JP5636986B2 - Compression spring handling device - Google Patents

Description

  The present invention relates to a compression spring handling apparatus that holds a compression spring in a compressed state to a predetermined length and pushes out the held compression spring by a pusher.

As a compression spring handling apparatus using a robot or the like, a compression coil spring assembling apparatus described in Patent Document 1 shown in FIG.
In the compression coil spring assembling apparatus described in Patent Document 1 shown in FIG. 12, reference numeral 1 denotes a holder having a cylindrical shape with a rectangular cross section. The holding body 1 is divided into two parts by a plane parallel to the axis thereof, one of which is a fixed jaw 2 and the other of which is a movable jaw 3 that causes relative movement while maintaining a parallel relationship with the fixed jaw 2 to generate an opening / closing operation. It has become. A pusher 4 is provided at the joint of the jaws 2 and 3 so as to be slidable in the axial direction. The tip of the pusher has a flat plate shape, and an arcuate recess 5 is provided on the front surface thereof. Reference numeral 6 denotes a contact plate integrated with the fixed jaw 2 by the stay 7, which passes through the window 8 on the side surface of the movable jaw 3 and forms a series of barriers along the front surface of the pusher 4 in the most retracted state. Thus, opposing guide slopes 10 and 11 are formed on the inner wall of the outlet of the holding body 1. The guide slope 10 is provided on the fixed jaw and the guide slope 11 is provided symmetrically on the movable jaw 3, and the width of the outlet is narrowed from the inside to the outside of the holding body 1. When the pusher 4 is advanced, the spring 17 slides on the guide slopes 10 and 11 while keeping the concave curved shape in the forward direction, and is pushed out first from both ends. The movable jaw 3 and the pusher 4 are driven by an air cylinder (not shown).

  In recent years, a device assembly system using cell production using a robot has attracted attention, and a handling device capable of holding various types of parts is required. In particular, since many types of compression springs are often handled in the assembly of equipment, a handling device capable of stably holding and assembling the compression springs is required.

JP 59-187428 A

  The conventional handling apparatus described in Patent Literature 1 and the like pushes the entire axial direction of the compression spring with a single pusher when the compressed compression spring is inserted into a predetermined region during assembly work. This is because if only the vicinity of the center in the axial direction of the compression spring is pushed by the pusher, the compression spring is pushed out in a curved state and inserted in an inappropriate posture. Therefore, even when handling a plurality of compression springs having different sizes, the axial length of the compression spring when the compression spring is inserted is determined by the size of the pusher.

  Therefore, when assembling a plurality of compression springs having different sizes, if the contact length of the compression spring is longer than the pusher, a handling device having a different pusher size must be used.

  Furthermore, if the axial length of the compression spring in a compressed state is significantly shorter than the size of the predetermined area where the compression spring is inserted, the behavior of the compression spring will not be stable after being pushed out by the pusher. The spring was inserted in an inappropriate posture. In addition, after being pushed out by the pusher, it may be caught by a claw holding the compression spring and cannot be inserted into a predetermined area.

  SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a compression spring handling device that can extrude a compression spring compressed to an arbitrary axial length without deforming it.

  In order to solve the above-described problems, a compression spring handling device according to the present invention corresponds to a clamping claw unit having a clamping claw that is a pair that can be freely opened and closed to clamp the compression spring in the compression direction, and each of the clamping claws. A pusher that is provided and moves together with the clamping claw and pushes the end of the compression spring that is in contact with the clamping claw in a state where the compression spring is clamped, and pushes the clamped compression spring out of the clamping claw unit; And an extrusion drive unit that synchronously drives the pusher in the extrusion direction.

  The compression spring can be clamped at an arbitrary axial length, and the compression spring compressed to an arbitrary axial length can be pushed out by the pusher without being deformed.

