JP2007139360A - Cannonball gripping device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a shell holding device, capable of surely holding a plurality of kinds of shells differed in shape or size through a simple structure. <P>SOLUTION: This shell holding device comprises a base part 6 provided on a manipulator 5; a pair of holding part blocks 7 slidably provided on both side surfaces of the base part 6 to approach and separate to and from each other; a drive block 8 which is engaged with the holding block 7 and driven from operation from the manipulator 5, and moves the holding block 7 to approach and separate to and from each other; a holding frame 9 provided on the outside top end of the holding block 7 and extending in the axial direction of a shell 2; a holding finger stay 12 rotatably provided around an axis 10 orthogonal to the holding frame 9 and including holding fingers 11 protruded to the shell 2 at both ends thereof; and a centering mechanism 13 provided between the holding frame 9 and the holding finger stay 12, which receives a reaction from the holding finger 11 to permit rotation of the stay along the shape of the shell 2, and also regularly energizes the stay so as to be held in a center position parallel to the axial direction of the shell 2. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a shell holding device that is attached to a tip of a manipulator and holds a plurality of types of shells excavated from the ground so as to be collected at a predetermined position.

  Various gripping devices for gripping articles have been developed according to the gripping object, and are widely used in the general industry. As a general gripping device, one formed by combining a uniaxial link mechanism, a slide mechanism, and a parallel link mechanism is known. This type of gripping device is based on the premise that the shape and diameter of a gripping object are substantially constant, and is intended to reliably grip with simple control.

  On the other hand, as a gripping device for gripping a plurality of types of objects having different shapes, a device similar to a human hand having a plurality of rotating articulated fingers has been developed.

Special table 2001-511242 gazette Japanese Patent Laid-Open No. 11-347978 Japanese Patent Laid-Open No. 10-5932

  By the way, in recent years, there has been an urgent need to develop a shell excavation device that excavates and collects a shell buried in the ground, but there is no good gripping device capable of gripping multiple types of shells with different shapes and sizes. There was a problem. In other words, the shells have different diameters for each type, and may be cylindrical or teardrop-shaped, and may be deformed due to corrosion, adhesion of debris, etc. With a gripping device of the type that is manufactured on the assumption that the diameter is substantially constant, it is difficult to stably hold multiple types of shells with different diameters and shapes, especially with a three-dimensional curved surface like a teardrop type. Constructed objects have the problem that the number of contact points is reduced and it is difficult to stably hold them. Grasping devices with multiple rotary articulated fingers have not been put into practical use due to the complexity of structure and operation, and most of them are not practical. Even if the device is at the research level, even if it is close to the practical use stage, when it is actually applied to a shell digging device, there is a problem that a great deal of labor is required to realize complex control. It was.

  Accordingly, an object of the present invention is to solve the above-described problems and provide a shell holding device that can reliably hold a plurality of types of shells having different shapes and sizes by simple control.

  In order to solve the above problems, the present invention provides a base unit provided at the tip of a manipulator, in a shell holding device that is attached to the tip of a manipulator and holds a plurality of types of shells excavated from the ground in order to collect them at a predetermined position. And a pair of gripping part blocks slidably provided on the base part so as to be close to and away from both side surfaces of the shell, and engaged with the pair of gripping part blocks and driven by an operation from a manipulator A driving block that moves the gripping block close to and away from the driving block, a gripping frame that is provided at the outer tip of the pair of gripping block blocks and extends in the axial direction of the shell, and a sliding direction of the gripping block and a shaft of the shell Gripping finger stay provided on the gripping frame so as to be rotatable about an axis orthogonal to the direction and having gripping fingers projecting toward the bullet side at both ends , Provided between the gripping frame and the gripping finger stay, allowing the gripping finger stay to rotate along the shape of the shell by receiving the reaction force from the gripping finger, and always holding the gripping finger stay parallel to the axial direction of the shell And a centering mechanism for biasing the gripping finger stay to the center position so as to be held at the center position.

