Nothing Special   »   [go: up one dir, main page]

JP6460923B2 - Wire holding apparatus and wire holding method - Google Patents

Wire holding apparatus and wire holding method Download PDF

Info

Publication number
JP6460923B2
JP6460923B2 JP2015125261A JP2015125261A JP6460923B2 JP 6460923 B2 JP6460923 B2 JP 6460923B2 JP 2015125261 A JP2015125261 A JP 2015125261A JP 2015125261 A JP2015125261 A JP 2015125261A JP 6460923 B2 JP6460923 B2 JP 6460923B2
Authority
JP
Japan
Prior art keywords
wire
pair
rod
main body
cam
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
JP2015125261A
Other languages
Japanese (ja)
Other versions
JP2017011106A (en
Inventor
進司 杉本
進司 杉本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nittoku Engineering Co Ltd
Original Assignee
Nittoku Engineering Co Ltd
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 Nittoku Engineering Co Ltd filed Critical Nittoku Engineering Co Ltd
Priority to JP2015125261A priority Critical patent/JP6460923B2/en
Priority to PCT/JP2016/066145 priority patent/WO2016208339A1/en
Priority to KR1020177011550A priority patent/KR102006011B1/en
Priority to CN201680003445.2A priority patent/CN107112127B/en
Publication of JP2017011106A publication Critical patent/JP2017011106A/en
Application granted granted Critical
Publication of JP6460923B2 publication Critical patent/JP6460923B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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

Landscapes

  • 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)

Description

本発明は、線材を挟持する一対の挟持片を有し、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。更に詳しくは、一対の挟持片による線材の挟持力を変更可能な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 apparatus and a wire rod gripping method that are used in a winding device or the like and have a pair of clamping pieces for clamping a wire rod. More specifically, the present invention relates to a wire rod gripping apparatus and a wire rod gripping method capable of changing the pinching force of a wire rod by a pair of pinching pieces.

従来、巻線装置などに使用される線材把持装置では、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、一対の挟持片を互いに接近して閉じる方向に付勢するバネと、そのバネの付勢力に抗して一対の挟持片を離間させて開かせる駆動装置である流体圧シリンダとを備えたものが知られている（例えば、特許文献１参照。）。   Conventionally, in a wire rod gripping device used for a winding device or the like, a pair of sandwiching pieces that sandwich a wire rod existing between them and a spring that biases the pair of sandwiching pieces closer to each other and closing them In addition, there has been known one provided with a fluid pressure cylinder which is a drive device that opens a pair of holding pieces apart from each other against the biasing force of the spring (see, for example, Patent Document 1).

特開２０００−３３１８６０号公報JP 2000-331860 A

一方、近年の巻線装置においては、巻回する線材の引き回しやその処理まで行う様なものも開発されるに至っている。従って、このような巻線装置などに使用される線材把持装置では、線材を一対の挟持片により挟持して、その一対の挟持片に対する線材の移動を禁止し、その一対の挟持片をそれらが把持する線材と共に移動させて、それに挟持された線材を引き回す他に、一対の挟持片により線材を比較的弱い力で挟持して、その一対の挟持片に対する線材の移動を許容し、線材の移動を許容しつつ一対の挟持片を移動させて、それに挟持された線材を一対の挟持片の間で滑らせながら引き延ばすようなことも要求されるに至った。   On the other hand, recent winding apparatuses have been developed to perform the drawing and processing of the wire to be wound. Therefore, in the wire rod gripping device used for such a winding device or the like, the wire rod is clamped by a pair of clamping pieces, and the movement of the wire rod with respect to the pair of clamping pieces is prohibited, and the pair of clamping pieces are In addition to moving together with the wire to be gripped and routing the wire held between them, the wire is held by a pair of holding pieces with a relatively weak force, allowing the wire to move relative to the pair of holding pieces, and moving the wire It has also been required to move the pair of holding pieces while allowing them to be extended and to slide the wire held between them while sliding between the pair of holding pieces.

しかし、流体圧シリンダにより一対の挟持片を離間させて開せ、その間に線材を挿入し、その後に流体圧シリンダを解除して、バネにより一対の挟持片を互いに接近させて閉じて、その一対の挟持片により線材を把持させる従来の線材把持装置では、線材を把持する把持力の調整が、バネ定数の異なるバネに取り替え無ければ変化させることができず、その変更調整が困難となる不具合があった。   However, the pair of sandwiching pieces can be separated and opened by the fluid pressure cylinder, the wire is inserted between them, and then the fluid pressure cylinder is released, and the pair of sandwiching pieces are brought close to each other by a spring and closed. In the conventional wire rod gripping device that grips the wire rod with the holding piece, the adjustment of the gripping force for gripping the wire rod cannot be changed unless it is replaced with a spring having a different spring constant, and the change adjustment becomes difficult. there were.

本発明の目的は、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にある。   An object of the present invention is to provide a wire holding apparatus and a wire holding method capable of easily changing the holding force for holding a wire.

本発明は、本体部に出没可能に設けられた摺動ロッドと、本体部に設けられ摺動ロッドを本体部から突出させると摺動ロッドの出没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するか、又は互いに離間して開く一対の挟持片と、摺動ロッドを本体部から突出させる方向に付勢するバネとを有するメカハンドと、そのメカハンドが設けられた取付板に設けられバネの付勢力に抗して摺動ロッドを本体部に没入させて一対の挟持片を互いに離間させて開かせるか、又は互いに接近移動させて間に存在する線材を挟持させる駆動装置とを備えた線材把持装置の改良である。   The present invention relates to a sliding rod provided in the main body so that it can be projected and retracted, and when the sliding rod provided in the main body protrudes from the main body, it moves closer to each other in the direction perpendicular to the protruding and retracting direction of the sliding rod. A mechanical hand having a pair of clamping pieces that sandwich or open the wire rod existing in the body, and a spring that biases the sliding rod in a direction to protrude from the main body, and a mounting plate provided with the mechanical hand A driving device that is provided on the sliding member so as to immerse the sliding rod in the main body against the biasing force of the spring and cause the pair of clamping pieces to open apart from each other or to move closer to each other so as to clamp the wire existing therebetween It is improvement of the wire holding apparatus provided with these.

その特徴ある構成は、駆動装置が、摺動ロッドの突出端に一端が臨んで摺動ロッドの延長上の取付板に設けられた操作ロッドと、操作ロッドの他端に係合するカムと、カムを任意の位置に変位させるモータとを備えたところにある。   The characteristic configuration is that the drive device has an operation rod provided on a mounting plate on an extension of the slide rod with one end facing the protruding end of the slide rod, a cam engaged with the other end of the operation rod, And a motor for displacing the cam to an arbitrary position.

ここで、一対の挟持片の移動方向と操作ロッドの双方に直交する方向にメカハンドが移動可能に取付板に設けられ、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、小バネの付勢力に抗して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、小バネの付勢力に抗して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が設けられることが好ましい。   Here, a small spring provided on the mounting plate so that the mechanical hand is movable in a direction orthogonal to both the moving direction of the pair of sandwiching pieces and the operating rod, and urges the mechanical hand to move in one direction, and the small spring A first stopper member that prohibits the movement of the mechanical hand in one direction above a predetermined value against the urging force, and the movement of the mechanical hand in the other direction above the predetermined value against the urging force of the small spring. It is preferable that a second stopper member to be prohibited is provided.

別の本発明は、上記構造の線材把持装置を用い、モータによるカムの変位量によって閉じようとする一対の挟持片による把持力を変更させることを特徴とする線材把持方法である。   Another aspect of the present invention is a wire rod gripping method using the wire rod gripping device having the above-described structure and changing a gripping force by a pair of clamping pieces to be closed depending on a cam displacement amount by a motor.

本発明の線材把持装置及び線材把持方法では、バネ又はカムにより一対の挟持片を互いに接近させて閉じると、一対の挟持片の間に存在する線材をバネの付勢力又はカムの変位しようとする力により挟持する挟持力を得ることができる。   In the wire gripping device and the wire gripping method of the present invention, when a pair of sandwiching pieces are brought close to each other and closed by a spring or a cam, the wire rod existing between the pair of sandwiching pieces tends to be displaced by the biasing force of the spring or the cam. A clamping force to be clamped by force can be obtained.

一方、本発明の線材把持装置及び線材把持方法では、一対の挟持片を開かせるカムをモータにより任意の位置にまで変位可能であるので、一対の挟持片の間に存在する線材をバネの付勢力又はカムの変位力により挟持させた状態から、その一対の挟持片が僅かに開くようにモータがカムを変位させると、その線材の弾性範囲内であれば、バネの付勢力又はカムの変位力によりその線材を挟持する場合に比較して、その挟持力を弱めることができる。   On the other hand, in the wire rod gripping apparatus and the wire rod gripping method of the present invention, the cam for opening the pair of sandwiching pieces can be displaced to an arbitrary position by a motor. Therefore, the wire rod existing between the pair of sandwiching pieces is attached with a spring. When the motor is displaced so that the pair of clamping pieces are slightly opened from the state of being clamped by the force or the displacement of the cam, the spring biasing force or the cam displacement is within the elastic range of the wire. Compared to the case where the wire is clamped by force, the clamping force can be weakened.

依って、本発明の線材把持装置及び線材把持方法では、線材を把持する把持力を容易に変更し得るものとなる。   Therefore, in the wire rod gripping apparatus and wire rod gripping method of the present invention, the gripping force for gripping the wire rod can be easily changed.