It is the front view (a) and AA sectional view (b) in a 1st embodiment. It is a front view in the middle of extrusion operation of a compression spring in a 1st embodiment. It is the front view which the extrusion operation of the compression spring in 1st Embodiment was completed. It is a front view of the state which opened the nail | claw in 1st Embodiment. It is the front view (a) and side view (b) in 2nd Embodiment. It is a side view in the middle of extrusion operation of a compression spring in a 2nd embodiment. It is a side view which the extrusion operation | movement of the compression spring in 1st Embodiment was completed. It is the front view (a) in 3rd Embodiment, and BB sectional drawing (b). It is the front view (a) in the middle of the extrusion operation | movement of the compression spring in 3rd Embodiment, and BB sectional drawing (b). They are the front view (a) and CC sectional drawing (b) in 4th Embodiment. It is a figure which shows the modification of the pusher in 4th Embodiment. It is a figure of the compression coil spring assembly | attachment apparatus of patent document 1. FIG.

  A compression spring handling device according to the present invention is a kind of handling device that is used by being attached to a working tip of a transfer device such as a robot in an equipment assembly system, and sandwiches a compression spring incorporated in the equipment, in a predetermined area. This is a compression spring handling device that allows a compression spring to be inserted and assembled in a predetermined posture.

First, a first embodiment according to the present invention will be described with reference to the drawings.
FIG. 1A is a front view of a compression spring handling apparatus according to the first embodiment. FIG.1 (b) is AA sectional drawing of the compression spring handling apparatus shown to Fig.1 (a). Although not shown, the compression spring handling device is attached to a transfer device or assembly device using a robot or the like, and the compression spring handling device and the transfer device or assembly device are connected by power, signal lines, or the like. That is, the compression spring handling device is connected to a control device (hereinafter referred to as a control device) such as a transport device or an assembly device, and is controlled by the control device.

  1 (a) and 1 (b), 111 is an actuator capable of multi-point positioning, 113 and 114 are carriers of the actuator 111, 120 and 130 are clamping claws attached to the carriers 113 and 114, and 140 and 150 are Pushers attached to the holding claws 120 and 130, 160 an extrusion cylinder for driving the pusher, and 170 a shaft for mechanically connecting the extrusion cylinder 160 and the pushers 140 and 150.

  As the actuator 111, for example, a commercially available electric gripper or the like can be used. The carriers 113 and 114 move on the same straight line in the same plane. The carrier 113 and the carrier 114 are interlocked and moved in the opposite direction by the same distance, and the distance between the carriers 113 and 114 can be controlled to an arbitrary distance by the control device.

  The clamping claws 120 and 130 have an angle shape, and one side serves as a mounting part to the carriers 113 and 114, and serves as a clamping part that comes into contact with the axial end of the compression spring 101 when the other side is clamped. . The clamping claws 120 and 130 are attached symmetrically to the carriers 113 and 114, and the abutting surfaces of the clamping parts are arranged to face each other. As a result, the actuator 111 is operated to open and close the clamping claws 120 and 130, and the compression spring 101 is interposed between the clamping claws 120 and 130 between the axial direction of the compression spring 101 and the abutment surface of the clamping part. Can be clamped by moving the contact surfaces of the clamping claws 120, 130 so that the distance is shorter than the natural length of the compression spring 101.

  The distance between the contact surfaces of the holding claws 120 and 130 in a state where the compression spring is clamped can be set based on a predetermined region where the compression spring is inserted and assembled. Specifically, the distance between the contact surfaces of the holding claws 120 and 130 is slightly shorter than the axial length of the compression spring in the region where the compression spring is inserted and assembled. Of course, the distance between the contact surfaces of the holding claws 120 and 130 needs to be longer than the close contact length of the compression spring. This is because the compression spring 101 is pushed out by the pushers 140 and 150 for insertion and assembly when the distance between the contact surfaces of the clamping claws 120 and 130 is significantly shortened compared to the axial length of the compression spring in the region for insertion and assembly. When inserting into the area, the compression spring jumps out of the area to be inserted and assembled, or a part of the compressed compression spring 101 is caught by the holding claws 120 and 130, so that the probability of occurrence of defective insertion and assembly increases. It is.

