JP2772756B2 - Lightweight gripping device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for grasping a light object, which can automatically and surely grasp the light object, and is used when a required number of light objects are overlapped. It is an object of the present invention to provide a light-weight object gripping device that can surely hold a light-weight object one by one even if it is present.

[0002]

2. Description of the Related Art Conventionally, as an apparatus capable of automatically gripping a generally difficult-to-grip cloth, for example, Japanese Utility Model 5-12
There is a technique disclosed in Japanese Patent Publication No. 258. The disclosed technology is shown in FIG.
And a pair of left and right side walls (B) as shown in FIG.
A pivot (C ₁ ) provided on one side wall of one side wall (B)
One song ends of the curved Naruzai (D ₁₎ and pivotally supported, the other side wall the one curved pivot portion provided in the other side wall (not shown) (C ₂₎ Naruzai to (D ₁₎ The other end of the curved material (D ₂ ), which is curved to face the opposite side, is pivotally supported, and the curved material (D ₂ )
₁ ) Cloth gripping members (E) and (E) are attached to the lower ends of (D ₂ ) with an elastic body (F) interposed therebetween, while each curved material (D ₁ )
Each curved Naruzai upwardly of these _{(D 2) (D 1)} (D 2) is constructed from a cylinder (G) for pressing to close the cloth gripping member (E) (E) each other. Further, needle members (H) and (H) for biting the cloth slightly protruding from the lower surface thereof are detachably attached to predetermined positions of the cloth gripping members (E) and (E).

[0003] The operating state of the gripping device (A) thus configured will be described. First, the gripping device (A) is arranged above the cloth (I) and the cylinder (G) is operated. The cloth gripping members (E) and (E) move in the approaching direction by the action of the curved components (D ₁ ) and (D ₂ ) to grip a predetermined portion of the cloth (I). At this time, since the needle members (H) and (H) protrude from the cloth gripping members (E) and (E), the needle members (H) and (H) are inserted into the cloth (I) to make the cloth (I). Is gripped in a state of being sandwiched (see FIG. 7).

[0004]

SUMMARY OF THE INVENTION The gripping device described above is an excellent device that can reliably grip the fabric without coming off when the fabric is gripped or moved while being gripped. However, there are problems described below. A needle member is provided on the lower surface of the cloth gripping member, and the needle member is inserted into the cloth, and the cloth is gripped in a state of being sandwiched between the cloth gripping members. There is a possibility that the fabric may be grasped at the same time, and the fabric cannot be grasped one by one. When the cloth is gripped, as shown in FIG. 7, the two cloth gripping members form a substantially inverted C-shape, that is, each cloth gripping member is inclined and the cloth is gripped at the tip of the cloth gripping member. It has a structure that can be gripped. Therefore, since the trajectory of the tip of each cloth gripping member describes an arc, the height position of the tip of each cloth gripping member is different between when the cloth is not gripped and when the cloth is gripped. .
In other words, when the fabric is grasped, it is at a position lower than the height position when it is not grasped, which may require pressing the fabric more than necessary, and when grasping the required number of superimposed fabrics, Furthermore, there is a possibility that a plurality of fabrics may be grasped at the same time, and it is not possible to reliably grasp the fabrics one by one.

In view of the above circumstances, the present inventor can automatically and securely grasp a light-weight object, and even if the required number of light-weight objects are overlapped, the light-weight object can be reliably removed. We continued our research on a lightweight device that can hold individual objects.

[0006]

That is, the present invention provides a pair of side walls, a pair of substantially rectangular arms provided between the side walls, and a pair of slide members engaging with the arms. A cylinder that is provided above the arms and presses these arms, wherein the arms are oppositely opposed to each other and are rotatably provided via a pivot provided in a bent portion of the arms; Rotatable rollers are provided at both ends of these arms, respectively. A pair of slide members are overlapped and provided so as to be movable between the side walls, and one end of one of the slide members is provided. One of the engaging portions is provided with an engaging protrusion which engages with a roller provided at a lower end portion of the one arm portion, and one holding portion is vertically provided at the other end portion, and the other slide portion is provided. A lower end of another arm is provided at one end of the member facing the one engagement projection. Another engaging projection that engages with the provided roller is erected, and another gripping portion is vertically provided at the other end, and an elastic body is stretched between these gripping portions. Work sections are provided at the lower portion of the grip section, and the work sections have an elongation of 1300% or more and a compression set of 12 or more.
%, And a gripping device for a lightweight object, which is coated with an elastic substance gel having physical properties of hardness of 4 ° or more.

It is preferable that a work portion is provided below the grip portion via a slide bar and an elastic member.

