JP2004025392A - Chucking device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a chucking device easy in preparation of working and usable for all the working machines. <P>SOLUTION: A piston 20 is mounted on a cylinder 10 free to reciprocate by having a fall-stop for the cylindrical cylinder 10 and passing through the cylinder 10. An energizing member 30 is provided inside the cylinder 10 and energizes the cylinder 10 in a direction which a head end part 11a of the cylinder advances against piston 20. Base ends 42, 52 of a first gripping part 40 and a second gripping part 50 are mounted on a head end part 22b of the piston 20 respectively so that head ends 41, 51 are normally closed, and the head end part 11a is provided so that the head ends 41, 51 are opened together when the part 11a moves in a direction which it retreats against the head end part 22b of the piston 20. A resistance mechanism gives resistance weaker than energizing force of the energizing member 30 when the head end part 11a of the cylinder 10 moves in a direction which the head end part 11a of the cylinder 10 advances against the piston 20. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a gripping device for gripping and moving wood and other materials.
[0002]
[Prior art]
As a conventional gripping device, there is a device configured as an attachment of a working machine such as a backhoe, attached to an arm instead of a bucket, and driven by hydraulic pressure.
[0003]
[Problems to be solved by the invention]
However, with the conventional gripping device, when performing work, first, the bucket must be removed from the arm, and once attached to the arm, it is necessary to connect the hydraulic system, and there is a problem that it takes time and effort to prepare for the work. Was. In addition, there is a problem that a work machine to which an attachment does not fit cannot be attached and cannot be used.
[0004]
The present invention has been made in view of such a conventional problem, and an object of the present invention is to provide a gripping device that is easy to prepare for work and can be used without selecting a work machine.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, a gripping device according to the present invention includes a cylinder, a piston, a biasing member, a first gripper, a second gripper, and a resistance mechanism, and the cylinder is a cylinder. The piston has a stopper against the cylinder, penetrates the cylinder, is provided so as to be able to reciprocate with respect to the cylinder, the biasing member is provided inside the cylinder, The distal end urges the cylinder against the piston in a direction in which the distal end advances, and the first gripping portion and the second gripping portion each have a proximal end at the distal end of the piston so that the distal end closes normally. Are attached to each other, and when the distal end of the cylinder moves in a direction of retreating with respect to the distal end of the piston, the distal ends are provided so as to open each other. To have a structure that gives weaker resistance than the urging force of the urging member when moving in the direction of advance against the piston, it characterized.
[0006]
When gripping a material, the gripping device according to the present invention presses the tips of the first gripping portion and the second gripping portion against the material or the like. When the distal ends of the first gripper and the second gripper are pushed and the distal end of the cylinder moves in a direction to retract with respect to the piston, the distal ends of the first gripper and the second gripper open. When a material is put between the opened first gripping portion and the second gripping portion and the pressing force applied to the distal ends of the first gripping portion and the second gripping portion is removed, the tip of the cylinder is biased by the biasing force of the biasing member. The first gripper and the second gripper move in the forward direction with respect to the piston, and the tips of the first gripper and the second gripper close to each other in a normal state. Thereby, the material can be gripped and moved while being sandwiched between the first gripping portion and the second gripping portion.
[0007]
When the materials are separated, if the tips of the first gripping portion and the second gripping portion are pressed against the ground or the like, the tips of the first gripping portion and the second gripping portion open from each other, and the materials are separated. At this time, when the distal end portion of the cylinder advances, the resistance mechanism gives a resistance weaker than the urging force of the urging member. Therefore, the tip of the cylinder gradually advances, and the tips of the first and second grips gradually close to each other. Therefore, a grace period for separating the material from the first gripper and the second gripper is obtained. Since the gripping device according to the present invention does not need to be connected to a hydraulic system or the like, it does not take much time and effort to prepare for the work, and the preparation for the work is easy. Further, since it is not necessary to configure the attachment as a work machine attachment, the work machine can be used without any choice.