本発明の線材把持装置を示す図４のＡ−Ａ線断面図である。It is the sectional view on the AA line of FIG. 4 which shows the wire holding | grip apparatus of this invention. その線材把持装置が線材を把持した状態を示す図１に対応する断面図である。It is sectional drawing corresponding to FIG. 1 which shows the state which the wire holding apparatus hold | gripped the wire. その線材把持装置が線材を弱く把持した状態を示す図２に対応する断面図である。FIG. 3 is a cross-sectional view corresponding to FIG. 2 showing a state in which the wire gripping device grips the wire weakly. その線材把持装置の側面図である。It is a side view of the wire holding apparatus. そのメカハンドが移動した状態を示す図４に対応する側面図である。It is a side view corresponding to FIG. 4 which shows the state which the mechanical hand moved. その線材把持装置の上面図である。It is a top view of the wire holding apparatus. その線材把持装置に用いられたメカハンドの構造図である。It is structural drawing of the mechanical hand used for the wire holding apparatus. その線材把持装置が把持した線材を引き回す状態を示す図である。It is a figure which shows the state which draws around the wire which the wire holding apparatus gripped. 本発明の別の線材把持装置を示す図１に対応する断面図である。It is sectional drawing corresponding to FIG. 1 which shows another wire rod holding | gripping apparatus of this invention. その別の線材把持装置が線材を把持した状態を示す図９に対応する断面図である。FIG. 10 is a cross-sectional view corresponding to FIG. 9 illustrating a state where the other wire rod gripping apparatus grips the wire rod. その別の線材把持装置が線材を弱く把持した状態を示す図１０に対応する断面図である。It is sectional drawing corresponding to FIG. 10 which shows the state which the another wire holding apparatus gripped the wire weakly.

次に、本発明を実施するための最良の形態を図面に基づいて説明する。   Next, the best mode for carrying out the present invention will be described with reference to the drawings.

図１〜図６に示すように、本発明の線材把持装置１０は、互いに接近して間に存在する線材９を挟持する一対の挟持片１１，１２を備える。この実施の形態では、水平移動型メカハンド２０の一対の移動台２１，２２に挟持片１１，１２が取付けられる場合を示す。   As shown in FIGS. 1-6, the wire holding apparatus 10 of this invention is equipped with a pair of clamping pieces 11 and 12 which clamp the wire 9 which exists in the vicinity and approaches. In this embodiment, the case where the clamping pieces 11 and 12 are attached to the pair of moving bases 21 and 22 of the horizontal movement type mechanical hand 20 is shown.

図７に示すように、このメカハンド２０は、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、その本体部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に両端がそれぞれ枢支されて中間が本体部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 main body 23 in which a pair of movable bases 21 and 22 are arranged side by side so as to be reciprocally movable, and a moving direction of the pair of mobile bases 21 and 22 on the main body 23. The slide rod 24 slidably provided in the orthogonal direction and the both ends of the slide rod 24 and the movable bases 21, 22 accommodated inside the main body 23 are pivoted, and the middle is pivoted to the main body 23. A pair of supported lever members (not shown).

そして、摺動ロッド２４を本体部２３に没入させると、図示しない一対のレバー部材がそれぞれ回動して一対の移動台２１，２２を互いに離間させ、摺動ロッド２４を本体部２３から突出させると、図示しない一対のレバー部材がそれぞれ逆方向に回動して一対の移動台２１，２２を互いに接近させるように構成される。   Then, when the sliding rod 24 is immersed in the main body 23, a pair of lever members (not shown) rotate to separate the pair of movable bases 21 and 22 from each other and cause the sliding rod 24 to protrude from the main body 23. And a pair of lever members (not shown) are configured to rotate in opposite directions to bring the pair of movable bases 21 and 22 closer to each other.

従って、このメカハンド２０は、本体部２３に没入した摺動ロッド２４をその本体部２３から突出させると、一対の移動台２１，２２に設けられた一対の挟持片１１，１２もその一対の移動台２１，２２とともに互いに接近し、その間に線材９（図１〜３）が存在したならば、その線材９を挟持するように構成される。   Accordingly, when the sliding rod 24 immersed in the main body 23 is protruded from the main body 23, the mechanical hand 20 also moves the pair of clamping pieces 11 and 12 provided on the pair of moving bases 21 and 22. If the wire rods 9 (FIGS. 1 to 3) are close to each other together with the bases 21 and 22, and the wire rod 9 (FIGS. 1 to 3) exists between them, the wire rod 9 is sandwiched.

また、本発明の線材把持装置１０は、その一対の挟持片１１，１２を互いに接近して閉じる方向に付勢するバネを備える。この実施の形態では、メカハンド２０における本体部２３から突出する摺動ロッド２４に嵌入された第一コイルスプリング２６であって、その摺動ロッド２４の突出端には、第一コイルスプリング２６の端部が係止する押さえカバー２７が取付けられる。従って、この第一コイルスプリング２６は、本体部２３と押さえカバー２７の間に介在して、伸張しようとする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から突出させる方向に付勢するものである。   In addition, the wire rod gripping device 10 of the present invention includes a spring that biases the pair of sandwiching pieces 11 and 12 close to each other in a closing direction. In this embodiment, the first coil spring 26 is fitted into a sliding rod 24 protruding from the main body 23 of the mechanical hand 20, and the protruding end of the sliding rod 24 has an end of the first coil spring 26. A holding cover 27 that is locked by the portion is attached. Accordingly, the first coil spring 26 is interposed between the main body portion 23 and the presser cover 27 and urges the presser cover 27 in a direction away from the main body portion 23 by a force to be extended. The sliding rod 24 attached to the part is urged in a direction in which it projects from the main body part 23.

図１〜図３に示すように、この線材把持装置１０は、巻線装置などに使用されるものであり、この線材把持装置１０は、巻線装置などに取付けるための取付板１３を備え、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。具体的に、この実施の形態における回転台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、その円筒部１４ａの一方の端部に設けられた取付片１４ｂとを有する。この取付片１４ｂにスライド部材１９を介してメカハンド２０が取付けられる。   As shown in FIGS. 1 to 3, the wire rod gripping device 10 is used for a winding device or the like, and the wire rod gripping device 10 includes a mounting plate 13 for mounting on the winding device or the like. The mechanical hand 20 is pivotally supported on the mounting plate 13 via the turntable 14. Specifically, the turntable 14 in this embodiment includes a cylindrical portion 14a that is directly pivotally supported by the mounting plate 13 via a bearing 16, and an attachment piece 14b provided at one end of the cylindrical portion 14a. Have The mechanical hand 20 is attached to the attachment piece 14b via the slide member 19.

スライド部材１９は重合する固定板１９ａと可動板１９ｂを有し固定板１９ａの両側に互いに平行なレール１９ｃが設けられ、可動板１９ｂの両側がこのレール１９ｃに係合して設けられる。これにより可動板１９ｂは固定板１９ａに対してレール１９ｃの長手方向に移動可能に設けられ、固定板１９ａは取付片１４ｂに円筒部１４ａの中心軸に直交する様に取付けられる。   The slide member 19 has a fixed plate 19a and a movable plate 19b that are overlapped, and rails 19c that are parallel to each other are provided on both sides of the fixed plate 19a, and both sides of the movable plate 19b are engaged with the rails 19c. Accordingly, the movable plate 19b is provided so as to be movable in the longitudinal direction of the rail 19c with respect to the fixed plate 19a, and the fixed plate 19a is attached to the attachment piece 14b so as to be orthogonal to the central axis of the cylindrical portion 14a.

図４に示すように、可動板１９ｂの移動方向における固定板１９ａの一方の端縁には、可動板１９ｂ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１９ｂの移動方向における固定板１９ａの他方の端縁には、可動板１９ｂ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１９ｂを付勢する小バネ２９が設けられる。   As shown in FIG. 4, at one end edge of the fixed plate 19a in the moving direction of the movable plate 19b, a first stopper member 28 with which one end edge of the movable plate 19b abuts is provided, and the movement of the movable plate 19b. A small spring 29 is provided at the other edge of the fixed plate 19a in the direction to urge the movable plate 19b so that one edge of the movable plate 19b abuts against the first stopper member 28.

この小バネ２９はコイルスプリングであって、そのコイルスプリングから成る小バネ２９の一端を可動板１９ｂの他方の端縁に当接させ、その状態で圧縮された小バネ２９が一方の端部から挿通される雌ねじ部材３１が固定板１９ａの他方の端縁に取付けられる。そして、雌ねじ部材３１の他方の端部からは小バネ２９の他端が当接する小ねじ３２が螺合され、この小ねじ３２のねじ込む深さを変更することにより、圧縮された小バネ２９の全長を変化させ、可動板１９ｂを付勢する小バネ２９の付勢力を変更可能に構成される。なお、図４における符号３３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。   The small spring 29 is a coil spring. One end of the small spring 29 made of the coil spring is brought into contact with the other edge of the movable plate 19b, and the small spring 29 compressed in this state starts from one end. The female screw member 31 to be inserted is attached to the other edge of the fixing plate 19a. Then, a small screw 32 with which the other end of the small spring 29 abuts is screwed into the other end of the female screw member 31, and the depth of the small screw 29 is changed by changing the screwing depth of the small screw 32. The total length is changed, and the biasing force of the small spring 29 that biases the movable plate 19b can be changed. In addition, the code | symbol 33 in FIG. 4 is a nut which prevents the looseness of the machine screw 32 screwed together by the internal thread member 31. FIG.

