problems In order to achieve the above object, the chuck device of the present invention is
A pair of guide members that are provided with a guide groove that expands downward in an inverted V shape and a holding groove that is connected to the upper portion of the guide groove and that are arranged separately from each other in the longitudinal direction of the bar, and both guide members. A pair of chuck claws that are openably and closably provided between the grips to hold the bar member fitted in the holding groove, and a rotating shaft that supports the guide member and the chuck claw so as to be swingable in the longitudinal direction of the bar member. The first feature is to have and.

In addition to the first characteristic, the present invention has a second characteristic that the guide member and the chuck claw are floating-supported so as to be movable in the axial direction of the rotary shaft.

Further, the present invention is provided with a magazine for accommodating zigzag springs in which wire rods are bent in a corrugated form in a stacked state; a guide groove that expands downward in an inverted V shape, and a holding groove that is connected to an upper portion of the guide groove. A pair of guide members arranged apart from each other in the lengthwise direction of the linear portion of the zigzag spring, and a pair of openable and closable between the guide members for holding the linear portion fitted in the holding groove. Two chuck jigs each having a chuck claw and a rotation shaft that supports the guide member and the chuck claw so as to be swingable in the length direction of the linear portion, and each chuck jig is independently moved up and down. The third feature is that it is freely floatingly supported.

Furthermore, in addition to the above-mentioned third characteristic, the present invention has a fourth characteristic that at least one chuck jig is floating-supported so as to be movable in the axial direction of its rotating shaft.

(2) Operation According to the first feature of the present invention having the above-described configuration, when the bar member guided in the guide groove formed in the pair of guide members is fitted into the holding groove continuous with the guide groove. , The pair of chuck claws are closed to grip the rod between the guide members. At this time, even if the bar is tilted, the guide member and the chuck claw swing around the rotation axis so as to follow the tilt of the bar, so that the bar is accurately inserted into the holding grooves of both guide members. The chuck jaws are securely held.

Further, according to the second feature of the present invention, even if the bar member is displaced in the direction perpendicular to the length direction thereof, the guide member and the chuck claw are moved in the axial direction of the rotary shaft by being guided by the guide groove. Therefore, the bar member is accurately fitted into the holding groove and accurately gripped by the chuck claw.

Further, according to the third feature of the present invention, when the two chuck jigs grip the two linear portions of the zigzag spring, the guide member and the chuck claws swing so as to follow the inclination of the linear portions. The zigzag springs move independently and the zigzag springs are independently moved up and down, so that the height difference between the two straight portions due to the inclination of the zigzag springs is absorbed, and the zigzag springs are reliably gripped. At this time, since the zigzag springs are stored in the magazine in a stacked state, the zigzag springs are accurately positioned and prevented from being entangled with each other.

Furthermore, according to the fourth feature of the present invention, since the relative distance between the two chuck jigs is variable, the distance between the two straight portions gripped by both chuck jigs changes due to expansion and contraction of the zigzag spring. Even if it is, it can be surely gripped.

(3) Examples Hereinafter, examples of the present invention will be described with reference to the drawings.

1 to 8 show an embodiment of the present invention.
The figure shows the whole side view of the transport device equipped with the chuck device.
FIG. 2 is a view taken along the line II-II in FIG. 1, and FIG.
(C) is a three-sided view of the first chuck jig, and FIG.
(C) is a three-sided view of the second chuck jig, FIG. 5 is an enlarged view of a main part of FIGS. 3 (A) and 4 (A), and FIGS. 6 (A) and 6 (B) are front views of the magazine. Drawing and plan view, No. 7
6 is a sectional view taken along line VII-VII of FIG. 6 (B), and FIG. 8 is a view taken in the direction of arrow VIII of FIG.

As shown in FIG. 6, a plurality of U-shaped magazines 2 having a U-shape in a front view are arranged at predetermined intervals and fixed by bolts 3 inside a magazine frame 1 formed of a box body having an open upper surface. The magazine 2 is for accommodating zigzag springs W made of elastic wires bent in a corrugated manner, which are used for cushions for automobile seats, in a stacked state. In addition to the positioning by 4, the other _three positions are supported in a state of being positioned by the _three small-diameter auxiliary guide rods 5 ₁ , 5 ₂ , 5 ₃ .

As shown in FIGS. 7 and 8, in the vicinity of the main guide rod 4 that is in close contact with the inner surface of the bent portion of the zigzag spring W, the superimposed zigzag spring W contacts the main guide rod 4 and is correctly moved up and down. The zigzag springs W are aligned, but at a position apart from the main guide rod 4, the zigzag springs W are displaced from each other due to a slight difference in shape and elasticity. As a result, the topmost zigzag spring W is widthwise, that is, the wire rod. Is inclined in the length direction (see FIG. 7). Further, for the same reason, the entire uppermost zigzag spring W may be inclined in its longitudinal direction as shown by the chain line in FIG. 6 (A).