[0008]
In the gripping device according to the present invention, the piston has a seal portion for the cylinder, and the cylinder has a front end cavity portion and a rear end cavity portion separated by the seal portion inside, and the piston has A first flow path and a second flow path communicating with the front end side cavity part and the rear end side cavity part, and the first flow path extends from the rear end side cavity part to the front end side cavity part. A check valve that suppresses flow, having a fluid that moves between the front-end cavity and the rear-end cavity with reciprocating motion of the piston with respect to the cylinder; Preferably, it is configured.
[0009]
In this case, the cylinder is normally urged in the direction in which the distal end moves forward, and the fluid is stored in the distal end cavity. When the distal ends of the first gripper and the second gripper are pushed and the distal end of the cylinder moves with respect to the piston, the fluid passes through the first flow path and the second flow path and the rear end cavity portion Flows to At this time, the first gripper and the second gripper are open at the ends. Excluding the pressing force applied to the distal ends of the first gripping portion and the second gripping portion, the distal end portion of the cylinder moves in the forward direction with respect to the piston by the biasing force of the biasing member. At this time, the fluid moves from the rear end cavity to the front end cavity through the second flow path because the flow of the first flow path is suppressed by the check valve. Thus, when the first gripping portion and the second gripping portion are closed as compared with when the distal ends are opened, the first gripping portion and the second gripping portion are gradually closed by receiving a resistance weaker than the urging force of the urging member. Therefore, a grace period for separating the material from the first gripper and the second gripper is obtained.
Note that the resistance mechanism may be configured using a flexible material having a shape memory function.
[0010]
In the gripping device according to the present invention, the first gripping portion and the second gripping portion intersect with each other, and the base ends are rotatably attached to the distal end portion of the piston so that the distal ends close in a normal state. The intermediate portion in the longitudinal direction is provided so as to be slidable with respect to the cylinder. A roller rotatable around an axis extending in a direction perpendicular to the opening / closing track surface at the distal end, and inclined so as to be folded back toward the base end from each roller toward the inside, and the piston is biased by the biasing force. It is preferable to have elasticity that can be compressed and restored with a resistance stronger than the urging force of the member.
[0011]
In this case, the first gripping portion and the second gripping portion are inclined such that when the roller at the distal end is pressed against a material or the like, the roller rotates and is turned inward from each roller toward the base end, so that the first gripping portion and the second gripping portion are inclined. It is easy to sandwich the material inside the part and the second grip part. If the force for pressing the distal ends of the first gripper and the second gripper against the material or the like is too strong, the piston can absorb the force, so that damage to the members can be prevented.
[0012]
In addition, the 1st grip part and the 2nd grip part may be rotatably attached in the position which mutually crossed, and may be comprised so that the base end may be slidably attached to the front-end | tip part of a piston, and the front-end | tip may be opened and closed. .
[0013]
The gripping device according to the present invention is preferably attached to a back surface of a bucket provided on an arm of the backhoe.
In this case, since it is provided on the back surface of the bucket, it does not hinder excavation by the bucket or transportation of earth and sand. Further, the material can be moved without removing the bucket from the arm. In particular, it is preferable that the gripping device according to the present invention is rotatably mounted on the back surface of the bucket so as to be selectively disposed at the working position and the storage position.
[0014]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 8 show an embodiment of the present invention.
As shown in FIGS. 1 to 4, the gripping device 1 includes a cylinder 10, a piston 20, a biasing member 30, a first grip 40, and a second grip 50.
[0015]
The cylinder 10 includes a cylindrical main body 11 and has a pair of support plates 12. Each support plate 12 is fixed to the distal end portion 11a of the main body 11 so as to protrude so as to sandwich the distal end side. Each support plate 12 is connected to each other by a shaft member 13 at two corners of the distal end portion 11a.