  The pushers 140 and 150 are respectively attached to the clamping portions of the clamping claws 120 and 130 so as to be movable in the vertical direction in FIGS. 1 (a) and 1 (b). Here, in this embodiment, the clamping part of the clamping claws 120 and 130 has a fixed rectangular cross section, and the clamping part is also used as a rail part for linear motion of the pushers 140 and 150. The pushers 140 and 150 are each formed with a hole having a rectangular cross section (not shown) that is slidable with the rail portion of the holding claws 120 and 130 as a guide portion. Furthermore, the contact surfaces of the holding claws 120 and 130 and the guide portions of the pushers 140 and 150 are slidably in close contact so that the compression spring is not pinched. As described above, the contact surface of the clamping claws 120 and 130 is the rail portion, and the rectangular cross-section holes of the pushers 140 and 150 are the guide portions, thereby realizing a linear motion mechanism as the pusher operation mechanism portion.

  The pushers 140 and 150 have a shaft 170 inserted in the sliding portion, and are slidable in the axial direction of the shaft 170 with respect to the shaft 170. Commercially available linear bushes, plain bearings, etc. can be used for the sliding part. The shaft 170 is fixed to the piston tip of the extrusion cylinder 160. Therefore, regardless of the position of the clamping claws 120, 130, the pushers 140, 150 move in the vertical direction in FIGS. 1 (a) and 1 (b) in conjunction with the piston operation of the extrusion cylinder 160 via the shaft 170. It will be. That is, the sliding drive part is comprised by the sliding part with the shaft 170 formed in the extrusion cylinder 160, the shaft 170, and the pushers 140,150. The extrusion cylinder 160 is controlled by the control device to move the piston forward and backward. The extrusion cylinder 160 can be an electric cylinder when position control or accurate speed control is required, and an air cylinder in other cases.

  Next, the operation of the compression spring handling apparatus will be described with reference to FIGS. 1 to 4, the compression spring handling device is attached to a robot (not shown) or the like, and is connected to and controlled by a control device (not shown).

  (1) The actuator 111 and the extrusion cylinder 160 are controlled by the control device, and the holding claws 120 and 130 are opened at predetermined intervals, and the pushers 140 and 150 are moved to the retracted ends. FIG. 4 is a state diagram of the compression spring handling apparatus after the above operation is completed.

  (2) After the compression spring handling device is in the state shown in FIG. 4, the control device controls a robot (not shown) and the compression spring to be sandwiched is between the contact surfaces of the clamping claws 120, 130. The compression spring handling device is moved so that the axial direction is perpendicular to the contact surface.

  (3) The actuator 111 is controlled by the control device, the clamping claws 120 and 130 are closed at a predetermined interval, and the compression spring is clamped. FIG. 1 is a state diagram of the compression spring handling apparatus after the above operation is completed.

  (4) In a state where the compression spring is clamped, the control device controls a robot (not shown) to move the clamped compression spring 101 to the region for insertion and assembly. After the movement is completed, the control unit controls the extrusion cylinder 160 to move the pushers 140 and 150 forward in the pushing direction, and push the compression spring 101 into the region for insertion and assembly. FIG. 2 is a state diagram during the pushing operation of the compression spring 101. Further, FIG. 3 is a state diagram in which the pushing operation of the compression spring 101 is completed.

When the compression spring is repeatedly assembled and inserted, the above operations (1) to (4) are repeated.
In the first embodiment, since the independent pushers 140 and 150 that operate in synchronization with the sandwiching claws 120 and 130 are provided, even if the interval between the sandwiching claws 120 and 130 is changed, the sandwiching claws 120, The end of the compression spring 101 in contact with 130 can be pushed in synchronism with the pushers 140 and 150, and can be inserted and assembled while maintaining the posture of the compression spring 101.