FIGS. 1 and 2 show a conveying device for gripping the zigzag spring W housed in the above-mentioned magazine 2 and sequentially taking out the zigzag spring W from the upper side. The transfer device is provided with a zigzag spring W on a transfer arm 6 connected to a drive mechanism (not shown).
2 straight lines (points a and b in FIG. 6 (B))
Four sets of the first chuck jig 7l and the second chuck jig 7r, which respectively hold the points 2), are provided corresponding to the number of magazines 2.

That is, the guide rails fixed to both sides of the transfer arm 6 and formed on the outer surfaces of the guide stanchions 9l and 9r, the upper portions of which are connected by the connecting plate 8, have a U-shaped slider in front view which penetrates the connecting plate 8. 10l and 10r are vertically slidably engaged with each other. The sliders 10l, 1 are penetrated through the connecting plate 8.
Springs 12l and 12r are attached to the outer peripheries of rods 11l and 11r fixed to the upper and lower ends of 0r.
10r is supported by the guide columns 9l and 9r in a floating state. Rectangular mounting plates 13l and 13r are integrally fixed to the front surfaces of the sliders 10l and 10r,
Further, mounting brackets 14l and 14r of the chuck devices 7l and 7r are mounted on the front surface of the chuck devices 7l and 7r by two bolts 15 so that the left and right positions can be adjusted.

As shown in FIG. 3, the first chuck jig 7 ₁ includes a pair of generally L-shaped support arms 16 ₁ and 16 ₂ extending downward from the mounting portion racket 14l. Both support arms 1
A chuck cylinder 18 having a pair of chuck claws 17 ₁ and 17 ₂ which can be opened and closed at the lower end is disposed between 6 ₁ and 16 ₂ , and the front and rear surfaces of the chuck cylinder 18 have an inverted V shape. Guide grooves 19a, 20a and this guide groove 19
A pair of guide members 19 and 20 having holding grooves 19b and 20b continuing from the upper ends of a and 20a are fixed. The rotating shaft 2 extending in the left-right direction is provided on both sides of the rear guide member 19.
1 ₁ and 21 ₂ are fixed, and the rotary shafts 21 ₁ and 21 ₂
Is rotatably and slidably fitted on the lower ends of the pair of support arms 16 ₁ and 16 ₂ . As a result, the guide members 19 and 20 are integrated with the cylinder 18 to form the rotary shafts 21 ₁ and 2
It is supported so that it can swing around 1 ₂ and move left and right. On the rotary shafts 21 ₁ and 21 ₂ , the spring seats 2 which are arranged so as to surround the guide members 19 and 20 and the cylinder 18 and which are U-shaped in plan view are provided.
2 is supported so as to be relatively rotatable and immovable in the axial direction.

The stopper 23 provided on one of the support arms 16 ₁ comes into contact with the upper surface of the rear end portion of the spring seat 22 to restrict the spring seat 22 from swinging clockwise in FIG. 3 (B). The stopper bolt 24 screwed onto the upper end of the guide member 19 faces the stopper plate 25 fixed to the lower surface of the mounting bracket 141. In this state, the spring seat 2
A pair of springs 2 is provided between the front wall of the second member 2 and the guide member 19.
6 ₁ and 26 ₂ are contracted, whereby the guide member 1
9, 20 and the cylinder 18 move from the vertical position shown by the solid line in FIG.
6 ₁ and 26 ₂ can be rocked while being compressed. The pair of springs 27 ₁ between the left and right support arms 16 _1, 16 ₂ and the spring seat 22, 27 ₂ is mounted, a spring seat 22 by the spring 27 _1, 27 _2,
Guide members 19, 20, and the cylinder 18 while being floatingly supported in the center of both support arms 16 _1, 16 _2, the spring 27 _1, 27 ₂ rotary shaft 2 against the
It is possible to move integrally in the axial directions of 1 ₁ and 21 ₂ . At this time, the stopper 23 and the spring seat 22, and the stopper plate 25 and the stopper bolt 24 slide relative to each other to allow the movement in the axial direction.

As shown in FIG. 4, the second chuck jig 7r is the same as the first chuck jig 7r.
The chuck jig 7l has substantially the same structure as that of the chuck jig 7l, and the corresponding members are designated by the same reference numerals. The second chuck jig 7r includes the guide members 19 and 20 and the cylinder 1
The first chuck jig 7l differs from the first chuck jig 7l in that it is supported so that it can only swing about the rotary shafts 21 ₁ and 21 ₂ and cannot move in the axial direction. Therefore, the spring seat 22 of the first chuck jig 7l is rotatably supported by the rotary shafts 21 ₁ and 21 ₂ , while the spring seat 28 of the second chuck jig 7r is supported by the left and right support arms 16 ₁ , It is fixed to the lower end front surface of 16 ₂ and springs 26 ₁ and 26 ₂ are mounted between the spring seat 28 and the guide member 19.