[0008]

An elastic substance gel having physical properties of elongation of 1300% or more, compression set of 12% or less, and hardness of 4 ° or more is coated on a work part which moves close by the action of a cylinder.
Therefore, even when the required number of light-weight objects are grasped, a plurality of light-weight objects are not simultaneously grasped. By the action of the cylinder, the arms rotate through the pivots, respectively, to increase the interval between the arms, and the two engaging projections that engage the rollers provided at the lower part of the arms move in opposite directions. With this movement, the two slide members also move in directions opposite to each other, and the gripping portion provided at the lower part of the slide member moves in the approaching direction. Therefore, the trajectory of the work part when these gripping parts move is linear, that is, the height position of each work part when the lightweight object is gripped and when the lightweight object is not gripped does not change.

[0009]

[0010]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing an embodiment of a light-weight holding device according to the present invention. FIG. 1 is a schematic configuration diagram showing a light-weight gripping device according to one embodiment of the present invention, FIG. 2 is a schematic side view of the gripping device shown in FIG. 1, and FIG. 3 is a schematic diagram showing a state where a fabric is gripped. FIG. 4 is a schematic configuration diagram showing a state in which a long work portion is provided in a gripping portion, and FIG. 5 is a diagram illustrating a light-weight gripping device according to an embodiment of the present invention attached to a lightweight moving device. FIG. 4 is a schematic explanatory view showing a state in which the device has been used.

[0011] (1) Lightweight objects such as paper, cloth, rubber film, synthetic resin film, leather, etc. which are generally difficult to grasp.
(2) is a gripping device for automatically gripping the gripping device. As shown in FIGS. 1 to 3, the gripping device (1) has a pair of side walls (3) and (3), and Arms (4a) and (4b) of
It is composed of a pair of slide members (5a) (5b) and a cylinder (6). The arms (4a) and (4b) are formed in a substantially rectangular shape, and the arms (4a) and (4b)
A rotatable pivot (8) is provided at the bent part (7) (7) of b).
(8) is provided. The arms (4a) and (4b) are provided opposite to each other and between the side walls (3) and (3) via pivots (8) and (8). In addition, these arms (4a) (4
The upper end of b) is provided with rotatable rollers (9a) and (9b), respectively, and the lower end is also provided with rotatable rollers (9b) and (9b).

The pair of slide members (5a) and (5b) are provided so as to overlap each other between the side walls (3) and (3), and are movably provided between the side walls (3) and (3). . In order to support the slide members (5a) (5b) so that the slide members (5a) (5b) are movably provided, for example, as shown in FIG. 1 and FIG.
(3) Bars (10) and (10) are provided between them, and slide members (5a) and (5b) are provided with slots (11) and (11), respectively. The slide members (5a) and (5b) can be movably supported by loosely fitting the elongated holes (11) and (11) with the rods (10) and (10). In order to maintain the balance of the slide members (5a) and (5b), it is preferable to form two long holes (11) and (11) as shown in FIGS. 1 and 3, respectively. Slots (1) are inserted in (5a) and (5b).
1) may be provided one by one. In this case, of course, one bar (10) is provided between the side walls (3) and (3).

[0013] Of the slide members (5a) and (5b), one end of one slide member (5a) is engaged with a roller (9b) provided at the lower end of the one arm (4a). An engagement protrusion (12a) is provided, and a gripper (13a) is vertically provided at the other end. One end of the other slide member (5b) has an engagement protrusion (1) that engages with a roller (9b) provided at the lower end of the other arm (4b).
2b) is provided at the other end.
b) is suspended.

An elastic body (14) is stretched between the grip portions (13a) and (13b). Examples of the elastic body (14) include a coil spring, a leaf spring, a bamboo spring, an air cylinder, a hydraulic cylinder, a liquid pressure cylinder, and a fluid pressure cylinder. Work parts (15) and (15) are provided below the gripping parts (13a) and (13b), and the work parts (15) and (15) are coated with an elastic substance gel. This elastic substance gel is made of polyethylene, polystyrene, silicone resin, epoxy resin, phenol resin, polyurethane resin, synthetic resin such as polyester, or natural rubber or synthetic rubber having an unsaturated double bond in the molecule, for example, isoprene rubber, Butadiene rubber, SBR
And the like. The elastic substance gel formed from the above-mentioned material has an elongation of 1300% or more (however, JIS K6
301), compression set of 12% or less (however, J
IS K6301), hardness 4 ° or more (SRIS
0101 (according to the Japan Rubber Association).

Further, as shown in FIG. 2, the gripping portions (13a) (13b) and the work portions (15) (15) are connected via slide bars (16) (16) and an elastic member (17). It is good to connect. This elastic member (17) is also a coil spring, a plate spring, a bamboo shoot spring,
Examples include an air cylinder, a hydraulic cylinder, a liquid pressure cylinder, and a fluid pressure cylinder.