この小バネ２９により、可動板１９ｂは、その一方の端縁が第一ストッパ部材２８に当接することになり、このように重合する固定板１９ａと可動板１９ｂの双方には、メカハンド２０における押さえカバー２７が挿通可能な挿通孔１９ｄ，１９ｅがそれらの略中央にそれらを貫通して形成される。   Due to this small spring 29, one end edge of the movable plate 19b comes into contact with the first stopper member 28, and both the fixed plate 19a and the movable plate 19b which are superposed in this manner are pressed against the press in the mechanical hand 20. Insertion holes 19d and 19e through which the cover 27 can be inserted are formed through them substantially at the center.

一方、メカハンド２０の本端部２３は取付小板２０ａに小ねじ１４ｃを介して取付けられ、押さえカバー２７が挿通孔１９ｄ，１９ｅに挿通されて、摺動ロッド２４の中心軸を円筒部１４ａの中心軸に一致させ、かつ一対の挟持片１１，１２の移動方向が可動板１９ｂの移動方向に直交する状態で、この取付小板２０ａが可動板１９ｂに取付けられる。これにより、メカハンド２０は、その一対の挟持片１１，１２の移動方向と摺動ロッド２４の双方に直交する方向に移動可能に取付板１３に設けられることになり、回転台１４と共に回転することにより、メカハンド２０は取付板１３に回転可能にも枢支されたことになる。   On the other hand, the main end portion 23 of the mechanical hand 20 is attached to the attachment plate 20a via the small screw 14c, the holding cover 27 is inserted into the insertion holes 19d and 19e, and the central axis of the sliding rod 24 is set to the cylindrical portion 14a. The mounting plate 20a is attached to the movable plate 19b so as to coincide with the central axis and the moving direction of the pair of sandwiching pieces 11 and 12 is orthogonal to the moving direction of the movable plate 19b. Accordingly, the mechanical hand 20 is provided on the mounting plate 13 so as to be movable in a direction orthogonal to both the moving direction of the pair of sandwiching pieces 11 and 12 and the sliding rod 24, and rotates together with the turntable 14. Thus, the mechanical hand 20 is also pivotally supported by the mounting plate 13.

一方、可動板１９ｂを付勢する小バネ２９はコイルスプリングであるので、図５の実線矢印で示すように、その付勢力に抗して可動板１９ｂを固定板１９ａに対してメカハンド２０が挟持する線材９の延長方向にメカハンド２０とともに移動させることも可能となる。けれども、その小バネ２９の付勢力に抗してメカハンド２０を移動させた場合、その所定値以上の移動を禁止する第二ストッパ部材３６が設けられる。   On the other hand, since the small spring 29 that biases the movable plate 19b is a coil spring, the mechanical hand 20 clamps the movable plate 19b against the fixed plate 19a against the biasing force, as shown by the solid line arrow in FIG. It is also possible to move the wire 9 together with the mechanical hand 20 in the extending direction. However, when the mechanical hand 20 is moved against the urging force of the small spring 29, a second stopper member 36 is provided that prohibits movement beyond the predetermined value.

この実施の形態における第二ストッパ部材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が取付けられてメカハンド２０が所定値以上移動した場合にそのクランク板３７の他端３７ｂに他端３８ｂが当接するＬ型当接板３８とを備える。なお、図４及び図５における符号３９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。   In this embodiment, the second stopper member 36 includes a crank-shaped crank plate 37 with one end 37a attached to the attachment plate 20a, and one end 38a attached to the attachment piece 14b, and the mechanical hand 20 moves by a predetermined value or more. The other end 37b of the crank plate 37 is provided with an L-type abutting plate 38 that abuts the other end 38b. 4 and 5 is a detection sensor 39 that 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.

図１〜図３に戻って、メカハンド２０と共に取付板１３を挟む円筒部１４ａの他方にはプーリ１７ａが取付けられ、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が取付けられる。即ち、円筒部１４ａから偏倚して取付板１３にサーボモータ１８がその回転軸１８ａを円筒部１４ａの回転軸に平行になるように取付けられる。その回転軸１８ａにはプーリ１７ｂが設けられ、円筒部１４ａの他方に設けられたプーリ１７ａとの間にベルト１７ｃが掛け回される。   1 to 3, a pulley 17 a is attached to the other side of the cylindrical portion 14 a that sandwiches the attachment plate 13 together with the mechanical hand 20, and a servo motor 18 that rotates the turntable 14 to an arbitrary position is attached to the attachment plate 13. It is done. In other words, the servo motor 18 is mounted on the mounting plate 13 so that its rotational shaft 18a is parallel to the rotational shaft of the cylindrical portion 14a. A pulley 17b is provided on the rotating shaft 18a, and a belt 17c is wound around the pulley 17a provided on the other side of the cylindrical portion 14a.

これによりサーボモータ１８が駆動してその回転軸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と共に回転台１４を任意の位置にまで回転させるように構成される。   As a result, when the servo motor 18 is driven and the rotating shaft 18a rotates, the rotation is transmitted to the cylindrical portion 14a via the pulleys 17a, 17b and the belt 17c, and the rotating table 14 is rotated to an arbitrary position together with the mechanical hand 20. Configured to let

ここで、図中における符号１９ａ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に平行になるように取付脚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への取付けはボルト１９ｃにより行われる。取付板１３の取付台１９ａを挟む回転台１４の反対側にはネジ台１９ｄが立設され、そのネジ台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, reference numeral 19a in the figure is a mounting base 19a for mounting the servo motor 18, and is attached to the mounting plate 13 via the mounting legs 19b so as to be parallel to the mounting plate 13. The mounting base 19a is attached to the mounting leg 19b by a bolt 19c. A screw base 19d is erected on the opposite side of the rotating base 14 across the mounting base 19a of the mounting plate 13, and a screw member 19e whose tip contacts the mounting base 19a is screwed in parallel with the mounting base 13 at the screw base 19d. Worn.

よって、ボルト１９ｃを緩めて、ネジ部材１９ｅを回転させれば、その先端が接触する取付台１９ａを回転台１４から離接可能となり、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に取付けることが可能となる。   Therefore, if the bolt 19c is loosened and the screw member 19e is rotated, the mounting base 19a that comes into contact with the tip can be separated from the rotary base 14, and the bolt 19c is tightened at a desired position, whereby the servo motor 18 is It is possible to attach to the mounting plate 13 with a desired interval from the turntable 14.

メカハンド２０は、その摺動ロッド２４（図７）が円筒部１４ａの中心軸と同軸になるように取付片１４ｂにスライド部材１９を介して取付けられ、円筒部１４ａには他端側から、操作ロッド４１と、その操作ロッド４１をメカハンド２０における摺動ロッド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が挿通される。従って、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、その操作ロッド４１の端部がメカハンド２０の押さえカバー２７に接触し、その後も操作ロッド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（図７）は、バネである第一コイルスプリング２６の付勢力に抗して本体部２３に没入し、メカハンド２０における一対の移動台２１，２２を、そこに設けられた一対の挟持片１１，１２とともに互いに遠ざける方向に移動させることになる。   The mechanical hand 20 is attached to the attachment piece 14b via the slide member 19 so that the sliding rod 24 (FIG. 7) is coaxial with the central axis of the cylindrical portion 14a. The rod 41 and the second coil spring 42 that urges the operating rod 41 in a direction away from the sliding rod 24 in the mechanical hand 20 are inserted. Therefore, when the operating rod 41 is moved against the urging force of the second coil spring 42, the end of the operating rod 41 comes into contact with the holding cover 27 of the mechanical hand 20, and then the operating rod 41 is moved. The sliding rod 24 (FIG. 7) provided with the pressing cover 27 is immersed in the main body portion 23 against the urging force of the first coil spring 26 that is a spring, and the pair of movable bases 21 and 22 in the mechanical hand 20 are moved. The pair of holding pieces 11 and 12 provided there are moved in a direction away from each other.

そして、本発明の線材把持装置１０は、バネである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を離間させて開かせる駆動装置４３を備え、この駆動装置４３が一対の挟持片１１，１２を開かせるカム４４と、そのカム４４を任意の位置に変位させるモータ４５とを備えたことを特徴とする。   The wire gripping device 10 of the present invention includes a driving device 43 that opens the pair of sandwiching pieces 11 and 12 apart from each other against the urging force of the first coil spring 26 that is a spring. A cam 44 that opens the pair of sandwiching pieces 11 and 12 and a motor 45 that displaces the cam 44 to an arbitrary position are provided.

この実施の形態におけるカムは板カム４４であって、そのカム４４を任意の位置に変位させるモータはサーボモータ４５である。円板状の板カム４４は、その中心から偏倚した位置にサーボモータ４５の回転軸４５ａが取付けられるものとする。そして、このサーボモータ４５は、その回転軸４５ａを円筒部１４ａの中心軸に直行させて、その回転軸４５ａに偏心して設けられた板カム４４の外周が円筒部１４ａから突出する操作ロッド４１の端部に接触するように、取付板１３に取付けられる。   The cam in this embodiment is a plate cam 44, and the motor that displaces the cam 44 to an arbitrary position is a servo motor 45. It is assumed that the rotary shaft 45a of the servo motor 45 is attached to the disc-shaped plate cam 44 at a position deviated from the center thereof. The servo motor 45 has an operating rod 41 whose outer periphery protrudes from the cylindrical portion 14a by causing the rotating shaft 45a to be perpendicular to the central axis of the cylindrical portion 14a and the outer periphery of the plate cam 44 provided eccentric to the rotating shaft 45a. It attaches to the attachment board 13 so that an edge part may be contacted.

