JP2016074075A - Gripping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gripping hand used for a bag filling device, gripping an existing outer packing bag in the automatic product bag filling device, while opening a mouth of the outer packing bag wide enough to facilitate the product bag filling.SOLUTION: A gripping hand comprises: a pair of opening/closing part assembled in an openable manner so that respective tips can separate from and approach to each other. The opening/closing part comprises: a gripping part gripping an object; and a suction part holding the object by sucking.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a gripping device.

  2. Description of the Related Art Conventionally, in order to advance automation of the manufacturing process, a bagging apparatus that stores a stored item in a packaging bag or the like is known. Various forms of such bagging devices are known. For example, as described in Patent Document 1 below, the storage means for temporarily storing screws includes a hopper with an open bottom, and a hopper A shutter that opens the bottom of the hopper when a predetermined number of screws are stored therein, and a guide chute provided directly under the shutter, and further, the hopper is laterally moved while the screws are stored in the hopper. A vibration means for vibrating is provided.

  According to this bagging device, the posture of the screws that are stored items is aligned by vibration while being stored in the hopper, and the head and leg tips are neatly aligned when the shutter is opened and dropped. Fall at.

JP 2014-91567 A

  The bag filling device described in Patent Document 1 sets up packaging bags according to the following procedure. That is, a bag-making film formed in a long sheet shape is wound in a roll shape and installed near the bottom of the gantry, and the bag-making film fed out from the roll at a constant speed is provided in the vicinity of the guide chute. It is pulled downward by a pull-down roller (or belt) while shaping the side surface of the guide chute in a cylindrical shape through a partially conical surface-shaped former. At this time, both side edges of the bag-making film are overlapped along the side surface of the guide chute, and the overlapping portion is heat-sealed by a vertical seal device provided on the side of the guide chute.

  The bag-forming film thus formed in a cylindrical shape is drawn down below the lower end opening of the guide chute and is heat-sealed in the lateral direction by a lateral seal device. As a result, the preceding sachet portion and the subsequent sachet portion are sequentially separated at a constant interval. Then, the shutter opens at the timing when the unsealed upper portion of the succeeding sachet portion surrounds the lower end opening of the guide chute, and the screw falls through the guide chute. Further, it is pulled out downward, and its upper part is cut by a horizontal seal member and separated into one small bag.

  As described above, the conventional bag filling device can individually mount the screw in the small bag while appropriately heat-sealing or cutting the bag-conditioning film wound in a roll shape.

  However, the conventional bagging device is a device for bagging a specific object such as a screw, and there is a problem that it is difficult to bag various types of objects. In addition, since it is necessary to heat seal or cut the bag forming film appropriately, there is also a problem that it is not possible to perform an operation of packing an object in an existing packaging bag.

  The present invention has been made to solve the above-described problems, and in an automatic product bagging apparatus, grips an existing outer bag and widens the mouth of the outer bag to pack the product. It is an object of the present invention to provide a gripping hand used in a bagging device that facilitates the handling.

  A gripping hand according to the present invention is a gripping hand provided with a pair of opening and closing parts assembled so as to be openable and closable so that the tips are separated and close to each other, the opening and closing part includes a gripping part for gripping an object, And an adsorption unit that adsorbs and holds the object.

  According to the present invention, the object can be grasped by the grasping part for grasping the object, and the suction part for attracting and holding the object is provided, so that the mouth of the object such as the gripped outer bag is attracted. By opening the opening / closing part in a closed state, the mouth can be widened and the product can be easily inserted into the outer bag.

The perspective view for demonstrating the structure of the bagging apparatus which concerns on embodiment of this invention. The side view for demonstrating the structure of an arm part. 1 is a perspective view of a gripping hand according to a first embodiment of the present invention. The figure for demonstrating operation | movement of the holding | grip hand which concerns on the 1st Embodiment of this invention. The A section enlarged view in FIG. The figure for demonstrating operation | movement of the holding | grip hand which concerns on this embodiment. The figure for demonstrating operation | movement of the holding | grip hand which concerns on this embodiment. The perspective view which shows the holding | grip hand which concerns on the 2nd Embodiment of this invention. The figure for demonstrating operation | movement of the holding | grip hand which concerns on the 2nd Embodiment of this invention.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, embodiments of a motion guide device according to the invention will be described with reference to the drawings. The following embodiments do not limit the invention according to each claim, and all combinations of features described in the embodiments are not necessarily essential to the solution means of the invention. .

[First Embodiment]
FIG. 1 is a perspective view for explaining the configuration of a bagging device according to an embodiment of the present invention, FIG. 2 is a side view for explaining the configuration of an arm portion, and FIG. FIG. 4 is a perspective view of the gripping hand according to the first embodiment of the present invention, FIG. 4 is a diagram for explaining the operation of the gripping hand according to the first embodiment of the present invention, and FIG. FIG. 6 is an enlarged view of part A, FIG. 6 is a diagram for explaining the operation of the gripping hand according to the present embodiment, and FIG. 7 is a diagram for explaining the operation of the gripping hand according to the present embodiment. .