  The centering mechanism is slidably provided in the slide hole provided in the holding frame on both sides of the rotation axis of the holding finger stay, the centering pin provided in the holding finger stay so as to be fitted into the slide hole, and the slide hole. A centering guide having a V-groove that engages with the centering pin and a spring that is provided outside the slide hole and constantly urges the centering guide toward the rotating shaft, and the centering pin is centered when the gripping finger stay rotates. It is good to move along the V groove of the guide to allow the gripping finger stay to rotate, and to always urge the centering pin to be positioned at the center of the V groove.

  The drive block may be provided with a vacuum suction pad that comes into contact with the surface of the shell and sucks it.

  The drive block and the pair of gripping part blocks are engaged by a guide member such as a linear guide inclined by 45 degrees with respect to the sliding direction of the gripping part block, and the vacuum suction pad and the pair of gripping part blocks are driven by the drive block. It is preferable that the gripping fingers that are linked to each other are always moved so as to be positioned on the same circumferential surface.

  The vacuum suction pad is preferably provided with a sealing material on the outer periphery of a curved thin plate having elasticity, so that not only the sealing material but also the curved thin plate is deformed in accordance with the shape of the shell when being in contact with the shell. .

  The gripping finger may be formed in a curved surface that bulges toward the shell side with a surface that contacts the shell.

  According to the present invention, a plurality of types of shells having different shapes and sizes can be reliably gripped by simple control.

  Preferred embodiments of the present invention will be described with reference to the accompanying drawings.

  As shown in FIG. 8, the shell gripping device 1 grips and collects a plurality of types of shells 2 excavated from the ground and collects them on the carriage 3 so that it can be attached to the tip of the manipulator 5 of the shell excavation device 4. It has become.

  As shown in FIGS. 1, 2 (a), and 4, the cannonball gripping device 1 is close to and away from the base portion 6 provided at the tip of the manipulator and both side surfaces of the cannonball 2 to be gripped. A pair of gripping part blocks 7 and 7 slidably provided on the base part 6 and a pair of gripping part blocks 7 and 7 are engaged and driven by an operation from the manipulator 5. A drive block 8 that moves 7 and 7 close to and away from each other; grip frames 9 and 9 that are provided at outer tips of the pair of grip portion blocks 7 and 7 and extend in the axial direction (front-rear direction) of the shell; A gripping finger stay 12 having gripping fingers 11 projecting toward the shell 2 at both ends, provided on the gripping frames 9 and 9 so as to be rotatable around an axis 10 orthogonal to the sliding direction of the shell 7 and the axial direction of the shell 2. , Gripping frame 9 9 and the gripping finger stay 12 and receives the reaction force from the gripping finger 11 to allow the gripping finger stay 12 to rotate along the shape of the cannonball 2. A centering mechanism 13 that biases the gripping finger stay 12 to the center position so as to be held at a center position parallel to the direction is configured.

  The base portion 6 is formed in a rectangular plate shape, and the gripping portion blocks 7 and 7 are supported by the first guide member 14 so as to be slidable along the plate surface on opposite two sides in the base portion 6. Is done. Specifically, the first guide member 14 is a linear guide. As shown in FIG. 3, the first guide member 14 includes a fixed rail 15 that is fixed to the two sides of the base portion 6, a movable rail 16 that is fixed to the grip portion blocks 7 and 7 and extends parallel to the fixed rail 15, It consists of a connecting piece (not shown) that connects the fixed rail 15 and the movable rail 16 so as to be movable in the longitudinal direction, and slides while restricting the movement in the direction of separating the gripping part blocks 7 and 7 from the base part 6. It is designed to allow movement in the direction. The base portion 6 is provided with guide pins 17 for guiding the movement of the drive block 8 to be described later, orthogonal to the base portion 6.

  The grip part blocks 7 and 7 are each formed in a substantially triangular cross section whose inner side surfaces are inclined by 45 degrees, and are engaged with the drive block 8 by a second guide member 19 as will be described later. .