As is clear from FIG. 5, the holding grooves 19b, 2 continuing to the upper ends of the guide grooves 19a, 20a of the respective guide members 19, 20.
0b has a depth in which two zigzag springs W are fitted. The chuck claws 17 ₁ and 17 ₂ have the holding groove 19 at the lower end.
Of the two zigzag springs W fitted in b, 20b, only the upper one is provided with recesses 17a ₁ and 17a ₂ , and the lower part thereof is provided for separating the lower zigzag spring W. Slopes 17b ₁ and 17b ₂ are formed.

Next, the operation of the embodiment of the present invention having the above configuration will be described.

When four magazines 2 accommodating a large number of zigzag springs W in a stacked state are fixed to the magazine frame 1 and the transport arm 6 is lowered from above, a pair of first chuck jigs 7l corresponding to each magazine 2 is formed. The second chuck jigs 7r approach the two linear portions a and b (see FIG. 6B) of the zigzag springs stacked on the top.

When the pair of guide members 19, 20 are engaged with one straight line portion a of the zigzag spring W by the lowering of the first chuck jig 7l, the uppermost stage and the next stage guided by the reverse V-shaped guide grooves 19a, 19b. The holding groove 19 in which the straight line portions a of the two zigzag springs W in a row are connected to the guide grooves 19a, 20a.
It is fitted to b and 20b. At this time, since the straight portion a is located on the side away from the main guide rod 4 serving as a reference, the position thereof is not necessarily the guide member 1 of the first chuck jig 7l.
In some cases, the zigzag spring W does not coincide with the centers of the guide grooves 19a and 20a provided in the shafts 9 and 20, and the zigzag spring W is slightly displaced in the longitudinal direction. However, when the guide grooves 19a and 20a are engaged with the straight line portion a, the reaction force received from the straight line portion a causes the two guide members 19 and 20, and the chuck cylinder 18 integral with the guide members 19 and 20.
And the chuck claws 17 ₁ and 17 ₂ slide in the axial direction of the rotary shafts 21 ₁ and 21 ₂ against the springs 27 ₁ and 27 ₂ to hold the straight portion a in the guide grooves 19a and 20a. 19
Correctly fit to b and 20b. Further, as shown in FIG. 7, even if the straight line portion a of the zigzag spring W is inclined in the length direction, both guide members 19, 2 are pressed by the pressing force from above.
0 oscillates to the position of the chain line in FIG. 3 (B) while compressing the springs 26 ₁ and 26 _2, and the straight line portion a of the zigzag spring W is formed.
Are fitted to the upper ends of both holding grooves 19b and 20b. When the chuck cylinder 18 is driven from this state to close the pair of chuck claws 17 ₁ and 17 ₂ , the concave portions 17a ₁ and 17 ₂ thereof are closed.
a ₂ holds the upper zigzag spring W fitted in the holding grooves 19 b, 20 b, and its slopes 17 b ₁ , 17
b ₂ presses the lower zigzag spring W downward and holds the holding groove 19
b, 20b.

In this way, when the first chuck jig 7l grips one linear portion a of the zigzag spring W, at the same time, the second chuck jig 7r grips the other linear portion b. The second chuck jig 7r has rotary shafts 21 ₁ , 2
Although it is provided so as not to move in the axial direction of 1 _2, the linear portion b is hardly displaced because it is in the vicinity of the main guide rod 4 serving as a reference, and as a result, the linear portion b is guided in the guide groove. The holding grooves 19b, 2 are accurately guided by the 19a, 20a.
0b is fitted. At this time, the above-mentioned first chuck jig 7
The second chuck jig 7r also has rotary shafts 21a, 21
It swings around b and absorbs the inclination of the straight part b in the longitudinal direction.

The zigzag spring W stored in the magazine 2 as described above.
Is sequentially gripped and conveyed by both chuck jigs 7l and 7r from the top, the height of the upper end of the zigzag spring W in the magazine 2 gradually decreases. Further, as shown by a chain line in FIG. 6 (A), the entire zigzag spring W housed in the magazine 2 may be inclined and a difference in height between the two straight portions a and b may occur. However, since the sliders 10l and 10r supporting the chuck jigs 7l and 7r are vertically slidably engaged with the guide columns 9l and 9r and are floatingly supported by the springs 12l and 12r, they are received from the zigzag spring W. Both chuck jigs 7l, 7r independently move upward by the reaction force, and the height difference of the zigzag spring W in the magazine 2 is absorbed.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various small design changes can be made without departing from the present invention described in the claims. It is possible.