[0016]
The piston 20 includes a cylinder 21, a shaft 22, a coil spring 23, and a flow path member 24. The shaft portion 22 has a rear end portion 22a inserted into the cylindrical body 21 and the flow path member 24, and a distal end portion 22b protruding from the distal end portion 11a of the cylindrical body 21. A bearing 22c is fixed to the distal end portion 22b. The coil spring 23 is provided inside the cylindrical body 21 and urges the shaft portion 22 in a direction protruding from the distal end portion 11a of the cylindrical body 21. As a result, the piston 20 has elasticity capable of being compressed and restored with a resistance stronger than the urging force of the urging member 30. The flow path member 24 is engaged with the rear end 22 a of the shaft 22. The rear end 22 a of the cylinder 21 is closed by a stopper 25. A rotatable mounting member 26 is fixed to the stopper 25. A receiving member 27 for supporting the piston 20 is fixed to the mounting member 26.
[0017]
The piston 20 penetrates the cylinder 10 and is provided to be able to reciprocate with respect to the cylinder 10. To the rear end 11b of the main body 11 of the cylinder 10, a cap 14 that closes the rear end 11b while maintaining airtightness with respect to the piston 20 is fixed. The flow path member 24 has a seal portion 28 for the cylinder 10. The seal part 28 also serves as a stopper for the cylinder 10. The cylinder 10 has a front end side cavity 15 and a rear end side cavity 16 which are separated by a seal portion 28 inside.
[0018]
The flow path member 24 has a first flow path 24a and a second flow path 24b that communicate with the front-end cavity 15 and the rear-end cavity 16. As shown in FIGS. 5 and 6, the first flow path 24a has a larger cross-sectional area than the second flow path 24b. The flow path member 24 has a check valve 29 in the first flow path 24 a for suppressing the flow from the rear end side cavity 16 to the front end side cavity 15. The check valve 29 is urged by the coil spring 29a in such a direction as to close the first flow path 24a with an urging force that does not hinder the flow of the fluid from the front-end cavity 15 to the rear-end cavity 16. A fluid that moves between the front-end cavity 15 and the rear-end cavity 16 as the piston 20 reciprocates with respect to the cylinder 10 is accommodated in the cylinder 10 and the flow path member 24. The fluid typically comprises oil. In this way, a resistance mechanism is provided that gives a resistance weaker than the urging force of the urging member 30 when the distal end portion 11a of the cylinder 10 moves in the forward direction with respect to the piston 20.
[0019]
The biasing member 30 is formed of a coil spring, and is provided inside the cylinder 10. The biasing member 30 is disposed between the distal end 11a of the cylinder 10 and the flow path member 24, and biases the cylinder 10 against the piston 20 in a direction in which the distal end 11a of the cylinder 10 moves forward.
[0020]
The first gripping section 40 and the second gripping section 50 are formed of a plate material curved in an arc shape, and cross each other. The base ends 42 and 52 of the first gripper 40 and the second gripper 50 are rotatably attached to the bearing 22c of the piston 20 so that the tips 41 and 51 are normally closed. Each of the first gripping portion 40 and the second gripping portion 50 has a slot 43, 53 at an intermediate portion in the longitudinal direction, and the shaft member 13 passes through the slots 43, 53 so as to be slidable with respect to the support plate 12. Is provided. Thereby, the first gripping portion 40 and the second gripping portion 50 are provided such that the distal ends 41 and 51 are opened when the distal end portion 11a of the cylinder 10 moves in the direction of retreating with respect to the distal end portion 22b of the piston 20. I have. The first gripping section 40 and the second gripping section 50 have rollers 44, 54 rotatable around axes extending perpendicularly to the opening / closing track surface at tips 41, 51, respectively. The first gripping portion 40 and the second gripping portion 50 have claws 45, 55 which are inclined so as to be folded back toward the base ends 42, 52 from the respective rollers 44, 54, and a plurality of claws 45 further inside. , 55.
[0021]
As shown in FIGS. 7 and 8, the gripping device 1 is attached to a back surface of a bucket 3 provided on an arm 2 of the backhoe. As shown in FIG. 7, the gripping device 1 can be used for moving and transporting materials by rotating and fixing it so as to protrude from the bucket 3. The gripping device 1 can be stored by rotating and fixing the gripping device 1 along the rear surface of the bucket 3 without obstructing the bucket 3 from excavating or transporting earth and sand. Further, the material can be moved without removing the bucket 3 from the arm 2.