  Further, since the pushers 140 and 150 can push the end of the compression spring 101 regardless of the interval between the clamping claws 120 and 130, the compression spring 101 can be set even if the clamping claws 120 and 130 are set at arbitrary intervals. It is possible to insert and assemble while maintaining this posture. Similarly, a plurality of compression springs 101 having different sizes can be inserted and assembled while maintaining the posture of the compression spring 101.

  Next, a second embodiment according to the present invention will be described with reference to the drawings. In addition, the same number is attached | subjected to the part which is common in 1st Embodiment. In the following description, the description of the parts common to the first embodiment is omitted.

  FIG. 5A is a front view of the compression spring handling apparatus according to the second embodiment. FIG. 5B is a side view of the compression spring handling apparatus shown in FIG. In the second embodiment, as in the first embodiment, the compression spring handling device is attached to a transfer device or assembly device using a robot or the like. They are connected by power or signal lines.

  5A and 5B, 220 and 230 are clamping claws attached to the carriers 113 and 114, and 240 and 250 are pushers attached to the clamping claws 220 and 230.

  The clamping claws 220 and 230 have an angle shape, and one side serves as a mounting part for the carriers 113 and 114 and the other side serves as a clamping part. The clamping claw in the first embodiment is different from the clamping claw in that the clamping part has a notch part whose opening direction is opened. By having the notch portion, the nail claw 220 is formed with a comb tooth portion 221, and the nail claw 230 is formed with a comb tooth portion 231 (not shown).

  The pushers 240 and 250 are attached to the clamping portions of the clamping claws 220 and 230 so as to be movable in the vertical direction in FIGS. 5 (a) and 5 (b). Here, also in the present embodiment, the clamping portion of the clamping claws 220 and 230 is a rail portion, and the rectangular cross-section hole of the pushers 240 and 250 is a guide portion, thereby realizing a linear motion mechanism as a pusher operation mechanism portion.

  Further, the pushers 240 and 250 have a shaft 170 inserted in the sliding portion, and can slide in the axial direction of the shaft 170 with respect to the shaft 170. The shaft 170 is connected to the piston tip of the extrusion cylinder 160. Therefore, regardless of the position of the clamping claws 220 and 230, the pushers 240 and 250 move in the vertical direction in FIGS. 5A and 5B in conjunction with the piston operation of the extrusion cylinder 160. In other words, the extrusion drive unit is configured by the sliding portions of the extrusion cylinder 160, the shaft 170, and the shaft 170 formed on the pushers 240 and 250.

  Furthermore, the pusher 240 has an extruded portion 241 formed so as to intersect with the contact surface of the clamping claw 220, and the pusher 250 has an extruded portion 251 formed so as to intersect with the contact surface of the clamping claw 230. Is formed.

  Since the extruding portions 241 and 251 are formed so as to intersect with the clamping claws 220 and 230, even if the wire diameter of the compression spring 101 is thin, compression is performed in the gap between the clamping claws 220 and 230 and the pushers 240 and 250. The spring 101 is not pinched.

  In addition, the notch part of the clamping claws 220 and 230 is notched so that the pushing parts 241 and 251 of the pushers 240 and 250 do not come into contact with the clamping claws 220 and 230 during the pushing operation.

  Next, the operation of the compression spring handling apparatus will be described with reference to FIGS. 5 to 7, the compression spring handling device is attached to a robot (not shown) or the like, and is connected to and controlled by a control device (not shown).

  (1) The actuator 111 and the extrusion cylinder 160 are controlled by the control device, and the holding claws 220 and 230 are opened at a predetermined interval, and the pushers 240 and 250 are moved to the retracted ends. The state in which the above operation is completed is a state in which the clamping claws and the pusher are replaced with those in the second embodiment in the state diagram of the compression spring handling device in the first embodiment shown in FIG.

  (2) After the compression spring handling device is in the state (1), the control device controls a robot (not shown), and the compression spring to be sandwiched is compressed between the contact surfaces of the clamping claws 220 and 230. The compression spring handling device is moved so that the axial direction of the spring is orthogonal to the contact surface.