具体的に、図１〜図６に示すように、取付板１３には、操作ロッド４１の端部を塞ぐように、取付具４７が支柱４６を介して取付けられる。この取付具４７には、円筒部１４ａの中心軸に直行する軸孔４７ａ（図４）が形成され、サーボモータ４５は、その回転軸４５ａを軸孔４７ａに挿通させた状態で取付具４７に取付けられる。   Specifically, as shown in FIGS. 1 to 6, a fixture 47 is attached to the attachment plate 13 via a column 46 so as to close the end of the operation rod 41. A shaft hole 47a (FIG. 4) perpendicular to the central axis of the cylindrical portion 14a is formed in the fixture 47, and the servo motor 45 is inserted into the fixture 47 in a state where the rotation shaft 45a is inserted into the shaft hole 47a. Mounted.

この取付具４７には、操作ロッド４１の端部に対向する位置に、軸孔４７ａに交差するスリット４７ｂが形成され、そのスリット４７ｂからは操作ロッド４１の端部側に開放する長孔４７ｃが形成される。   A slit 47b that intersects the shaft hole 47a is formed at a position facing the end of the operation rod 41 in the fixture 47, and a long hole 47c that opens to the end of the operation rod 41 is formed from the slit 47b. It is formed.

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、板カム４４は長孔４７ｃを貫通して、その周囲が操作ロッド４１の端部に接触するように構成される。   The plate cam 44 is attached to a rotating shaft 45 a that passes through the slit 47 b, and the plate cam 44 is configured to pass through the long hole 47 c and to contact the end of the operation rod 41.

次に、このように構成された線材把持装置を用いた本発明の線材把持方法を説明する。   Next, the wire holding method of the present invention using the wire holding device configured as described above will be described.

上述した線材把持装置１０では、カム４４を任意の位置に変位させるサーボモータ４５を備えるので、本発明の線材把持方法は、サーボモータ４５によるカム４４の変位量によって閉じようとする一対の挟持片１１，１２による把持力を変更させることを特徴とする。   Since the wire rod gripping apparatus 10 described above includes the servo motor 45 that displaces the cam 44 to an arbitrary position, the wire rod gripping method of the present invention is a pair of clamping pieces that are to be closed by the displacement amount of the cam 44 by the servo motor 45. The gripping force by 11 and 12 is changed.

具体的に、線材９を把持するためには、先ず、図１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、操作ロッド４１を円筒部１４ａの内部で軸方向に移動させる。このように、第一コイルスプリング２６の付勢力に抗して操作ロッド４１を移動させると、その操作ロッド４１の端部がメカハンド２０における押さえカバー２７に接触する。その後も操作ロッド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（図７）は本体部２３に没入し、一対の移動台２１，２２を、そこに設けられた一対の挟持片１１，１２とともに、互いに遠ざける方向に移動させる。このようにして、一対の挟持片１１，１２を開かせる。   Specifically, in order to grip the wire 9, first, as shown in FIG. 1, the servo motor 45 rotationally displaces the cam 44 and moves the operation rod 41 in the axial direction inside the cylindrical portion 14 a. Thus, when the operating rod 41 is moved against the urging force of the first coil spring 26, the end of the operating rod 41 comes into contact with the holding cover 27 in the mechanical hand 20. Thereafter, when the operation rod 41 is moved, the slide rod 24 (FIG. 7) provided with the presser cover 27 is immersed in the main body 23, and the pair of movable bases 21 and 22 are sandwiched between the pair of movable stands 21 and 22 provided therein. Together with the pieces 11 and 12, they are moved away from each other. In this way, the pair of clamping pieces 11 and 12 are opened.

図１に示すように、一対の挟持片１１，１２を開かせた状態で、線材９をその一対の挟持片１１，１２の間に進入させる。この線材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、この線材把持装置１０自体を移動させることにより、行うことができる。   As shown in FIG. 1, the wire 9 is inserted between the pair of sandwiching pieces 11 and 12 in a state where the pair of sandwiching pieces 11 and 12 is opened. The entry of the wire 9 can be performed by moving a nozzle that feeds the wire 9 provided in a winding device or the like (not shown) or by moving the wire gripping device 10 itself.

線材９を一対の挟持片１１，１２の間に進入させた後には、サーボモータ４５によりカム４４を再び回転させて変位させ、操作ロッド４１を円筒部１４ａの内部で逆方向に移動させる。すると第二コイルスプリング４２の付勢力により操作ロッド４１はメカハンド２０から遠ざかる方向に移動し、図２に示すようにその操作ロッド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（図７）は本体部２３から突出し、メカハンド２０における一対の移動台２１，２２と共に一対の挟持片１１，１２は互いに接近して閉じる。   After the wire 9 is inserted between the pair of sandwiching pieces 11 and 12, the cam 44 is rotated again by the servo motor 45 to be displaced, and the operation rod 41 is moved in the reverse direction inside the cylindrical portion 14a. Then, the operating rod 41 moves away from the mechanical hand 20 by the urging force of the second coil spring 42, and when the end of the operating rod 41 moves away from the presser cover 27 of the mechanical hand 20, as shown in FIG. The sliding rod 24 (FIG. 7) protrudes from the main body portion 23 due to the urging force of the first coil spring 26, and the pair of holding pieces 11, 12 together with the pair of moving bases 21, 22 in the mechanical hand 20 close to each other.

すると、一対の挟持片１１，１２の間に存在する線材９を、その一対の挟持片１１，１２は、バネである第一コイルスプリング２６の付勢力により比較的強く挟持することになる。即ち、バネである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を互いに接近させて閉じると、その間に存在する線材９をその第一コイルスプリング２６の付勢力により挟持する挟持力を得ることができる。   Then, the wire 9 existing between the pair of sandwiching pieces 11 and 12 is relatively strongly sandwiched between the pair of sandwiching pieces 11 and 12 by the urging force of the first coil spring 26 that is a spring. That is, when the pair of sandwiching pieces 11 and 12 are closed close to each other by the biasing force of the first coil spring 26 that is a spring, the sandwiching that clamps the wire 9 existing between them by the biasing force of the first coil spring 26 You can gain power.

上述したように、操作ロッド４１の端部がメカハンド２０の摺動ロッド２４から離間するまで移動すると、一対の挟持片１１，１２の間に存在する線材９はバネである第一コイルスプリング２６の付勢力により挟持される。ここで、線材９が弾性を有する場合、図２の拡大図に示すように、その線材９の断面はその弾性により変形し、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。   As described above, when the end of the operating rod 41 moves until the end of the operating rod 41 moves away from the sliding rod 24 of the mechanical hand 20, the wire 9 existing between the pair of sandwiching pieces 11 and 12 is the spring of the first coil spring 26, which is a spring. It is clamped by the biasing force. Here, 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 the elasticity, and the interval A between the pair of sandwiching pieces 11 and 12 is smaller than the diameter of the wire. Become.

けれども、本発明の線材把持装置１０は、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に構成されている。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の端部がメカハンド２０の摺動ロッド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はバネである第一コイルスプリング２６の付勢力により挟持されるけれども、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を把持する図２に示す場合に比較して、その一対の挟持片１１，１２は僅かに開いた状態でその線材９を挟持する。即ち、図３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、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。   However, the wire gripping apparatus 10 of the present invention is configured such that the cam 44 that opens the pair of sandwiching pieces 11 and 12 can be displaced to an arbitrary position by the servo motor 45. Therefore, when the cam 44 is displaced by the servo motor 45 and the end of the operation rod 41 is maintained in a state immediately before being separated from the sliding rod 24 of the mechanical hand 20 as shown in FIG. Although the wire 9 existing between 11 and 12 is sandwiched by the biasing force of the first coil spring 26 that is a spring, the pair of sandwiching pieces 11 and 12 grip the wire 9 by the biasing force of the first coil spring 26. Compared to the case shown in FIG. 2, the pair of holding pieces 11 and 12 hold the wire 9 in a slightly opened state. That is, as shown in the enlarged view of FIG. 3, the distance B between the pair of sandwiching pieces 11 and 12 in this case is a diagram in which the pair of sandwiching pieces 11 and 12 sandwich the wire 9 by the urging force of the first coil spring 26. It becomes larger than the interval A of 2.

このように、操作ロッド４１の端部がメカハンド２０の摺動ロッド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、その線材９の断面はその弾性により変形するけれども、一対の挟持片１１，１２の間に存在する線材９がバネの付勢力により挟持される図２の場合に比較してその線材９の断面の変形は小さなものとなる。すると、バネである第一コイルスプリング２６の付勢力によりその線材９を挟持する図２に示す場合に比較して、その挟持力を弱めた状態でその線材９を把持することになる。   Thus, in the state immediately before the end of the operating rod 41 is separated from the sliding rod 24 of the mechanical hand 20, when the wire 9 has elasticity, as shown in the enlarged view of FIG. Although deformed by the elasticity, the deformation of the cross section of the wire 9 is small compared to the case of FIG. 2 in which the wire 9 existing between the pair of sandwiching pieces 11 and 12 is sandwiched by the biasing force of the spring. . Then, compared to the case shown in FIG. 2 in which the wire 9 is clamped by the urging force of the first coil spring 26 that is a spring, the wire 9 is gripped with the clamping force weakened.