  As shown in FIG. 1, the bagging device 1 according to the present embodiment includes arm portions 10 a and 10 b placed on a base 12 via a rotation fixing portion 11. The arm part is composed of a first arm part 10a for gripping an object such as an outer bag and a second arm part 10b for gripping a product inserted into the outer bag. The controller 15 can be driven independently. Furthermore, outside the base 12, storage units 13 and 14 for storing workpieces such as exterior bags and products are provided.

  By providing such a configuration, the bag filling device 1 according to the present embodiment allows the first arm portion 10a and the second arm portion 10b to take out the outer bag and the product from the storage portions 13 and 14, respectively. It is possible to perform the work of inserting the product into the outer bag and filling the bag.

  The first arm unit 10a and the second arm unit 10b are connected to the control unit 15 and are driven independently. Specifically, the gripping hands 20 attached to the first arm portion 10a and the second arm portion 10b are relatively close in the direction along the arrangement direction of the first arm portion 10a and the second arm portion 10b. And can be separated. Furthermore, the control unit 15 controls the opening / closing unit 24 to open and close by driving the gripping hand 20.

  As shown in FIG. 2, the first arm portion 10 a and the second arm portion 10 b are rotatably attached to the base 12 via a rotation fixing portion 11. Further, the first arm portion 10a and the second arm portion 10b are attached to the rotation fixing portion 11, and a first link portion 42 that is rotatable around a first shaft 41 that intersects the base 12 substantially perpendicularly. The second link is attached to one end of the first link portion 42 via the second shaft 43 and is rotatable in the front-rear direction around the horizontal second shaft 43 intersecting the first shaft 41 of the first link portion 42. A third link portion 46 that is provided at the tip of the second link portion 44 and is rotatable in the front-rear direction around a third shaft 45 that is parallel to the second shaft 43 of the second link portion 44, and a third link portion 46 A hand moving part 20b comprising a fourth link part 48 provided at the tip of the link part 46 and rotatable around the axis of the fourth shaft 47, and a grip as a hand effector attached to the tip of the fourth link part 48 A hand 20. Since the arm portion is configured in this way, the gripping hand 20 attached to the tip of the arm portion can be moved three-dimensionally.

  Next, the gripping hand 20 will be described with reference to FIGS. In the gripping hand 20, the gripping hand 20 having the same shape is attached to the tip of each of the first arm portion 10a and the second arm portion 10b. As shown in FIG. 3, the gripping hand 20 that grips the outer bag includes a hand main body 21 having a connection portion 23 attached to the fourth link 48 and a pair of opening and closing whose front end portions are attached to the hand main body 21 so as to be opened and closed The unit 24 is provided.

  In addition, the hand main body 21 is provided with an air supply port 22 for supplying air for opening and closing the opening / closing portion 24. By supplying compressed air from the air supply port 22, the opening / closing part 24 is driven to open and close by the air pressure.

  The opening / closing part 24 includes a gripping part 31 provided with a protection part 31a such as a rubber pad at the tip so as to be able to grip the outer bag, and an adsorption part arranged alongside the gripping part 31 along the longitudinal direction of the opening / closing part 24. 32. Further, the suction part 32 is provided with a suction port 33 for imparting a suction force to the tip of the suction part 32, and suctioning and holding the outer bag by the suction part 32 by sucking air from the suction port 33. Can do. The protective portion 31a is attached for the purpose of protecting the outer packaging to be held so as not to damage it. Any material can be used as long as such a purpose can be achieved. A hard rubber having a high hardness is preferably used.

  Furthermore, the grip part 31 and the suction part 32 formed on one opening / closing part 24 are arranged so as to face the grip part 31 and the suction part 32 formed on the other opening / closing part 24, respectively.

  As shown in FIG. 4, the opening / closing part 24 is rotatably assembled via a pivot (not shown) in the hand main body 21, and the tip of the opening / closing part 24 is separated and approached with the rotation. By doing so, it is configured as a so-called fulcrum opening / closing type that can be moved freely.

  Further, as shown in FIG. 5, the distal end portion of the adsorbing portion 32 is disposed so as to protrude from the protective portion 31 a having contact surfaces with which the grip portions 31 are in contact with each other. In addition, the bellows-like elastic member 32a which can be expanded-contracted to an axial direction is attached to the front-end | tip part of the adsorption | suction part 32. As shown in FIG.

  As described above, since the elastic member 32a is disposed so as to protrude from the protective portion 31a of the grip portion 31, the outer bag is formed of a thin film when the suction portion 32 sucks the outer bag. Even so, the elastic member 32a is pressed against the outer bag and elastically deformed, so that the outer bag can be reliably adsorbed without generating wrinkles in the outer bag.