  As shown in FIG. 3, the drive block 8 is connected and fixed to a telescopic rod 18 provided at the tip of the manipulator 5, and is slidably inserted into a guide pin 17 extending from the base portion 6. The rod 18 is extended and contracted so as to move in a direction orthogonal to the sliding direction of the gripping block 7, 7 and the axial direction of the shell 2. Further, as shown in FIG. 2A, the drive block 8 is formed in a substantially right-angled isosceles triangle shape, and the right-angled corner is positioned between the pair of gripping part blocks 7 and 7 on both side surfaces. Are arranged so as to be inclined by 45 degrees with respect to the base portion 6. The drive block 8 is engaged with the grip part blocks 7 and 7 by a second guide member 19 extending along two inclined sides on both side surfaces. The second guide member 19 is composed of a linear guide similar to the first guide member 14. When the drive block 8 is moved close to and away from the base portion 6 by an operation from the manipulator 5, the grip portion block 7 is interlocked with this. The drive block 8 and the gripping part blocks 7 and 7 are connected so as to bring them close to and away from each other. Specifically, the fixed rail 15 is fixed to the second guide member 19 along two inclined sides of the drive block 8, and the movable rail 16 is fixed to the gripping block 7, 7. Is fixed, and when the drive block 8 is moved in a predetermined direction, the force is changed to a force in a direction orthogonal to the predetermined direction in cooperation with the first guide member 14, and each gripping block 7, 7 Is moved by the same length as the amount of movement of the drive block 8.

  In addition, the drive block 8 is provided with a vacuum suction pad 20 through the attachment block 21 that comes into contact with the surface of the cannonball 2 and sucks the cannonball 2. As shown in FIG. 1, the vacuum suction pad 20 is provided with a sealing material 23 on the outer periphery of a steel curved thin plate 22 having elasticity, and not only the sealing material 23 but also the curved thin plate 22 when being in contact with the shell 2. Also, it is configured to be deformed following the shape of the shell 2. The curved thin plate 22 is formed with a suction hole 24 for sucking air from a space surrounded by the shell 2, the curved thin plate 22, and the sealing material 23. The sealing material 23 is made of sponge rubber that elastically expands and contracts. As shown in FIG. 1 and FIG. 3, the mounting block 21 sets the length from the base 6 to the vacuum suction pad 20 so that the vacuum suction pad 20 is brought into contact with the shell 2 when the shell 2 is gripped. Is formed. Specifically, the length of the mounting block 21 between the base portion 6 and the vacuum suction pad 20 is such that the center of a circle passing through three points of the gripping finger 11 and the vacuum suction pad 20 described later is the height of the gripping finger 11. The shell 2 is positioned and held at the center of the circle. As a result, when the drive block 8 moves, the vacuum suction pad 20 and the gripping fingers 11 interlocked with the pair of gripping part blocks 7 and 7 are always moved so as to be positioned on the circumferential surface of the coaxial circle. It is like that. The mounting block 21 has an intake hole 25 connected to the suction hole 24 inside, and is connected to an intake hose (not shown).

  The grip frames 9, 9 are formed so as to extend in parallel with the direction away from the base portion 6, and support the grip finger stay 12 at the tip end thereof via a rotary shaft 10. .

  The gripping finger stay 12 includes a stay main body 26 extending in parallel with the base portion 6, and a gripping finger 11 provided on both ends of the stay main body 26 so as to protrude laterally. The gripping finger 11 is a member that is engaged with the shell 2 when the shell 2 is gripped, and has a curved surface that bulges toward the shell 2 so that the surface contacting the shell 2 is not damaged. In addition, the gripping fingers 11 are formed to be bent in a U shape so as to follow the outer peripheral shape of the shell 2, and when the shell 2 is gripped by the opposing gripping fingers 11, a plurality of sides of the shell 2 are provided on both sides. It comes to support with a point.

  As shown in FIG. 4, the centering mechanism 13 is fitted into the slide holes 27 provided at the front end side of the grip frames 9, 9 on both the front and rear sides of the rotating shaft 10, and the slide finger 27 is fitted into the grip finger stay 12. A centering pin 28 provided to be inserted, a centering guide 30 having a V groove 29 slidably provided in the slide hole 27 and engaged with the centering pin 28, and a centering guide 30 provided outside the slide hole 27. The centering pin 28 moves along the V-groove 29 of the centering guide 30 when the gripping finger stay 12 rotates, so that the gripping finger stay 12 is moved. The centering pin 28 is always biased so as to be positioned at the center of the V-groove 29.

  Next, the operation of the present embodiment will be described.