依って、本発明の線材把持装置１０及び線材把持方法では、カム４４の変位量によって閉じようとする一対の挟持片１１，１２による線材９の把持力を変更させることが可能なものとなる。そして、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、そのカム４４の変位量を容易に変更しうることから、本発明の線材把持装置１０及び線材把持方法は、線材９を把持する把持力を容易に変更調整し得るものとなるのである。   Therefore, in the wire rod gripping apparatus 10 and the wire rod gripping method of the present invention, the gripping force of the wire rod 9 by the pair of sandwiching pieces 11 and 12 to be closed can be changed depending on the displacement amount of the cam 44. Since the displacement of the cam 44 can be easily changed by displacing the cam 44 by the servo motor 45, the wire rod gripping apparatus 10 and the wire rod gripping method of the present invention have a gripping force for gripping the wire rod 9. It can be easily changed and adjusted.

そして、線材９を一対の挟持片１１，１２により比較的強く挟持して、その一対の挟持片１１，１２に対する線材９の移動を禁止し、その一対の挟持片１１，１２をそれらが把持する線材９と共に移動させれば、それに挟持された線材９を引き回すことが可能となる。ここで、この実施の形態では、回転台１４によりメカハンド２０を取付板１３に回転可能にも枢支したので、サーボモータ１８を駆動させて、メカハンド２０を回転させつつ移動させることにより、図８（ａ）の破線矢印で示すように、線材を円弧状に引き回すことも可能になるのである。   And the wire 9 is clamped comparatively strongly by a pair of clamping pieces 11 and 12, and the movement of the wire 9 with respect to the pair of clamping pieces 11 and 12 is prohibited, and they hold the pair of clamping pieces 11 and 12 If it is moved together with the wire 9, it becomes possible to draw the wire 9 held between the wires 9. Here, in this embodiment, since the mechanical hand 20 is pivotally supported on the mounting plate 13 by the turntable 14, the servo motor 18 is driven to move the mechanical hand 20 while rotating it. As indicated by the broken arrow in (a), the wire can be drawn in an arc shape.

そして、本発明の線材把持装置１０では、一対の挟持片１１，１２の移動方向と操作ロッド３１の双方に直交する方向にメカハンド２０を移動可能に取付板１３に設け、そのメカハンド２０を一対の挟持片１１，１２が挟持する線材９の長手方向に移動可能にした。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８（ａ）のように引き回し、その後、図８（ｂ）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は他方の方向に移動し、小バネ２９がメカハンド２０を一方の方向に移動するように付勢する付勢力に等しい力で線材９を引っ張ることになる。   In the wire rod gripping apparatus 10 according to the present invention, the mechanical hand 20 is provided on the mounting plate 13 so as to be movable in a direction orthogonal to both the moving direction of the pair of sandwiching pieces 11 and 12 and the operation rod 31, and The holding pieces 11 and 12 are movable in the longitudinal direction of the wire 9 held between them. Therefore, for example, when the wire 9 held by the pair of sandwiching pieces 11 and 12 is drawn as shown in FIG. 8A and then pulled as shown in FIG. 8B, a small spring is obtained as shown in FIG. The mechanical hand 20 moves in the other direction against the urging force of 29, and the wire 9 is pulled with a force equal to the urging force that urges the small spring 29 to move the mechanical hand 20 in one direction.

そして、メカハンド２０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３６を設けたので、メカハンド２０が他方の方向に移動して小バネ２９が付勢する付勢力に等しい力で線材９を引っ張ると、その後クランク板３７の他端３７ｂにＬ型当接板３８の他端３８ｂが当接して、それ以上の移動が不能と成り、この状態は検出センサ３９により検出されることになる。よって、この状態で一対の挟持片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終了させることができる。   Since the second stopper member 36 that prohibits the movement of the mechanical hand 20 in the other direction not less than a predetermined value is provided, a force equal to the urging force that the mechanical hand 20 moves in the other direction and the small spring 29 urges. When the wire 9 is pulled with the other end 37b of the crank plate 37, the other end 38b of the L-shaped contact plate 38 comes into contact with the other end 37b, and further movement becomes impossible. This state is detected by the detection sensor 39. It will be. Therefore, if the holding of the wire 9 by the pair of holding pieces 11 and 12 is eliminated in this state, the wire 9 can be terminated in a state where a force equal to the urging force urged by the small spring 29 is applied.

それに対して、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て線材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８（ｃ）に示すように、その線材９を引き回し途中の、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。   On the other hand, as shown in FIG. 2, when the wire 9 is relatively strongly clamped by the pair of sandwiching pieces 11 and 12, and further movement of the wire 9 with respect to the pair of sandwiching pieces 11 and 12 is prohibited, As shown in FIG. 8 (c), the wire 9 can be shredded in the vicinity of the pin 8, for example, while being routed.

その一方で、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、その一対の挟持片１１，１２に対する線材９の移動は許容され、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８（ｄ）に示すように、それに挟持された線材９を一対の挟持片１１，１２の間で滑らせながら引き延ばすようなことも可能となるのである。   On the other hand, as shown in FIG. 3, if the wire 9 is sandwiched between the pair of sandwiching pieces 11 and 12 with a relatively weak force, the wire 9 is allowed to move relative to the pair of sandwiching pieces 11 and 12. If the pair of sandwiching pieces 11 and 12 are moved while allowing the movement of the wire 9, the wire 9 sandwiched between them is stretched while sliding between the pair of sandwiching pieces 11 and 12 as shown in FIG. This is also possible.

図９〜図１１に、本発明の別の実施の形態を示す。図面中上述した実施の形態と同一符号は同一部品を示し、繰り返しての説明を省略する。   9 to 11 show another embodiment of the present invention. In the drawings, the same reference numerals as those in the above-described embodiment denote the same parts, and repeated description will be omitted.

この別の線材把持装置１０におけるメカハンド２０は、摺動ロッド２４を本体部２３に没入させると、一対の移動台２１，２２は互いに接近し（図１０）、摺動ロッド２４を本体部２３から突出させると、一対の移動台２１，２２は互いに離間する（図９）ものが用いられる。   When the mechanical hand 20 in the other wire rod gripping apparatus 10 immerses the sliding rod 24 into the main body 23, the pair of moving bases 21 and 22 approach each other (FIG. 10), and the sliding rod 24 is moved from the main body 23. When projecting, the pair of movable bases 21 and 22 are separated from each other (FIG. 9).

従って、このメカハンド２０として、図１０に示すように、摺動ロッド２４を本体部２３に没入させると、一対の移動台２１，２２に設けられた一対の挟持片１１，１２もその一対の移動台２１，２２とともに互いに接近し、その間に線材９が存在したならば、その線材９を挟持するように構成されたものが用いられる。   Accordingly, as shown in FIG. 10, as the mechanical hand 20, when the sliding rod 24 is immersed in the main body 23, the pair of sandwiching pieces 11 and 12 provided on the pair of moving bases 21 and 22 are also moved in the pair. If the wires 9 are close to each other together with the bases 21 and 22 and the wire 9 exists between them, the one configured to sandwich the wire 9 is used.

また、このメカハンド２０における本体部２３から突出する摺動ロッド２４に嵌入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間の間に介在して、伸張しようとする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、これにより摺動ロッド２４を本体部２３から突出させる方向に付勢するものである。従って、この別の線材把持装置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を互いに離間させて開かせる方向に付勢するバネである。   Further, the first coil spring 26 fitted into the slide rod 24 protruding from the main body 23 in the mechanical hand 20 is interposed between the main body 23 and the presser cover 27 and is pressed by the force to be extended. 27 is urged in a direction away from the main body 23, and thereby urged in a direction in which the slide rod 24 protrudes from the main body 23. Accordingly, the first coil spring 26 in the another wire rod gripping apparatus 10 is a spring that urges the pair of sandwiching pieces 11 and 12 to be spaced apart and opened as shown in FIG.

メカハンド２０は、その摺動ロッド２４が円筒部１４ａの中心軸と同軸になるように取付片１４ｂに取付けられ、円筒部１４ａには他端側から、操作ロッド４１と、その操作ロッド４１をメカハンド２０から遠ざける方向に付勢する第二コイルスプリング４２が挿通される。   The mechanical hand 20 is attached to the mounting piece 14b so that the sliding rod 24 is coaxial with the central axis of the cylindrical portion 14a. The operating rod 41 and the operating rod 41 are connected to the cylindrical portion 14a from the other end side. A second coil spring 42 that is biased in a direction away from 20 is inserted.

そして、この別の線材把持装置１０における駆動装置４３は、一対の挟持片１１，１２を閉じるカム４４と、そのカム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。この別の実施の形態におけるカムも板カム４４であって、円板状の板カム４４をその中心から偏倚した位置にサーボモータ４５の回転軸４５ａを取付けるものとする。そして、このサーボモータ４５は、その回転軸４５ａを円筒部１４ａの中心軸に直行させて、その回転軸４５ａに偏心して設けられた板カム４４の外周が円筒部１４ａから突出する操作ロッド４１の端部に接触するように、取付板１３に支柱４６を介して取付けられる。   The drive device 43 in the other wire rod gripping apparatus 10 includes a cam 44 that closes the pair of sandwiching pieces 11 and 12 and a servo motor 45 that displaces the cam 44 to an arbitrary position. The cam in this other embodiment is also a plate cam 44, and the rotating shaft 45a of the servo motor 45 is attached to a position where the disc-shaped plate cam 44 is deviated from the center thereof. The servo motor 45 has an operating rod 41 whose outer periphery protrudes from the cylindrical portion 14a by causing the rotating shaft 45a to be perpendicular to the central axis of the cylindrical portion 14a and the outer periphery of the plate cam 44 provided eccentric to the rotating shaft 45a. It is attached to the attachment plate 13 via a support column 46 so as to contact the end portion.

次に、このように構成された別の線材把持装置を用いた本発明の線材把持方法を説明する。   Next, a wire rod gripping method of the present invention using another wire rod gripping device configured as described above will be described.