[0022]
Next, the operation will be described.
When gripping the material 4 using the gripping device 1, the gripping device 1 is fixed so as to protrude from the bucket 3 as shown in FIG. In the normal state shown in FIGS. 1 and 2, the distal ends 41 and 51 of the first grip 40 and the second grip 50 are pressed against the material 4 or the like. When the rollers 44, 54 of the distal ends 41, 51 are pressed against the material 4 or the like, the first gripper 40 and the second gripper 50 rotate, and the base ends 42 extend inward from the rollers 44, 54. , 52, so that the material 4 can be easily sandwiched between the first grip 40 and the second grip 50.
[0023]
When the distal ends 41 and 51 of the first gripper 40 and the second gripper 50 are pushed and the distal end 11a of the cylinder 10 moves in the retreating direction with respect to the piston 20, as shown in FIGS. The tips 41 and 51 of the first gripper 40 and the second gripper 50 are open from each other. When the material 4 is put between the opened first gripper 40 and the second gripper 50 and the pressing force applied to the distal ends 41 and 51 of the first gripper 40 and the second gripper 50 is removed, the urging member 30 The tip 11a of the cylinder 10 moves in a direction to advance with respect to the piston 20 due to the urging force, and the tips 41 and 51 of the first grip 40 and the second grip 50 close to each other in a normal state. Thereby, the material 4 can be sandwiched between the first grip portion 40 and the second grip portion 50, gripped by the claws 45, 55, moved, and transported. If the force for pressing the distal ends 41 and 51 of the first grip 40 and the second grip 50 against the material 4 or the like is too strong, the piston 20 can absorb the force by the coil spring 23, and the member is damaged. Can be prevented.
[0024]
When the material 4 is released, if the tips 41, 51 of the first gripping section 40 and the second gripping section 50 are pressed against the ground or the like, the tips 41, 51 of the first gripping section 40 and the second gripping section 50 are opened, and Release material 4. At this time, when the distal end portion 11a of the cylinder 10 moves forward, a resistance weaker than the urging force of the urging member 30 is given by the resistance mechanism. That is, in the normal state, the cylinder 10 is urged in the direction in which the distal end portion 11a moves forward, and the fluid is stored in the distal end side cavity portion 15. When the distal ends 41 and 51 of the first gripper 40 and the second gripper 50 are pushed and the distal end 11a of the cylinder 10 moves in the direction of retreating with respect to the piston 20, FIGS. As shown in (1), the fluid flows to the rear end cavity 16 through the first flow path 24a and the second flow path 24b. At this time, the tips 41 and 51 of the first gripper 40 and the second gripper 50 are opened.
[0025]
When the pressing force applied to the distal ends 41 and 51 of the first gripping portion 40 and the second gripping portion 50 is removed, the distal end portion 11a of the cylinder 10 moves in the direction in which the distal end portion 11a advances with respect to the piston 20 due to the biasing force of the biasing member 30. I do. At this time, as shown in FIG. 5B, since the flow of the first flow path 24a is stopped by the check valve 29 as shown in FIG. 5B, as shown in FIG. And moves from the rear end side cavity portion 16 to the front end 41 and 51 side cavity portions 15. The second flow path 24b has a smaller cross-sectional area than the first flow path 24a, so that the second flow path 24b flows from the front-end cavity 15 to the rear-end cavity 16 through the first flow path 24a and the second flow path 24b. Therefore, it takes more time to flow from the rear end cavity 16 to the front end cavity 15 only through the second flow path 24b. Therefore, the distal end portion 11a of the cylinder 10 advances gradually, and the first gripping portion 40 and the second gripping portion 50 are weaker than the biasing force of the biasing member 30 when the distal ends 41 and 51 are closed as compared to when the distal ends 41 and 51 are opened. Closes gradually due to resistance. Accordingly, a lag time and a time lag for separating the material 4 from the first gripper 40 and the second gripper 50 are obtained.