  When gripping the shell 2 on the ground surface, first, the manipulator 5 is moved, and the position of the shell gripping device 1 is adjusted to the position of the shell 2 as shown in FIGS. Specifically, the shell holding device 1 is positioned so that the center of the circle determined by the three points of the gripping finger 11 and the vacuum suction pad 20 facing each other matches the axis of the shell 2.

  Thereafter, the rod 18 of the manipulator 5 is extended to move the drive block 8 away from the base portion 6. As a result, the pair of gripping part blocks 7 and 7 are pulled by the drive block 8 via the second guide member 19 and are moved along the first guide member 14 in directions close to each other. At this time, since the second guide member 19 is inclined by 45 degrees with respect to the first guide member 14, the moving length of the drive block 8 and the moving length of the gripping block 7, 7 are always the same, and vacuum suction is performed. The pad 20 and the pair of gripping fingers 11 are always close to the shaft while being positioned on the same circumference, and are in contact with the cannonball 2 almost simultaneously regardless of the diameter of the cannonball 2.

  When the cannonball 2 is teardrop-shaped or has irregularities on the surface, one of the pair of gripping fingers 11 separated toward the central axis of the cannonball 2 first comes into contact with the cannonball 2 and receives a reaction force from the cannonball 2. Further, the gripping block 7, 7 is further moved, whereby the gripping finger stay 12 rotates about the rotation shaft 10 with respect to the gripping frames 9, 9. At this time, the gripping finger 11 is formed in a curved surface that bulges toward the cannonball 2 on the surface that contacts the cannonball 2, so that it does not hit the cannonball 2 while making a corner and does not damage the cannonball 2. Further, as shown in FIG. 5, the centering pin 28 rotates integrally with the gripping finger stay 12 and moves from the center of the V-groove 29 of the centering guide 30 to the side portion, thereby compressing the spring 31 of the centering guide 30. Push outward. As a result, one end of the gripping finger 11 comes into contact with the side surface of the shell 2, and the front and rear gripping fingers 11 are in close contact with the shell 2. Thereafter, the gripping finger stay 12 is stopped by receiving a reaction force from the front and rear gripping fingers 11, and transmits the reaction force from the cannonball 2 to the rod 18 of the manipulator 5 through the gripping part blocks 7 and 7 and the drive block 8. . By detecting this reaction force, the manipulator 5 can stop the extension of the rod 18 and grip the shell 2 with a force corresponding to the extension force of the rod 18. Further, the vacuum suction pad 20 is elastically deformed so that the curved thin plate 22 and the sealing material 23 follow the shape of the cannonball 2 by being further pressed toward the cannonball 2 in a state where it is in contact with the surface of the cannonball 2. It is closely attached to. This restricts the position of the shell 2 in the direction orthogonal to the moving direction of the grip blocks 7 and 7 and assists the grip of the shell 2 by vacuum suction.

  When the shell 2 is gripped in this way, the manipulator 5 places the shell 2 gripped by the shell gripping device 1 at a predetermined position on the carriage 3 and then retracts the rod 18 to release the shell 2. Specifically, when the rod 18 is retracted, the drive block 8 is moved away from the shell 2 and the pair of gripper blocks 7 and 7 are moved away from each other. As a result, the springs 31 of the centering mechanism 13 extend, and the centering pin 28 is guided to the central corner of the V-groove 29 along the V-groove 29 of the centering guide 30 to move the gripping finger stay 12 in the axial direction of the shell 2. Return to parallel center position.

  In addition, when gripping the cylindrical shell 32 as shown in FIG. 6, the gripping finger stay 12 is always returned to the center position, so that only the shell holding device 1 is adjusted to the position of the shell 32. The opposing gripping finger stays 12 can be made parallel to the axis of the cannonball 32, respectively, and the cannonball 32 can be easily held by extending the rod 18 of the manipulator 5 and bringing the gripping part blocks 7 and 7 close to each other.