この別の線材把持装置１０にあっても、カム４４を所望の位置に変位させるサーボモータ４５を備えるので、本発明の線材把持方法は、サーボモータ４５によるカム４４の変位量によって閉じようとする一対の挟持片１１，１２による把持力を変更させることを特徴とする。   Even in this other wire rod gripping apparatus 10, the servo motor 45 for displacing the cam 44 to a desired position is provided. Therefore, the wire rod gripping method of the present invention tries to close by the amount of displacement of the cam 44 by the servo motor 45. The gripping force by the pair of sandwiching pieces 11 and 12 is changed.

具体的に、線材９を把持するためには、先ず、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、メカハンド２０における操作ロッド４１を本体部２３から突出させて、一対の移動台２１，２２を、そこに設けられた一対の挟持片１１，１２とともに、互いに遠ざける方向に移動させる。このようにして、一対の挟持片１１，１２を開かせる。   Specifically, in order to grip the wire 9, first, as shown in FIG. 9, the servo motor 45 rotates and displaces the cam 44, and the operation rod 41 in the mechanical hand 20 is applied by the urging force of the first coil spring 26. Is protruded from the main body 23 and the pair of movable bases 21 and 22 are moved in a direction away from each other together with the pair of sandwiching pieces 11 and 12 provided there. In this way, the pair of clamping pieces 11 and 12 are opened.

このように一対の挟持片１１，１２を開かせた状態で、線材９をその一対の挟持片１１，１２の間に進入させる。この線材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、この線材把持装置１０自体を移動させることにより、行うことができる。   Thus, the wire 9 is made to enter between the pair of sandwiching pieces 11 and 12 with the pair of sandwiching pieces 11 and 12 being opened. The entry of the wire 9 can be performed by moving a nozzle that feeds the wire 9 provided in a winding device or the like (not shown) or by moving the wire gripping device 10 itself.

線材９を一対の挟持片１１，１２の間に進入させた後には、サーボモータ４５によりカム４４を回転させて変位させ、操作ロッド４１を円筒部１４ａの内部で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。すると摺動ロッド２４に押さえカバー２７が接触する操作ロッド４１は、その押さえカバー２７が設けられた摺動ロッド２４とともにメカハンド２０に近づき、摺動ロッド２４が本体部２３に没入することにより、メカハンド２０における一対の移動台２１，２２と共に一対の挟持片１１，１２は互いに接近して閉じる。   After the wire 9 is inserted between the pair of sandwiching pieces 11 and 12, the cam 44 is rotated and displaced by the servo motor 45, and the operating rod 41 is urged by the second coil spring 42 inside the cylindrical portion 14a. To move closer to the mechanical hand 20 against Then, the operating rod 41 with which the pressing cover 27 comes into contact with the sliding rod 24 approaches the mechanical hand 20 together with the sliding rod 24 provided with the pressing cover 27, and the sliding rod 24 is immersed in the main body portion 23, whereby the mechanical hand The pair of sandwiching pieces 11 and 12 together with the pair of movable tables 21 and 22 in FIG.

すると、図１０に示すように、一対の挟持片１１，１２の間に存在する線材９を、その一対の挟持片１１，１２は、カム４４の回転しようとする力により比較的強く挟持することになる。   Then, as shown in FIG. 10, the pair of holding pieces 11 and 12 hold the wire 9 existing between the pair of holding pieces 11 and 12 relatively strongly by the force to rotate the cam 44. become.

ここで、線材９が弾性を有する場合、図１０の拡大図に示すように、その線材９の断面はその弾性により変形し、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。即ち、サーボモータ４５によるカム４４を回転させようとする力により一対の挟持片１１，１２に、その線材９を挟持する挟持力が生じる。けれども、一対の挟持片１１，１２の間に線材９が存在することから、その線材９が一対の挟持片１１，１２が閉じることに対抗する対抗力と、その挟持力が均一になったところで、カム４４の回転変位は停止し、一対の挟持片１１，１２の間に存在する線材９をカム４４の回転変位しようとする力により挟持する挟持力を得ることができる。   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 interval A between the pair of sandwiching pieces 11 and 12 is smaller than the diameter of the wire. Become. That is, a clamping force for clamping the wire 9 is generated in the pair of clamping pieces 11 and 12 by a force for rotating the cam 44 by the servo motor 45. However, since the wire 9 is present between the pair of sandwiching pieces 11 and 12, the opposing force that the wire 9 opposes when the pair of sandwiching pieces 11 and 12 are closed, and the holding force becomes uniform. The rotational displacement of the cam 44 is stopped, and a clamping force for clamping the wire 9 existing between the pair of clamping pieces 11 and 12 by the force to rotate the cam 44 can be obtained.

このように、サーボモータ４５によりカム４４を変位させて、そのまま変位させたならば、線材９が一対の挟持片１１，１２が閉じることに対抗する対抗力により、カム４４の回転変位は停止し、線材９を比較的強い力で挟持することができる。   As described above, if the cam 44 is displaced by the servo motor 45 and is displaced as it is, the rotational displacement of the cam 44 is stopped by the opposing force that the wire 9 opposes when the pair of sandwiching pieces 11 and 12 are closed. The wire 9 can be clamped with a relatively strong force.

けれども、本発明の線材把持装置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まで変位可能に構成されている。このため、サーボモータ４５によりカム４４を変位させて、図１１に示すように、そのまま変位させたならば、線材９の存在によりカム４４の回転変位が停止するであろうとする直前の状態でその回転変位を停止して維持させる。   However, the wire gripping apparatus 10 of the present invention is configured such that the cam 44 that closes the pair of sandwiching pieces 11 and 12 can be displaced to an arbitrary position by the servo motor 45. For this reason, if the cam 44 is displaced by the servo motor 45 and is displaced as shown in FIG. 11, the state immediately before the rotational displacement of the cam 44 is stopped due to the presence of the wire 9 Stop and maintain the rotational displacement.

すると、一対の挟持片１１，１２の間に存在する線材９は回転変位したカム４４により互いに近づいた一対の挟持片１１，１２により挟持されるけれども、そのカム４４の回転変位を継続させた場合に一対の挟持片１１，１２が線材９を把持する図１０に示す場合に比較して、図１１の拡大図に示すように、その一対の挟持片１１，１２は僅かに開いた状態でその線材９を挟持することになる。即ち、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、サーボモータ４５がカム４４を回転変位させる付勢力により一対の挟持片１１，１２が線材９を挟持する図１０の間隔Ａより大きくなる。   Then, although the wire 9 existing between the pair of sandwiching pieces 11 and 12 is sandwiched by the pair of sandwiching pieces 11 and 12 that are close to each other by the cam 44 that has been rotationally displaced, the rotational displacement of the cam 44 is continued. Compared to the case shown in FIG. 10 in which the pair of holding pieces 11 and 12 grip the wire 9, the pair of holding pieces 11 and 12 are slightly opened in the state shown in FIG. The wire 9 is clamped. That is, as shown in the enlarged view of FIG. 11, the distance B between the pair of sandwiching pieces 11 and 12 in this case is such that the pair of sandwiching pieces 11 and 12 is moved by the biasing force that causes the servo motor 45 to rotationally displace the cam 44. Is larger than the interval A in 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によりその線材９を挟持すると、その線材９の断面はその弾性により変形するけれども、その変形量はカムの回転変位量により異なり、図１０の拡大図に示すように、その線材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、その線材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。   Thus, when the wire 9 has elasticity, if the wire 9 is clamped by the pair of clamping pieces 11 and 12, the cross section of the wire 9 is deformed by the elasticity, but the amount of deformation depends on the rotational displacement of the cam. In contrast, as shown in the enlarged view of FIG. 10, when the deformation of the cross section of the wire 9 is large, the holding force of the wire 9 by the pair of holding pieces 11 and 12 is also large, as shown in the enlarged view of FIG. 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.

依って、この別の線材把持装置１０及び線材把持方法にあっても、カム４４の変位量によって閉じようとする一対の挟持片１１，１２による線材９の把持力を変更させることが可能なものとなる。そして、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、そのカム４４の変位量を容易に変更しうることから、この別の線材把持装置１０及び線材把持方法も、線材９を把持する把持力を容易に変更し得るものとなるのである。   Therefore, even in this different wire rod gripping apparatus 10 and wire rod gripping method, it is possible to change the gripping force of the wire rod 9 by the pair of sandwiching pieces 11 and 12 to be closed by the displacement amount of the cam 44. It becomes. Since the displacement amount of the cam 44 can be easily changed by displacing the cam 44 by the servo motor 45, the other wire rod gripping device 10 and the wire rod gripping method also have a gripping force for gripping the wire rod 9. It can be easily changed.

そして、一対の挟持片１１，１２の移動方向と操作ロッド３１の双方に直交する方向にメカハンド２０を移動可能に取付板１３に設け、そのメカハンド２０を一対の挟持片１１，１２が挟持する線材９の長手方向に移動可能にすれば、小バネ２９（図５）の付勢力に抗してメカハンド２０は他方の方向に移動し、小バネ２９がメカハンド２０を一方の方向に移動するように付勢する付勢力に等しい力で線材９を引っ張ることができる。   Then, the mechanical hand 20 is provided on the mounting plate 13 so as to be movable in a direction orthogonal to both the moving direction of the pair of sandwiching pieces 11 and 12 and the operation rod 31, and the wire rod that sandwiches the mechanical hand 20 between the pair of sandwiching pieces 11 and 12. 9 can be moved in the longitudinal direction, the mechanical hand 20 moves in the other direction against the biasing force of the small spring 29 (FIG. 5), and the small spring 29 moves the mechanical hand 20 in one direction. The wire 9 can be pulled with a force equal to the urging force to be urged.