[0026]
Since the gripping device 1 does not need to be connected to a hydraulic system or the like, the preparation for the work does not take much time and effort, and the preparation for the work is easy. Further, since it is not necessary to configure the attachment as a work machine attachment, the work machine can be used without any choice. When the gripping device 1 is not used, the storage state can be set as shown in FIG.
[0027]
【The invention's effect】
Advantageous Effects of Invention According to the present invention, it is possible to provide a gripping device that is easy to prepare for work and can be used without selecting a work machine.
[Brief description of the drawings]
FIG. 1 is a side view of a holding device according to an embodiment of the present invention in a state where a first holding unit and a second holding unit are closed.
FIG. 2 is a sectional view taken along the line AA ′ of the gripping device of FIG. 1;
FIG. 3 is a side view of the holding device of FIG. 1 in a state where a first holding unit and a second holding unit are opened.
FIG. 4 is a sectional view taken along the line AA ′ of the gripping device of FIG. 2;
FIG. 5 is an explanatory cross-sectional view showing a state of a fluid in a first flow path when the (A) first gripper and the second gripper of the gripper of FIG. 1 are opened, and (B) the first gripper and the gripper. It is explanatory sectional drawing which shows the state of the fluid of the 1st flow path when closing a 2nd holding part.
FIG. 6 is an explanatory cross-sectional view showing a state of a fluid in a second flow path when the (A) first gripper and the second gripper of the gripper of FIG. 1 are opened, and (B) the first gripper and the gripper. It is explanatory sectional drawing which shows the state of the fluid of the 2nd flow path when closing a 2nd holding part.
FIG. 7 is a perspective view showing a use state in which the gripping device of FIG. 1 is attached to a bucket.
FIG. 8 is a perspective view showing a state in which the holding device of FIG. 1 is stored.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Grasping device 10 Cylinder 20 Piston 30 Biasing member 40 First grip 50 Second grip

Claims (4)

A cylinder, a piston, a biasing member, a first gripper, a second gripper, and a resistance mechanism;
The cylinder has a cylindrical shape,
The piston has a stopper for the cylinder, penetrates the cylinder, and is provided so as to be able to reciprocate with respect to the cylinder.
The urging member is provided inside the cylinder, and urges the cylinder against the piston in a direction in which a distal end of the cylinder advances.
The first gripping portion and the second gripping portion each have a proximal end attached to the distal end of the piston such that the distal ends close in a normal state, and the distal end of the cylinder is retracted with respect to the distal end of the piston. Are provided such that the tips open when moving to
The resistance mechanism has a configuration that gives a resistance weaker than the urging force of the urging member when the tip of the cylinder moves in a direction to advance with respect to the piston,
Characteristic gripping device. The piston has a seal portion for the cylinder, the cylinder has a front end cavity portion and a rear end cavity portion separated by the seal portion inside, and the piston has the front end cavity portion and the A check valve having a first flow path and a second flow path communicating with the rear end side cavity, wherein the first flow path has a check valve for suppressing flow from the rear end side cavity to the front end side cavity; Having a fluid that moves between the front-end cavity and the rear-end cavity with reciprocating motion of the piston with respect to the cylinder, wherein the resistance mechanism is configured.
The gripping device according to claim 1, wherein: The first gripping portion and the second gripping portion intersect with each other, and the base ends are rotatably attached to the distal end portion of the piston so that the distal ends close in a normal state. Are provided so as to be slidable with respect to the cylinder, and are provided such that the tips are opened when the tip of the cylinder moves in a direction of retreating with respect to the tip of the piston. Has a roller rotatable about an axis extending in the vertical direction, and is inclined so as to be folded in the base direction from each roller toward the inside,
The piston has elasticity that can be restored by being compressed with a resistance stronger than the urging force of the urging member,
The gripping device according to claim 1 or 2, wherein The gripping device according to claim 1, 2 or 3, wherein the gripping device is attached to a back portion of a bucket provided on an arm of the backhoe.

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