  Thus, the base part 6 provided at the tip of the manipulator 5 and a pair of gripping part blocks 7 and 7 provided on the base part 6 so as to be slidable so as to be close to and away from both side surfaces of the shell 2. The drive block 8 that engages with the pair of gripping unit blocks 7 and 7 and is driven by an operation from the manipulator 5 and moves the gripping unit blocks 7 and 7 to approach and separate by the drive, and the pair of gripping unit blocks 7 , 7 is provided on the opposite side of the base portion 6 and extends in the axial direction of the cannonball 2, and is provided so as to be rotatable about an axis 10 orthogonal to the grip frames 9, 9. A gripping finger stay 12 having a gripping finger 11 projecting toward the shell 2 side, and provided between the gripping frames 9, 9 and the gripping finger stay 12, is subjected to a reaction force from the gripping finger 11 and follows the shape of the shell 2. Holding finger stay 12 A bullet gripping device comprising a centering mechanism 13 for allowing the gripping finger stay 12 to be biased to the center position so as to permit rotation and always hold the gripping finger stay 12 at a center position parallel to the axial direction of the shell 2. 1 is configured, it can follow a bullet curved surface that could not be realized by a conventional simple gripping device, and can hold the cannonball 2 if there is a single drive shaft for driving the drive block 8. A plurality of types of shells 2 having different sizes (diameters) can be reliably gripped by simple control. Then, the position of the gripping finger 11 at the start of the cannonball gripping operation can be made constant, and unexpected contact and collision between the cannonball 2 and the gripping finger 11 can be prevented.

  The centering mechanism 13 includes a slide hole 27 provided in the grip frames 9, 9 on both sides of the rotation shaft 10, a centering pin 28 provided so as to fit into the slide hole 27 in the grip finger stay 12, A centering guide 30 having a V-groove 29 that is slidably provided in the slide hole 27 and engages with the centering pin 28, and a spring that is provided outside the slide hole 27 and constantly biases the centering guide 30 toward the rotating shaft 10. 31. When the gripping finger stay 12 rotates, the centering pin 28 moves along the V groove 29 of the centering guide 30 to allow the gripping finger stay 12 to rotate, and the centering pin 28 always has the V groove 29. Because it is configured to be biased so as to be positioned at the center of the shell, the return operation when the grip of the cannonball 2 is released is easily performed with a simple mechanism. That.

  Since the drive block 8 is provided with a vacuum suction pad 20 that comes into contact with the surface of the cannonball 2 and attracts the cannonball 2, the grip position of the cannonball 2 can be regulated and the weight of the cannonball 2 can be reduced by a vacuum suction force. It is possible to assist the grasping of the shell 2 well.

  The drive block 8 and the pair of gripping part blocks 7 and 7 are engaged with each other by a second guide member 19 that is inclined by 45 degrees with respect to the sliding direction of the gripping part blocks 7 and 7. 20 and the gripping fingers 11 interlocked with the pair of gripping part blocks 7 and 7 are always moved so as to be positioned on the same circumferential surface. It can respond reliably.

  The vacuum suction pad 20 is provided with a sealing material 23 on the outer periphery of a curved thin plate 22 having elasticity, and not only the sealing material 23 but also the curved thin plate 22 is deformed following the shape of the cannonball 2 when abutted against the cannonball 2. Therefore, the cannonball 2 can be securely and easily attached with a simple structure, and the holding of the cannonball 2 can be stably supported.

  In addition, since the gripping finger 11 is formed to have a curved surface that bulges toward the shell 2, the surface that contacts the shell 2 can be prevented from coming into contact with the shell 2 at an angle, and the shell 2. Can be prevented from being scratched.

  The connecting pieces of the guide members 14 and 19 may have rollers (not shown) that roll along the rails 15 and 16 and mesh with racks (not shown) formed along the rails 15 and 16. It is also possible to have a pinion (not shown) that rolls. The gripping finger 11 is formed to be bent in a dogleg shape, but may be formed so that the contact surface 33 is inclined upward as shown in FIG. According to this, the cannonball 2 can be pressed and held against the vacuum suction pad 20 by the inclination of the contact surface 33 of the holding finger 34.

  The centering mechanism 13 is not limited to the above. For example, the spring 31 may be a plate spring, a torsion coil spring, a tension spring, an air spring or the like instead of the compression spring. Although the centering guide 30 has the V-groove 29, the V-groove 29 may be a concave surface having a diameter smaller than the rotation radius of the centering pin 28 around the rotation shaft 10. The centering pin 28 is formed in a cylindrical shape, but may be an elliptical column, a rectangular column, or a combination thereof. Further, the centering pin 28 may be provided on the gripping frames 9 and 9 so as to protrude toward the gripping finger 12, and the slide finger 27 may be provided on the gripping finger stay 12 so as to open on the gripping frame 9 side.