なお、上述した実施の形態では、一対の挟持片１１，１２を互いに接近させて閉じる方向又は互いに離間させて開かせる方向に付勢するバネ２６がコイルスプリングである場合を説明した。けれども、一対の挟持片１１，１２を閉じ又は開かせ得る限り、バネはコイルスプリングに限らず、例えば、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い。   In the above-described embodiment, the case has been described in which the spring 26 that biases the pair of sandwiching pieces 11 and 12 close to each other and closes them or opens them apart from each other is a coil spring. However, as long as the pair of sandwiching pieces 11 and 12 can be closed or opened, 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, for example.

また、上述した実施の形態では、カムとして板カム４４を用いる場合を説明した。けれども、一対の挟持片１１，１２を開せ得る限り、カムは、正面カム（溝カム）や立体カムであっても良い。   In the above-described embodiment, the case where the plate cam 44 is used as the cam has been described. However, as long as the pair of sandwiching pieces 11 and 12 can be opened, the cam may be a front cam (groove cam) or a three-dimensional cam.

また、上述した実施の形態では、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を用いる場合を説明したけれども、このモータは、カム４４を任意の位置に変位させ得る限り、他の形式のモータであっても良い。   In the above-described embodiment, the case where the servo motor 45 is used as a motor for displacing the cam 44 to an arbitrary position has been described. However, as long as the cam 44 can be displaced to an arbitrary position, this motor has other types. This motor may be used.

更に、図９〜図１１に示すように、一対の挟持片１１，１２を閉じるカム４４にあっては、サーボモータ４５によるカム４４を回転させようとする力により一対の挟持片１１，１２に、その線材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、その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 cam 44 that closes the pair of sandwiching pieces 11, 12, a force to rotate the cam 44 by the servo motor 45 is applied to the pair of sandwiching pieces 11, 12. A clamping force for clamping the wire 9 is generated. Therefore, as the servo motor 45, a motor capable of changing the torque for rotating the cam 44 is used, and the gripping force of the wire 9 by the pair of sandwiching pieces 11 and 12 is changed by changing the torque. Anyway.

９ 線材
１０ 線材把持装置
１１，１２ 挟持片
１３ 取付板
２０ メカハンド
２３ 本体部
２４ 摺動ロッド
２６ 第一コイルスプリング（バネ）
２８ 第一ストッパ部材
２９ 小バネ
３６ 第二ストッパ部材
４３ 駆動装置
４４ カム
４５ サーボモータ 9 Wire rod 10 Wire rod gripping device 11, 12 Holding piece 13 Mounting plate 20 Mechanical hand 23 Body 24 Slide rod 26 First coil spring (spring)
28 First stopper member 29 Small spring 36 Second stopper member 43 Drive device 44 Cam 45 Servo motor

Claims (6)

本体部(23)に出没可能に設けられた摺動ロッド(24)と、前記本体部(23)に設けられ前記摺動ロッド(24)を前記本体部(23)から突出させると前記摺動ロッド(24)の出没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(9)を挟持する一対の挟持片(11,12)と、前記摺動ロッド(24)を前記本体部(23)から突出させる方向に付勢するバネ(26)とを有するメカハンド(20)と、
前記メカハンド(20)が設けられた取付板(13)に設けられ前記バネ(26)の付勢力に抗して前記摺動ロッド(24)を前記本体部(23)に没入させて前記一対の挟持片(11,12)を互いに離間させて開かせる駆動装置(43)とを備えた線材把持装置において、
前記駆動装置(43)が、前記摺動ロッド(24)の突出端に一端が臨んで前記摺動ロッド(24)の延長上の前記取付板(13)に設けられた操作ロッド(41)と、前記操作ロッド(41)の他端に係合するカム(44)と、前記カム(44)を任意の位置に変位させるモータ(45)とを備えた
ことを特徴とする線材把持装置。 A sliding rod (24) provided in the main body (23) so as to be able to protrude and retract, and the sliding rod (24) provided in the main body (23) is protruded from the main body (23) and the sliding A pair of sandwiching pieces (11, 12) that sandwich and move the wire rod (9) between them in the direction perpendicular to the direction in which the rod (24) protrudes and retracts, and the sliding rod (24) A mechanical hand (20) having a spring (26) biased in a direction of projecting from (23),
The sliding rod (24) is immersed in the main body (23) against the urging force of the spring (26) provided on the mounting plate (13) provided with the mechanical hand (20), and the pair of pairs. In the wire rod gripping device including the driving device (43) that opens the clamping pieces (11, 12) apart from each other,
The drive device (43) is provided with an operating rod (41) provided on the mounting plate (13) on an extension of the sliding rod (24) with one end facing the protruding end of the sliding rod (24). A wire gripping device comprising: a cam (44) engaged with the other end of the operation rod (41); and a motor (45) for displacing the cam (44) to an arbitrary position. 一対の挟持片(11,12)の移動方向と操作ロッド(31)の双方に直交する方向にメカハンド(20)が移動可能に取付板(13)に設けられ、
前記メカハンド(20)を一方の方向に移動するように付勢する小バネ(29)と、前記小バネ(29)の付勢力に抗して前記メカハンド(20)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(28)と、前記小バネ(29)の付勢力に抗して前記メカハンド(20)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(36)が設けられた請求項１記載の線材把持装置。 A mechanical hand (20) is provided on the mounting plate (13) so as to be movable in a direction perpendicular to both the moving direction of the pair of clamping pieces (11, 12) and the operating rod (31),
A small spring (29) for urging the mechanical hand (20) to move in one direction, and one direction greater than a predetermined value of the mechanical hand (20) against the urging force of the small spring (29) A first stopper member (28) that prohibits movement to the second stopper, and a second stopper that prohibits movement of the mechanical hand (20) in the other direction above a predetermined value against the biasing force of the small spring (29) The wire gripping device according to claim 1, wherein a member (36) is provided. 本体部(23)に出没可能に設けられた摺動ロッド(24)と、前記本体部(23)に設けられ前記摺動ロッド(24)を前記本体部(23)から突出させると前記摺動ロッド(24)の出没方向に直交する方向に互いに離間して開く一対の挟持片(11,12)と、前記摺動ロッド(24)を前記本体部(23)から突出させる方向に付勢するバネ(26)とを有するメカハンド(20)と、
前記メカハンド(20)が設けられた取付板(13)に設けられ前記バネ(26)の付勢力に抗して前記摺動ロッド(24)を前記本体部(23)に没入させて前記一対の挟持片(11,12)を互いに接近移動させて間に存在する線材(9)を挟持させる駆動装置(43)とを備えた線材把持装置において、
前記駆動装置(43)が、前記摺動ロッド(24)の突出端に一端が臨んで前記摺動ロッド(24)の延長上の前記取付板(13)に設けられた操作ロッド(41)と、前記操作ロッド(41)の他端に係合するカム(44)と、前記カム(44)を任意の位置に変位させるモータ(45)とを備えた
ことを特徴とする線材把持装置。 A sliding rod (24) provided in the main body (23) so as to be able to protrude and retract, and the sliding rod (24) provided in the main body (23) is protruded from the main body (23) and the sliding A pair of sandwiching pieces (11, 12) that are opened apart from each other in a direction perpendicular to the direction in which the rod (24) protrudes and urges and a direction in which the sliding rod (24) protrudes from the main body (23). A mechanical hand (20) having a spring (26);
The sliding rod (24) is immersed in the main body (23) against the urging force of the spring (26) provided on the mounting plate (13) provided with the mechanical hand (20), and the pair of pairs. In the wire rod gripping device provided with the driving device (43) for pinching the wire rod (9) existing in between by moving the clamping pieces (11, 12) closer to each other,
The drive device (43) is provided with an operating rod (41) provided on the mounting plate (13) on an extension of the sliding rod (24) with one end facing the protruding end of the sliding rod (24). A wire gripping device comprising: a cam (44) engaged with the other end of the operation rod (41); and a motor (45) for displacing the cam (44) to an arbitrary position. 一対の挟持片(11,12)の移動方向と操作ロッド(31)の双方に直交する方向にメカハンド(20)が移動可能に取付板(13)に設けられ、
前記メカハンド(20)を一方の方向に移動するように付勢する小バネ(29)と、前記小バネ(29)の付勢力に抗して前記メカハンド(20)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(28)と、前記小バネ(29)の付勢力に抗して前記メカハンド(20)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(36)が設けられた請求項３記載の線材把持装置。 A mechanical hand (20) is provided on the mounting plate (13) so as to be movable in a direction perpendicular to both the moving direction of the pair of clamping pieces (11, 12) and the operating rod (31),
A small spring (29) for urging the mechanical hand (20) to move in one direction, and one direction greater than a predetermined value of the mechanical hand (20) against the urging force of the small spring (29) A first stopper member (28) that prohibits movement to the second stopper, and a second stopper that prohibits movement of the mechanical hand (20) in the other direction above a predetermined value against the biasing force of the small spring (29) The wire gripping device according to claim 3, wherein the member (36) is provided. 本体部(23)に出没可能に設けられた摺動ロッド(24)と、前記本体部(23)に設けられ前記摺動ロッド(24)を前記本体部(23)から突出させると互いに接近して間に存在する線材(9)を挟持する一対の挟持片(11,12)と、前記一対の挟持片(11,12)を互いに接近させて閉じる方向に付勢するバネ(26)と、前記バネ(26)の付勢力に抗して前記摺動ロッド(24)を前記本体部(23)に没入させて前記一対の挟持片(11,12)を互いに離間させて開かせるカム(44)と、前記カム(44)を任意の位置に変位させるモータ(45)とを備えた線材把持装置(10)を用いた線材把持方法であって、
前記モータ(45)による前記カム(44)の変位量によって閉じようとする前記一対の挟持片(11,12)による把持力を変更させる
ことを特徴とする線材把持方法。
When the sliding rod (24) provided in the main body (23) can be projected and retracted, and the sliding rod (24) provided in the main body (23) protrudes from the main body (23), the main body (23) approaches each other. A pair of clamping pieces (11, 12) that sandwich the wire (9) existing between them, and a spring (26) that biases the pair of clamping pieces (11, 12) closer to each other and closing them, cam to open one another by separating the main portion of the sliding rod (24) against the biasing force of the pair of holding pieces immerses in (23) (11, 12) of said spring (26) (44 And a wire rod gripping device (10) provided with a motor (45) for displacing the cam (44) to an arbitrary position,
A method of gripping a wire, characterized in that the gripping force by the pair of clamping pieces (11, 12) to be closed is changed according to the amount of displacement of the cam (44) by the motor (45).
本体部(23)に出没可能に設けられた摺動ロッド(24)と、前記本体部(23)に設けられ前記摺動ロッド(24)を前記本体部(23)に没入させると互いに接近して間に存在する線材(9)を挟持する一対の挟持片(11,12)と、前記一対の挟持片(11,12)を互いに離間させて開かせる方向に付勢するバネ(26)と、前記バネ(26)の付勢力に抗して前記摺動ロッド(24)を前記本体部(23)に没入させて前記一対の挟持片(11,12)を互いに接近させて閉じるカム(44)と、前記カム(44)を任意の位置に変位させるモータ(45)とを備えた線材把持装置(10)を用いた線材把持方法であって、
前記モータ(45)による前記カム(44)の変位量によって閉じようとする前記一対の挟持片(11,12)による把持力を変更させる
ことを特徴とする線材把持方法。
 A sliding rod (24) provided in the main body (23) so as to be able to move in and out, and the sliding rod (24) provided in the main body (23) approach each other when being immersed in the main body (23). A pair of sandwiching pieces (11, 12) that sandwich the wire (9) existing between them, and a spring (26) that biases the pair of sandwiching pieces (11, 12) in a direction to open them apart from each other The cam (44) closes the pair of clamping pieces (11, 12) close to each other by immersing the sliding rod (24) in the main body (23) against the urging force of the spring (26). And a wire rod gripping device (10) provided with a motor (45) for displacing the cam (44) to an arbitrary position ,
A method of gripping a wire, characterized in that the gripping force by the pair of clamping pieces (11, 12) to be closed is changed according to the amount of displacement of the cam (44) by the motor (45).
JP2015125261A 2015-06-23 2015-06-23 Wire holding apparatus and wire holding method Active JP6460923B2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2015125261A JP6460923B2 (en) 2015-06-23 2015-06-23 Wire holding apparatus and wire holding method
PCT/JP2016/066145 WO2016208339A1 (en) 2015-06-23 2016-06-01 Wire gripping device and wire gripping method
KR1020177011550A KR102006011B1 (en) 2015-06-23 2016-06-01 Wire gripping device and wire gripping method
CN201680003445.2A CN107112127B (en) 2015-06-23 2016-06-01 Wire rod grasping device and wire rod holding method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015125261A JP6460923B2 (en) 2015-06-23 2015-06-23 Wire holding apparatus and wire holding method

