JP2009255262A - Gripping device head - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve a head structure of a gripping device that grips an object. <P>SOLUTION: A gripping claw mechanism 1 of the gripping device has a plurality of openable and closable gripping claws 111 connected to a drive mechanism 12 and opened and closed by a driving force of the drive mechanism. The gripping claw mechanism is also connected to a rotation mechanism 13 whose drive revolves the gripping claw mechanism. The gripping claw mechanism revolves its main body by the drive of the rotation mechanism, finely tunes its own rotating angle for the object to be gripped, grips the targeted object by adjusting the main body to an operationally suitable direction, or presses the object by the weight of the main body. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention relates to improvement of the head structure of a gripping device, and more particularly to a head member of a gripping device that opens and grips cargo and miscellaneous objects with a plurality of gripping claws.

  The industrial industry often needs to carry out operations such as transporting, organizing, sorting, placing, and warehouse management of many handling parts and articles, and an open-type gripping device (gripping) by the head of the gripping device, for example, It is necessary to grasp industrial wastes, waste disposal, environmental conservation recycling classification, factory parts, etc.

The structure and characteristics of the heads of these gripping devices include a gripping claw mechanism, the gripping claw mechanism has a plurality of gripping claws that can be opened, and the gripping claw is connected to a drive mechanism, and the drive mechanism Opening is performed by driving. However, the conventional gripping device has the following problems:
The operation of the gripping device is often performed at a place where the article is deposited, and there is a gap between the gripping claws. When gripping the article, the position of the article is often located in the gap and the gripping is performed. In some cases, it is necessary to adjust the position by operating from the operating machine base or chassis of the gripping device. However, when moving an operating machine base or a chassis, it is usually necessary to have a sufficient space at the work site, but the work environment at the work site is often narrow and is not easy to move, or the surrounding personnel or There is a risk of colliding with the article.
Japanese Patent Application Laid-Open No. 8-309985

Conventional gripping devices have many industrial articles as articles to be handled, but often the articles to be gripped are not pressed and need to be pressed because they are bulky, requiring a working space for that, and press work It took a long time to work on the rear gripping apparatus, which was inconvenient.

  The conventional gripping device itself has a weight, but cannot have a structure and a function for pressing a bulky article using the weight.

In view of the problems of the prior art, the present invention overcomes the problems of the prior art with an improved structure, and the technical means employed by the present invention is an improvement in the head structure of the gripping device, and includes a gripping claw mechanism. , The gripping claws that can be opened are connected to the driving mechanism and opened by the driving force of the driving mechanism. The feature is that the gripping claw mechanism is connected to the rotation mechanism, and rotates by receiving the drive of the rotation mechanism. The gripping claw mechanism rotates the main body by driving the rotation mechanism, finely adjusts its own rotation angle with respect to an article to be gripped, and can adjust in a direction suitable for operation, thereby achieving a safe and convenient operation. .

  In the present invention, an angle control mechanism is connected to the upper part of the gripping device head, and the angle control mechanism includes an H-shaped gripping device arm that forms a parallel link. The first vertical rod and the second vertical rod are pin-joined, the first vertical rod includes an upper step, the upper step is pin-joined to the lower step, and the upper step is an extendable rod step. In addition, a gripping device head is pin-joined to the lower end of the lower step portion and the lower end of the second vertical rod, respectively, and the bending angle between the lower end portion and the upper step portion and the second vertical rod according to the expansion and contraction state of the upper step portion The sandwiching angle of the lateral rod can be changed, and the angle can be changed by the gripping device head in conjunction with the sandwiching angle.

  The gripping device head includes a mechanism capable of controlling the angle of the gripping device head, and the gripping device head can perform a pressing action by using the weight and adjusting the angle. For example, pressing can be performed using the upper step which is a rod step that can be expanded and contracted with respect to other unpressed articles such as metal boxes, cans, building rebars, plate pieces, cardboard boxes, paper boxes, etc. .

In order to make the present invention clearer, a preferred embodiment will be given and the structure and technical features of the present invention will be described in detail with reference to the following drawings.

As shown in FIGS. 1 and 2, the present invention relates to improvement of the gripping device head structure, and the gripping device head 1 includes a gripping claw mechanism 11, a drive mechanism 12, and a rotation mechanism 13.
The gripping claw mechanism can be opened multiple times,
The drive mechanism 12 includes a drive cylinder 121 connected to the plurality of gripping claws 111, such as an oil cylinder and a gas cylinder, and can drive the plurality of gripping claws 111 to perform opening.
The rotation mechanism 13 is connected to an upper portion of the gripping claw mechanism 11 and rotates the gripping claw mechanism 11.