  Further, the vacuum suction pad 20 may be rotatably provided on the attachment block 21 so that both ends or one end of the cannonball 2 in the axial direction are brought close to and away from the cannonball 2. When gripping the teardrop-type cannonball 2, the front and rear ends can be made to follow the cannonball 2 without resistance, and the gripping of the teardrop-type cannonball 2 can be further aided.

It is a perspective view of a shell holding device showing a preferred embodiment of the present invention. (A) is a front view of the shell holding device aligned with the shell, and (b) is a front view of the shell holding device holding the shell. It is AA arrow sectional drawing of Fig.2 (a). FIG. 3 is a cross-sectional view taken along line B-B in FIG. It is CC sectional view taken on the line of FIG.2 (b). It is a principal part plane sectional view of a shell device which grasped a columnar shell. It is a front view of the grasping finger which shows other embodiments. It is a principal part perspective view of a shell excavation device which collects a shell using a shell holding device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Cannonball gripping device 2 Cannonball 5 Manipulator 6 Base part 7 Grasping part block 8 Drive block 9 Grasping frame 10 Rotating shaft 11 Grasping finger 12 Grasping finger stay 13 Centering mechanism 19 Second guide member 20 Vacuum suction pad 22 Curved thin plate 23 Sealing material 27 Slide hole 28 Centering pin 29 V groove 30 Centering guide 31 Spring 34 Gripping finger

Claims (6)

  In a shell holding device that is attached to the tip of a manipulator and holds a plurality of types of shells excavated from the ground in order to collect them at a predetermined position, a base portion provided at the tip of the manipulator, and a base portion on both sides of the shell A pair of gripping part blocks that are slidably provided so as to approach and separate from each other, and engage with the pair of gripping part blocks and are driven by an operation from a manipulator. A drive block to be moved, a grip frame provided at the outer end of the pair of grip block blocks, extending in the axial direction of the shell, and rotating about an axis orthogonal to the slide direction of the grip block and the axial direction of the shell A gripping finger stay having gripping fingers that are provided on the gripping frame and projecting toward the bullet side at both ends, and between the gripping frame and the gripping finger stay. In response to the reaction force from the gripping finger, the gripping finger stay is allowed to rotate along the shape of the shell, and the gripping finger stay is always held at the center position parallel to the axial direction of the shell. A bullet gripping device comprising a centering mechanism for biasing a gripping finger stay to a center position.   The centering mechanism is slidably provided in the slide hole provided in the holding frame on both sides of the rotation axis of the holding finger stay, the centering pin provided in the holding finger stay so as to be fitted into the slide hole, and the slide hole. A centering guide having a V-groove that engages with the centering pin and a spring that is provided outside the slide hole and constantly urges the centering guide toward the rotating shaft, and the centering pin is centered when the gripping finger stay rotates. 2. The bullet holding device according to claim 1, wherein the bullet gripping device moves along the V-groove of the guide to allow the holding finger stay to rotate, and always urges the centering pin to be positioned at the center of the V-groove.   The cannonball gripping device according to claim 1 or 2, wherein the drive block is provided with a vacuum suction pad that abuts on the surface of the cannonball and sucks the cannonball.   The drive block and the pair of gripping part blocks are engaged by a guide member such as a linear guide inclined by 45 degrees with respect to the sliding direction of the gripping part block, and the vacuum suction pad and the pair of gripping part blocks are driven by the drive block. The shell holding device according to claim 3, wherein the gripping fingers that are linked to each other are always moved so as to be positioned on the same circumferential surface.   The vacuum suction pad is provided with a sealing material on an outer periphery of a curved thin plate having elasticity, and not only the sealing material but also the curved thin plate is deformed in accordance with the shape of the shell when being in contact with the shell. 3. A cannonball gripping device according to 3 or 4.   The shell holding device according to claim 1, wherein the gripping finger is formed into a curved surface that bulges toward the shell side with a surface that contacts the shell.

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