The cylinder (6) is connected to the arms (4a) (4
It is provided above b) and is formed by pressing the arms (4a) and (4b). As this cylinder (6),
Hydraulic cylinders, liquid pressure cylinders, fluid pressure cylinders, and the like. At the tip of the cylinder (6), a pressing plate (18) for simultaneously pressing the arms (4a) and (4b) is provided.

The operating state of the gripping device (1) thus configured will be described. First, when the cylinder (6) is operated, the pressing plate (18) is lowered. Then, this pressing plate (1)
8) Rollers (9a) and (9a) roll on the lower surface,
The arms (4a) and (4b) rotate via the pivots (8) and (8), respectively, and the rotation of the arms (4a) and (4b) increases the distance between the arms (4a) and (4b) ( (See FIG. 3). When the distance between the arms (4a) and (4b) is increased, the sliding members (5a) and (5) are provided by rollers (9b) and (9b) provided at the lower ends of the arms (4a) and (4b).
The engagement protrusions (12a) and (12b) provided on the slide member (5) move in opposite directions.
a) and (5b) also move in opposite directions. When the slide members (5a) and (5b) move in directions opposite to each other, the gripping portions (13a) and (13b) provided on the slide members (5a) and (5b) move in the approaching direction, and a light object ( 2) (2)... Are gripped by the work parts (15) and (15).

In this embodiment, a light-weight material (2) such as paper, fabric, synthetic resin sheet, synthetic resin film, etc.
(2) While holding ..., a cylindrical object (1
9) can also be grasped. In this case, the work portions (15) and (15) are formed in a long shape as shown in FIG.
The work parts (15) and (15) are preferably coated with an elastic substance gel having physical properties of elongation of 1300% or more, compression set of 12% or less and hardness of 4 ° or more.

Next, one method of using the gripping device (1) will be described with reference to FIG. First, a lightweight object moving device (3
A pair of gripping devices (1) and (1) having the above-described configuration are provided on the left and right sides of the rod member (20) of (0) so as to be able to adjust the interval. A grip mounting portion (25) is attached to the rod member (20) at a substantially central portion thereof, and a support rod (24) hung from the tip of the support arm (23) to the grip mounting portion (25). Is attached at the lower end. The support arm (23) is rotatably mounted on a base (21) via a pivot (22).

Further, pipes (26) and (26) are provided on one side surface of the gripping devices (1) and (1) in a state of protruding upward, and are guided through impact springs (27) and (27). Plates (28) and (28) are attached, and the guide plates (2
8) The bar member (20) is attached to (28) so as to be freely adjustable. Examples of the impact springs (27) and (27) include a coil spring and a bamboo spring, and an air cylinder, a hydraulic cylinder, a liquid pressure cylinder, a fluid pressure cylinder, and the like may be used. (29) is a rod member (20)
Of the cylinder (2)
9) moves the bar member (20) back and forth. The cylinder (29) includes an air cylinder, a hydraulic cylinder, a liquid pressure cylinder, a fluid pressure cylinder, and the like.

After the pair of gripping devices (1) and (1) are attached to the lightweight object moving device (30) as described above, the pair of gripping devices (1) and (1) are attached to the upper side of the lightweight object (2). And a cylinder (6) provided in these gripping devices (1) (1)
When (6) is operated, as described above, the gripper (13)
a) (13b) moves in the approaching direction, and the lightweight object (2) is gripped by the work parts (15) (15). In this state, the support arm (23) is rotated by the rotation of the pivot shaft (22), and the rod member (20) and each of the gripping devices (1) (1) are connected to the gripping device (1) (1). To rotate in a predetermined direction while holding the lightweight object (2). After moving the lightweight object (2) to a predetermined position, the lightweight object (2) is placed at the predetermined position by releasing the cylinders (6) and (6).

As described above, the work portions (15) and (15) moving close to each other by the action of the cylinder (6) have an elongation of 13%.
Since the elastic material gel having physical properties of not less than 00%, compression set of not more than 12% and hardness of not less than 4 ° is coated, a required number of superimposed lightweight articles (2) (2). Even if it is held, a plurality of lightweight objects (2) (2)
.. Securely lightweight objects without simultaneous gripping (2)
(2) ... can be grasped one by one.