  (3) The actuator 111 is controlled by the control device, the clamping claws 220 and 230 are closed at a predetermined interval, and the compression spring is clamped. FIG. 5 is a state diagram of the compression spring handling apparatus after the above operation is completed.

  (4) In a state where the compression spring is clamped, the control device controls a robot (not shown) to move the clamped compression spring 101 to the region for insertion and assembly. After the movement is completed, the control unit controls the push-out cylinder 160 to move the pushers 240 and 250 forward in the push-out direction, and push the compression spring 101 into the region where it is inserted and assembled. FIG. 6 is a state diagram during the pushing operation of the compression spring 101. Further, FIG. 7 is a state diagram in which the pushing operation of the compression spring 101 is completed.

When the compression spring is repeatedly assembled and inserted, the above operations (1) to (4) are repeated.
In the second embodiment, the same effect as the first embodiment can be obtained, and even when the wire diameter of the compression spring 101 is thin, the gap between the clamping claws 220 and 230 and the pushers 240 and 250 is A part of the compression spring 101 can be prevented from being pinched.

  Next, a third embodiment according to the present invention will be described with reference to the drawings. In addition, the same number is attached | subjected to the part which is common in 1st Embodiment. Moreover, in the following description, the description common to the first embodiment is also omitted.

  FIG. 8A is a front view of a compression spring handling apparatus according to the third embodiment. FIG.8 (b) is BB sectional drawing of the compression spring handling apparatus shown to Fig.8 (a). Although not shown, the compression spring handling device is attached to a transfer device or assembly device using a robot or the like, and the compression spring handling device and the transfer device or assembly device are connected by power, signal lines, or the like.

  8 (a) and 8 (b), 320 and 330 are clamping claws attached to the carriers 113 and 114, 340 and 350 are pushers attached to the clamping claws 320 and 330, and 342 and 352 are clamping claws 320. , 330 and pushers 340, 350 connected to pushers 370, 350 are extruding plates 370 attached to the extruding cylinder 160.

  The clamping claws 320 and 330 have an angle shape, and one side serves as a mounting portion for the carriers 113 and 114, and the other side serves as a clamping portion. The clamping claws 320 and 330 are attached symmetrically to the carriers 113 and 114, and the abutting surfaces of the clamping parts are arranged to face each other.

  The pushers 340 and 350 are respectively attached to the clamping portions of the clamping claws 320 and 330 so as to be linearly movable in the vertical direction in FIGS. 8 (a) and 8 (b). A clamping portion of the clamping claws 320 and 330 is formed as a rail portion, and a hole having a rectangular cross section (not shown) of the pushers 340 and 350 is formed as a guide portion, thereby realizing a linear motion mechanism as a pusher operation mechanism portion. Further, the contact surfaces of the holding claws 320 and 330 and the guide portions of the pushers 340 and 350 are in close contact with each other so that the compression spring is not pinched.

  Further, the clamping claw 320 and the pusher 340 are connected by a tension spring 342, and the clamping claw 330 and the pusher 350 are connected by a tension spring 352. The pushers 340 and 350 are always pulled upward in FIG. 8 by the tension springs 342 and 352.

  The extrusion plate 370 is fixed to the piston tip of the extrusion cylinder 160. The pusher plate 370 has a length capable of pushing the pushers 340 and 350 in a state in which the holding claws 320 and 330 are opened to the maximum, and the pushers 340 and 350 have a protruding portion that comes into contact with the movable region of the pusher plate 370. There is. Accordingly, when the piston of the extrusion cylinder 160 is moved forward to move the extrusion plate 370, the pushers 340 and 350 are brought into contact with the extrusion plate 370 by the tension springs 342 and 352 while the extension portions of the extrusion plate 370 and the pushers 340 and 350 are in contact with each other. Since they are pressed, the pusher plate 370 and the pushers 340 and 350 move together, and the pushers 340 and 350 are synchronously driven in the push-out direction.