Publications (2)

Publication Number Publication Date
JP2017011106A JP2017011106A (en) 2017-01-12
JP6460923B2 true JP6460923B2 (en) 2019-01-30

Family

ID=57586188

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015125261A Active JP6460923B2 (en) 2015-06-23 2015-06-23 Wire holding apparatus and wire holding method

Country Status (4)

Country Link
JP (1) JP6460923B2 (en)
KR (1) KR102006011B1 (en)
CN (1) CN107112127B (en)
WO (1) WO2016208339A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI727791B (en) * 2019-12-20 2021-05-11 財團法人工業技術研究院 Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same
US11560657B2 (en) 2020-12-02 2023-01-24 Industrial Technology Research Institute Braiding path generating method and device using the same, and dynamic correcting method and braiding system using the same
US11685104B2 (en) 2019-12-20 2023-06-27 Industrial Technology Research Institute Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106826774B (en) * 2017-04-07 2023-07-28 深圳市爱康生物科技股份有限公司 Mechanical gripper capable of continuously rotating
CN107685339A (en) * 2017-08-29 2018-02-13 南阳理工学院 A kind of mechanical grip for machine-building
TWI808983B (en) 2017-09-08 2023-07-21 日商索尼股份有限公司 Manufacturing method of robot hand, robot device and electronic equipment
CN107954202A (en) * 2017-10-26 2018-04-24 苏州立禾生物医学工程有限公司 A kind of swing arm manipulator
CN109229597B (en) * 2018-09-20 2024-02-09 内黄县阳光机械有限责任公司 Rod tying robot
KR102261086B1 (en) * 2018-12-20 2021-06-04 한국전자기술연구원 Low-cost robot gripper capable of gripping force control
CN111091934B (en) * 2019-12-30 2021-07-20 季华实验室 One-to-many wire bundle clamping method
CN113511551A (en) * 2021-04-25 2021-10-19 深圳技术大学 Manipulator for packaging and assembling linear flexible body

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5137377U (en) * 1974-09-12 1976-03-19
JPS5719483A (en) * 1980-07-09 1982-02-01 Hitachi Ltd Automatic door operator
JPS6071447U (en) * 1983-10-18 1985-05-20 旭大隈産業株式会社 Finger opening adjustment device in heading machine
JPS6158603A (en) * 1984-08-29 1986-03-25 ワイケイケイ株式会社 Fastener chain feed gripper
JPH01261836A (en) * 1988-04-12 1989-10-18 Mitsubishi Electric Corp Wire bonding device
JPH0413277U (en) * 1990-05-22 1992-02-03
JPH07176561A (en) * 1993-12-21 1995-07-14 Fujitsu Miyagi Electron:Kk Wire bonder
JP3552590B2 (en) 1999-05-25 2004-08-11 松下電器産業株式会社 Wire gripper
DE10107311A1 (en) * 2001-02-16 2002-08-29 Iro Patent Ag Baar thread gripper
JP2002224985A (en) * 2001-01-31 2002-08-13 Sunroots Kk Electric motor chuck
JP2004283885A (en) * 2003-03-24 2004-10-14 Asahi Sunac Corp Device for supplying blank for heading machine
EP1970139B1 (en) * 2007-03-14 2009-04-29 WAFIOS Aktiengesellschaft Gripper device for gripping and retaining long workpieces, in particular for bending machines
JP5478359B2 (en) * 2009-09-02 2014-04-23 株式会社Ｋｅｃ Chuck and robot hand
CN201551346U (en) * 2009-11-05 2010-08-18 孙墨 Endoscope holder

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI727791B (en) * 2019-12-20 2021-05-11 財團法人工業技術研究院 Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same
US11685104B2 (en) 2019-12-20 2023-06-27 Industrial Technology Research Institute Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same
US11560657B2 (en) 2020-12-02 2023-01-24 Industrial Technology Research Institute Braiding path generating method and device using the same, and dynamic correcting method and braiding system using the same

Also Published As

Publication number Publication date
JP2017011106A (en) 2017-01-12
CN107112127B (en) 2018-09-25
WO2016208339A1 (en) 2016-12-29
KR102006011B1 (en) 2019-07-31
KR20170066494A (en) 2017-06-14
CN107112127A (en) 2017-08-29

Similar Documents

Publication Publication Date Title
JP6460923B2 (en) Wire holding apparatus and wire holding method
TWI490461B (en) Torque testing equipment
JP5936268B2 (en) Winding device and method for binding wire rod to terminal
US9704645B2 (en) Coil manufacturing apparatus
MXPA96002172A (en) Force multiplier apparatus.
US10714914B2 (en) Stripping apparatus and stripping station
JP2013154420A (en) Electric clamp apparatus
RU2600782C2 (en) Electric clamp apparatus
TWM522964U (en) Post cylinder-shaped sewing machine thread cutting mechanism
JP6436574B2 (en) Gripping device and gripping method
JP5968380B2 (en) Bending test machine
CN110091149B (en) Rubber plug pulling device
JP2016042048A5 (en)
US20140202270A1 (en) Worktable sliding block positioning mechanism
JP2004154791A (en) Workpiece bending apparatus
CN102554345B (en) Tool fixing device
CN211277167U (en) Welding tool
CN209533092U (en) A kind of processing drill point clamping device
JP2002199553A (en) Cable wiring apparatus
TWI754531B (en) Movable jaw of vise restrains floating structure
JP7314860B2 (en) SHEAR TENSION TESTER, TEST PIECE CHUCKING DEVICE AND CHUCKING METHOD
CN220340442U (en) Optical path coupling chip clamping device
CN216310056U (en) Circuit board testing device
CN108385290B (en) Material blocking mechanism applied to rope end knotting machine
CN110509219A (en) Adaptive rotary transformer zero-bit adjusts tool in a kind of small space

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20180329

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20181029

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20181129

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20181203

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20181217

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20181225

R150 Certificate of patent or registration of utility model

Ref document number: 6460923

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250