For example, this chuck device is not limited to the zigzag spring W,
It is applicable to a work having any shape as long as it is a wire rod or a rod having a circular cross section. Further, in the embodiment, the chuck jig 7
Although l and 7r can be swung in only one direction from the vertical posture, they can also be swung in both directions.

C. EFFECTS OF THE INVENTION According to the above-mentioned first feature of the present invention, a pair of guide members that abut on two positions spaced apart in the longitudinal direction of the rod to fit the rod into the holding groove via the guide groove. , And the pair of chuck claws for holding the rod member fitted in the holding groove of the guide member are swingably supported around the rotation axis, so that even if the rod member is inclined in the longitudinal direction, It is possible to accurately insert the stick into the holding grooves of both guide members and securely grip the chuck claw.

Further, according to the second feature of the present invention, even if the bar is displaced in the direction perpendicular to its length direction, the guide member and the chuck claw move in the axial direction of the rotating shaft, so that the bar is It can be accurately fitted into the holding groove and securely gripped by the chuck claw.

Further, according to the third feature of the present invention, when the two chuck jigs respectively grip the two linear portions of the zigzag spring, the guide member and the chuck claws follow the inclination of the linear portions. While swinging around the rotation axis, both chuck jigs move up and down independently. As a result, the height difference between the two linear portions due to the inclination of each linear portion of the zigzag spring and the inclination of the entire zigzag spring is absorbed, and the zigzag spring can be reliably gripped. Further, since the zigzag springs are stored in the magazine in a stacked state, it is possible to avoid the inconvenience that the zigzag springs are intertwined with each other and cannot be held, or the held zigzag springs cannot be separated.

Furthermore, according to the fourth feature of the present invention, since the relative distance between the two chuck jigs is variable, the distance between the two straight portions gripped by both chuck jigs changes due to expansion and contraction of the zigzag spring. It is possible to surely grip.

[Brief description of drawings]

1 to 8 show an embodiment of the present invention.
The figure shows the whole side view of the transport device equipped with the chuck device.
FIG. 2 is a view taken along the line II-II in FIG. 1, and FIG.
(C) is a three-sided view of the first chuck jig, and FIG.
(C) is a three-sided view of the second chuck jig, FIG. 5 is an enlarged view of a main part of FIGS. 3 (A) and 4 (A), and FIGS. 6 (A) and 6 (B) are front views of the magazine. Drawing and plan view, No. 7
6 is a sectional view taken along line VII-VII of FIG. 6 (B), and FIG. 8 is a view taken in the direction of arrow VIII of FIG. 2 ... Magazine, 7l, 7r ... Chuck jig, 17 ₁ , 1
7 ₂ ... Chuck claw, 19, 20 ... Guide member, 19a,
20a ... Guide groove, 19b, 20b ... Holding groove, 21 ₁ ,
21 ₂ …… Rotary axis, W… Zigzag spring (bar)

Claims (4)

[Claims] 1. An inverted V-shaped guide groove (1) which expands downward.
9a, 20a) and a holding groove (19b, 20b) connected to the upper portion of the guide groove (19a, 20a), the pair of guide members being spaced apart in the longitudinal direction of the bar (W). The holding groove (19b, 20b) is provided between the guide member (19, 20) and both guide members (19, 20) so as to be openable and closable.
Pair of chuck claws (1) for gripping the bar (W) fitted to the
7 ₁ , 17 ₂ ), the guide members (19, 20) and the chuck claws (17 ₁ , 17 ₂ ) swingably supporting the rod (W) in the length direction of the bar (W ₁₎ . 21 ₂ ) and a chuck device. 2. The guide member (19, 20) and the chuck claws (17 ₁ , 17 ₂ ) are floating-supported so as to be movable in the axial direction of the rotary shaft (21 ₁ , 21 ₂ ). The chuck device according to claim 1. 3. A magazine (2) for accommodating zigzag springs (W) in which wire rods are bent in a corrugated form in a stacked state; guide grooves (19a, 20a) expanding downward in an inverted V shape.
A pair of guide members provided with a holding groove (19b, 20b) connected to the upper part of the guide groove (19a, 20a) and spaced apart in the length direction of the straight part of the zigzag spring (W). (19, 20) and both guide members (19, 2)
0) between the holding groove (19b,
A pair of chuck pawls (17 ₁ to grip the straight portions fitted to 20b), and 17 _2), said guide member (19, 2
0) and a rotating shaft (21 ₁ , 21 ₂ ) for swingably supporting the chuck claws (17 ₁ , 17 ₂ ) in the length direction of the straight portion, two chuck jigs (7, 7r). And a chuck device in which each chuck jig (7, 7r) is independently floatingly supported so as to be vertically movable. 4. At least one chuck jig (7)
The chuck device according to claim 1, wherein the chuck is floating-supported so as to be movable in the axial direction of the rotary shafts (21 ₁ , 21 ₂ ).