  Further, when the piston of the extrusion cylinder 160 is moved backward to move the push plate 370, the pushers 340 and 350 are pressed in the direction of the push plate 370 by the tension springs 342 and 352, and when the push plate 370 moves to the retracted end, the pusher 340 is moved. , 350 returns to the original position.

  That is, the pushers 340 and 350 are stretched in the direction opposite to the extrusion direction by the tension springs 342 and 352 and are always pressed in the direction of the extrusion plate 370. 370 is pushed against the tension of the tension springs 342 and 352 to move. In the present embodiment, the extrusion drive unit is configured by the overhang portions formed on the extrusion cylinder 160, the extrusion plate 370, and the pushers 340 and 350. The extrusion cylinder 160 is controlled by the control device to move the piston forward and backward.

  Next, the operation of the compression spring handling apparatus will be described with reference to FIGS. In both FIG. 8 and FIG. 9, the compression spring handling device is attached to a robot or the like (not shown) and connected to and controlled by a control device (not shown).

  (1) The actuator 111 and the extrusion cylinder 160 are controlled by the control device, and the holding claws 320 and 330 are opened at predetermined intervals, and the piston of the extrusion cylinder 160 is retracted and the pusher 340 is pulled by the tensile force of the tension springs 342 and 352. , 350 is moved to the retracted end.

  (2) After the compression spring handling device is in the state of (1) above, the control device controls a robot (not shown), and the compression spring for clamping is between the contact surfaces of the clamping claws 320 and 330. The compression spring handling device is moved so that the axial direction of the compression spring is orthogonal to the contact surface.

  (3) The actuator 111 is controlled by the control device, the clamping claws 320 and 330 are closed at a predetermined interval, and the compression spring is clamped. FIG. 8 shows a state of the compression spring handling apparatus after the above operation is completed.

  (4) In a state where the compression spring is clamped, the control device controls a robot (not shown) to move the clamped compression spring 101 to the region for insertion and assembly. After the movement is completed, the extrusion cylinder 160 is controlled by the control device, the pushers 340 and 350 are moved forward in the pushing direction, and the compression spring 101 is inserted into the region for insertion and assembly. FIG. 9 is a state diagram during the pushing operation of the compression spring 101.

When the compression spring is repeatedly assembled and inserted, the above operations (1) to (4) are repeated.
FIG. 10A is a front view of a compression spring handling apparatus according to the fourth embodiment. FIG. 10B is a CC cross-sectional view of the compression spring handling apparatus shown in FIG. Since the components other than the pushers 440 and 450 are the same as those in the first embodiment, the description of the common parts is omitted.

  In the fourth embodiment, the extrusion surface that contacts the compression spring 101 of the pushers 440 and 450 has a concave shape with respect to the extrusion direction. In FIG. 10 (b), an arcuate concave shape is formed in accordance with the cylindrical shape of the compression spring 101.

  FIG. 11A and FIG. 11B are diagrams corresponding to the CC cross section of FIG. 10A showing a modified example of the concave shape. The concave shape is not limited to the circular arc in FIG. 10B, but a concave shape with a slope as shown in the pusher 550 in FIG. 11A or a slope and a plane as shown in the pusher 650 in FIG. It may be a concave shape. That is, the concave shape may be any shape as long as the compression spring 101 can be held within a predetermined range with respect to the pusher when the compression spring 101 is pushed out. For example, a U-shape may be used.

  As described above, the pushing surface that comes into contact with the compression spring 101 of the pusher has a concave shape with respect to the pushing direction, so that when pushing the compression spring 101, it can be pushed within a predetermined range with respect to the pushing direction Errors during insertion / assembly of the compression spring 101 can be eliminated. Also, the pusher surface that contacts the compression spring 101 of the pusher has an arc shape as shown in FIG. 10 (b), a concave shape due to a slope as shown in FIG. 11 (a), and the push direction in FIG. By adopting the concave shape, even if the compression spring 101 is displaced and gripped, the position of the compression spring 101 can be corrected and pushed out by the concave shape, so that the mistake of inserting and assembling the compression spring 101 can be eliminated. .