The configuration of the rotation mechanism 13 of the present invention includes an upper socket 130, a passive ring body 133, and a transmission mechanism 14.
The upper socket includes a power mechanism 131. The power mechanism 131 is preferably a motor, and provides power for rotation. The shaft rod 132 is extended from the power mechanism 131.
The passive ring body 133 is connected to the upper part of the gripping claw mechanism 11, and a plurality of mutually spaced convex teeth 134 are provided on the inner edge of the passive ring body 133. An upper board 135 is provided on the upper surface of the passive ring 133, the upper board 135 is provided with a through hole 136, a lid body 137 is provided in the through hole 136, and the lid body 137 is provided with a through hole 138. Thus, the shaft rod 132 is passed through the hole 138.
The transmission mechanism 14 is a tooth ring, and the tooth ring is connected to a shaft rod 132 of the power mechanism 131 so that the driving force of the shaft rod 132 is passed through the convex teeth 141 of the tooth ring and the passive ring body 133. Then, the passive ring 133 is driven and rotated (see FIGS. 3 and 4).

  As shown in FIGS. 5 and 6, an angle control mechanism 2 is provided on the upper part of the gripping device head 1 of the present invention, and the angle control mechanism 2 includes an H-shaped gripping device arm constituting a link mechanism. The gripping device arm has a first longitudinal rod 22 and a second longitudinal rod 23 connected to both ends of the transverse rod 21, and the first longitudinal rod 22 includes an upper step portion 221, and the upper step portion 221 is a lower step portion. The upper step portion 221 is a rod step that can be expanded and contracted, and the lower step portion 222 and the lower end of the second vertical rod 23 are respectively pin-bonded to the gripping device head 1, and the upper step portion Depending on the expansion / contraction state of 221, the angle at which the lower step portion 222 and the upper step portion 221 are curved and the sandwiching angle between the second vertical rod 23 and the horizontal rod 21 are changed, and the angle is changed in conjunction with the gripping device head 1. Can be made.

In the present invention, the preferred embodiments have been disclosed as described above, but these are not intended to limit the present invention in any way, and anyone who is familiar with the technology can make an equivalent scope without departing from the spirit and scope of the present invention. Of course, various fluctuations and hydration colors can be added.

It is a three-dimensional view of the present invention. It is a three-dimensional exploded view of most members of the present invention. It is rotation explanatory drawing of the bird's-eye view state of this invention. It is explanatory drawing of the bird's-eye view state of this invention. It is plane explanatory drawing which the upper part of the holding | gripping apparatus head of this invention connected with the angle control mechanism. It is operation | movement explanatory drawing which the upper part of the holding | gripping apparatus head of this invention connected with the angle control mechanism.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Gripping device head 11 Grip claw mechanism 111 Grip claw 12 Drive mechanism 121 Drive cylinder 13 Rotating mechanism 130 Upper socket 131 Power mechanism 132 Shaft 133 Passive ring 134 Convex tooth 135 Upper board 136 Through-hole 137 Cover 138 Through-hole 14 Transmission Mechanism 141 Convex tooth 2 Angle control mechanism 21 Horizontal rod 22 First vertical rod 221 Upper step 222 Lower step 23 Second vertical rod

Claims (2)

It consists of a gripping device head and an angle control mechanism.
The gripping device head includes a gripping claw mechanism having a plurality of gripping claws that can be opened;
A drive mechanism comprising a plurality of drive cylinders connected to the gripping claws;
A rotation mechanism connected to the upper portion of the gripping claw mechanism and rotating with respect to the gripping claw mechanism;
The angle control mechanism includes an H-shaped gripping device arm that is provided at an upper position of the gripping device head and constitutes a parallel link. The H-shaped gripping device arm has a first vertical rod and a second at both ends of the horizontal rod. The vertical rod is pin-joined, and the first vertical rod has an upper step portion, the upper step portion is pin-joined with the lower step portion, and the upper step portion is a telescopic rod step, and the lower end of the lower step portion The lower end of the second vertical rod is a gripping device head that is pin-bonded to the gripping device head. The rotation mechanism is composed of an upper socket, a passive ring, and a transmission mechanism,
The upper socket is provided with a power mechanism, and the power mechanism is provided by extending a shaft rod,
The passive ring is connected to the upper part of the gripping claw mechanism, and a plurality of mutually spaced convex teeth are provided on the edge of the passive ring body,
The transmission mechanism is a tooth ring, and the tooth ring is connected to a shaft rod of the power mechanism, and each convex ring of the tooth ring meshes with a convex ring of the passive ring body under the driving of the shaft rod. 2. The gripping device head according to claim 1, wherein the gripping device head is rotated with respect to the passive ring.

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