The arm (4) is operated by the action of the cylinder (6).
a) and (4b) rotate through the pivots (8) and (8), respectively, so that the distance between the arms (4a) and (4b) is increased, and the arms (4) and (4b) are rotated.
a) Rollers (9b) (9) provided below (4b)
b), the two engaging projections (12a) and (12b) move in directions opposite to each other, and with this movement, the two slide members (5a) and (5b) also move in directions opposite to each other. Since the grippers (13a) (13b) provided below the slide members (5a) (5b) move in the approaching direction,
The trajectories of the work parts (15) and (15) when these gripping parts (13a) and (13b) move are linear. Therefore, each work part (1) when the lightweight object (2) (2)... Is gripped and when the lightweight object (2) (2).
5) Since the height position of (15) does not change, the lightweight objects (2), (2). You can grab one by one.

[0024]

As described above, the present invention provides a pair of side walls, a pair of substantially rectangular arms provided between the side walls, and a pair of slide members engaging with the arms. And a cylinder that is provided above the arm and presses the arm. The arm is rotatably provided via a pivot provided in a bent portion of the arm opposite to each other. In addition, rotatable rollers are provided at both ends of these arms, respectively. A pair of slide members are overlapped and provided movably between the side walls, and one of the slide members At one end, one engagement protrusion is provided to engage with a roller provided at the lower end of the one arm, and at the other end, one gripper is vertically provided, and At one end of the slide member facing the one engagement projection, at the lower end of the other arm Other engaging projections that engage with the roller that has been erected are erected, and another gripping portion is vertically provided at the other end, and an elastic body is stretched between these gripping portions. A work part is provided at the lower part of the grip part, and the work part has an elongation of 1300% or more and a compression set of 12%.
The following is a light-weight holding device characterized by being coated with an elastic substance gel having physical properties of a hardness of 4 ° or more, and has the following effects.

That is, the elongation rate is 1300% or more and the compression set 12
% Or less, and the elastic substance gel composed of physical properties with a hardness of 4 ° or more is coated, so that even if a required number of lightweight objects are grasped, a plurality of lightweight objects are not simultaneously grasped. In this way, it is possible to securely hold the light objects one by one. By the action of the cylinder, the arms rotate through the pivots, respectively, to increase the interval between the arms, and the two engaging projections that engage the rollers provided at the lower part of the arms move in opposite directions. With this movement, the two slide members also move in opposite directions, and the gripping portions provided at the lower portion of the slide members move in the approaching direction. The trajectory is straight. Therefore, since the height position of each work part does not change when the lightweight object is gripped and when the lightweight object is not gripped, the lightweight object is not pressed more than necessary, and the lightweight object can be more securely removed. You can grab one by one.

[0026]

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a lightweight object gripping device according to an embodiment of the present invention.

FIG. 2 is a schematic side view of the gripping device shown in FIG. 1;

FIG. 3 is a schematic explanatory view showing a state where a cloth is gripped.

FIG. 4 is a schematic configuration diagram showing a state in which a long work portion is provided on a grip portion.

FIG. 5 is a schematic explanatory view showing a state in which the lightweight object gripping device according to one embodiment of the present invention is used by being attached to a lightweight object moving device.

FIG. 6 is a schematic configuration diagram showing a conventional gripping device.

FIG. 7 is a schematic explanatory view showing a state where the cloth is gripped by the gripping device shown in FIG. 6;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Grasping device 2 Light weight object 3 Side wall 4a Arm part 4b Arm part 5a Slide member 5b Slide member 6 Cylinder 7 Bend part 8 Axis 9a Roller 9b Roller 12a Roller 12a Engagement projection 12b Engagement projection 13a Gripping part 13b Gripping Part 14 elastic body 15 work part 16 slide bar 17 elastic member

Claims (2)

(57) [Claims] 1. A pair of side walls, a pair of substantially arm-shaped arms provided between the side walls, a pair of slide members engaging with the arms, and a pair of slide members provided above the arms. A cylinder for pressing the arms, wherein the arms are rotatably provided via pivots provided at the bent portions of the arms in opposition to each other, and are turned around both ends of the arms. Movable rollers are respectively provided, a pair of slide members are overlapped and provided movably between the side walls, and one end of one of the slide members is provided with one arm of the one arm. One engaging projection that engages with a roller provided at the lower end is provided upright, and one gripping section is vertically provided at the other end, and the one engaging projection of the other slide member is provided. The other end that engages with the roller provided at the lower end of the other arm at the one end opposite to A projection is erected and another gripping part is vertically provided at the other end, an elastic body is stretched between these gripping parts, and a work part is provided below the gripping part. And the work part has an elongation of 1300% or more,
A gripping device for a lightweight object, characterized in that it is coated with an elastic substance gel having physical properties of a compression set of 12% or less and a hardness of 4 ° or more. 2. The gripping device for a lightweight object according to claim 1, wherein a work portion is provided below the gripping portion via a slide bar and an elastic member.