  In any of the above-described embodiments, as long as the carriers 113 and 114 move in the opposite direction in conjunction with each other, actuators having different movement distances of the carriers 113 and 114 may be used. Furthermore, a movable carrier is used as one, a movable claw is fixed to the movable carrier, a fixed claw is fixed to a non-moving part such as a frame of the actuator 111, and the like claw unit comprising a movable claw and a fixed claw. Also good.

  Moreover, although the clamping claws 120 and 130 have been described as having an angle shape, other shapes may be used as long as the rail portion as the pusher operation mechanism portion can be formed. However, the shape of the guide portions of the pushers 140 and 150 is changed in accordance with the shape of the rail portion. For example, the rail portion of the clamping claws 120 and 130 may have an H-shaped cross section, and the guide portions of the pushers 140 and 150 may have a C-shaped cross section, thereby realizing a linear motion mechanism as a pusher operation mechanism portion.

  Further, a linear motion system such as a linear guide or a linear bush, which is generally sold as a pusher operation mechanism, may be adopted as the pusher operation mechanism, and the pushers 140, 150 may be directly moved with respect to the holding claws 120, 130. .

  Further, a crank slider mechanism may be employed as the push driving unit. For example, the pusher 140, 150 and the shaft 170 are used as a slider mechanism, a crank is attached to a rotary motor to form a crank mechanism, and the crank mechanism is configured by indirectly connecting the crank mechanism and the slider mechanism. , 150 can be pushed out in conjunction with the operation of the rotary motor.

  Further, an electric cylinder may be employed for the push driving unit, and the electric cylinders provided in each of the holding claws may be synchronously driven by the control device in each of the pair of holding claws. In such a case, the shaft 170 and the extrusion rod 370 can be eliminated.

  In any of the above embodiments, the pusher has been described as linearly moving, but may be a lever that rotates. For example, a rotation fulcrum may be provided at a location on any of the holding claws, and a lever that rotates around the rotation fulcrum may be used as a pusher. Of course, the lever may be attached to each of the pair of holding claws, and may be mechanically connected to the extrusion cylinder so that each lever operates in the extrusion direction synchronously, and can be positioned independently. Each lever may be operated synchronously by the control device using a motor or the like.

110 Actuator for claw 120, 130, 220, 230, 320, 330 Claw 140, 150, 240, 250, 340, 350 Pusher 160 Extrusion cylinder

Claims (7)

A clamping claw unit having a clamping claw that can be opened and closed to clamp the compression spring in the compression direction;
It is provided corresponding to each of the clamping claws, and moves together with the clamping claws and presses the end of the compression spring that is in contact with the clamping claws in a state where the compression spring is clamped to hold the clamped compression spring. A pusher to push out from the nail unit;
An extrusion drive unit that drives each of the pushers synchronously in the extrusion direction;
A compression spring handling device comprising:   2. The compression spring handling device according to claim 1, wherein the pusher is attached to the holding claw and moves in a pushing direction along a predetermined track when driven by the push driving unit. 3.   The compression spring handling device according to claim 2, wherein the pusher moves in the push-out direction using the clamping claw as a rail.   The compression spring handling device according to claim 2, wherein the clamping claw has a notch in a push-out direction of the pusher, and the pusher has a protrusion that engages with the notch.   The compression spring handling device according to claim 2 or 3, wherein the pusher has a concave shape on an extrusion surface of the compression spring with respect to the extrusion direction.   The compression spring handling device according to any one of claims 1 to 5, wherein the pusher is slidably attached to a shaft, and the push driving unit drives the shaft in the push direction.   The pusher is pulled in a direction opposite to the pushing direction by a tension spring, and the pushing drive unit has a pushing plate that contacts the pusher during pushing, and pushes the pushing plate against the pulling force of the tension spring. The compression spring handling device according to any one of claims 1 to 5.

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