  In addition, the elastic member 32a is arranged so as to protrude from the protection portion 31a, so that the elastic member 32a is effectively elastically deformed, and the outer bag can be reliably adsorbed.

  The opening / closing part 24 and the suction part 32 are provided with a position sensor for detecting the position of the opening / closing part 24 and a vacuum sensor for detecting a vacuum state between the suction part 32 and the outer bag, respectively. The opening / closing of the outer bag is detected, and the presence or absence of adsorption of the outer bag is detected by a vacuum sensor.

  Thus, by providing the detection means by a vacuum sensor, the bagging apparatus according to the present embodiment can prevent malfunction by detecting suction mistakes in advance.

  Next, the operation of the gripping hand 20 according to the present embodiment will be described with reference to FIGS.

  First, as shown in FIG. 6, either the first arm 10 a or the second arm 10 b is driven to grip the outer bag 40 stored in the storage unit 13. At this time, the outer bag 40 is held by the holding portion 31 by closing the opening / closing portion 24 after being moved so as to be interposed between the opening / closing portions 24 with the opening / closing portion 24 opened. At this time, the outer bag 40 is gripped by the grip portion 31 by the closing operation of the opening / closing portion 24.

  Furthermore, in a state where the outer bag 40 is gripped by the grip portion 31, the suction portions 32, 32 facing each other are pressed against the outer bag 40, and the elastic member 32a is contracted in the axial direction and deformed. Thereafter, the outer bag 40 is brought into close contact with the suction portion 32 by sucking air from the suction port 33.

  When the opening / closing part 24 is opened with the adsorbing part 32 adsorbing the outer bag 40, the mouth of the outer bag 40 is opened as shown in FIG. In this state, the bagging operation can be performed by inserting the product held by either the first arm member 10 a or the second arm member 10 b from the mouth of the outer bag 40. At this time, by supporting the lower end of the outer bag 40 with a pedestal or the like, it is possible to prevent the outer bag 40 from falling off due to an increase in weight when a product is inserted.

  The outer bag 40 packed with the product is gripped by closing the opening / closing part 24 again and conveyed to the next process. At this time, the weight of the outer bag 40 is increased by the weight of the product packed in the bag, but since the outer bag 40 is securely held by the holding portion 31, the outer bag 40 is transported without dropping. be able to.

  Moreover, since the holding part 31 is provided with the protection part 31a, even when the outer bag 40 is held by the holding part 31, the outer bag 40 can be reliably held and transported without damaging the outer bag 40.

  Furthermore, since the adsorption | suction part 32 is provided with the elastic member 32a and is arrange | positioned so that it may protrude rather than the protection part 31a, in the state which hold | gripped the exterior bag 40 with the holding part 31, the elastic member 32a is shrunk, and an exterior bag is carried out. It is possible to surely adsorb the outer bag 40 and open the mouth without wrinkles. In addition, since it is necessary to adsorb | suck the exterior bag 40 reliably, the elastic member 32a is suitably comprised with the soft material which is comparatively easy to elastically deform in order to prevent the air leak from the adsorption | suction part 32. FIG.

  Further, since the bagging apparatus 1 according to the present embodiment uses the fulcrum opening / closing type opening / closing part 24, the gripping hand 20 can be downsized while the opening / closing amount of the tip of the opening / closing part 24 is sufficiently secured. it can.

  As described above, the bagging device 1 according to the present embodiment grips and conveys the outer bag 40 by the grip portion 31, and can adsorb the outer bag 40 by the suction portion 32 to widen the mouth. The present invention can be applied even to an outer packaging bag, and an operation of filling an object such as a product into an existing outer packaging bag can be easily performed without particularly requiring setup of the apparatus.

  In addition, since the bagging apparatus 1 according to the present embodiment can automatically perform the bagging operation without intervention of the operator's hand, for example, the packing operation of medical instruments such as a scalpel and a syringe needle that require sterilization processing. It is suitable for use in.

[Second Embodiment]
The gripping hand 20 according to the first embodiment described above is pivotally assembled to a pivot formed at one end of the opening / closing portion 24, and the other end of the holding hand opening / closing type is separated or closes with the rotation. The case where it was configured was described. A gripping hand 20a according to a second embodiment to be described next will be described with respect to a gripping hand having a form different from that of the first embodiment. Note that members that are the same as or similar to those in the first embodiment described above are given the same reference numerals, and descriptions thereof are omitted.

  FIG. 8 is a perspective view showing a gripping hand according to the second embodiment of the present invention, and FIG. 9 is a view for explaining the operation of the gripping hand according to the second embodiment of the present invention.

  As shown in FIG. 8, the gripping hand 20 a according to the present embodiment includes a pair of opening / closing parts 24 a attached to a hand main body 21 having a connection part 23 so as to be freely opened and closed. In addition, the structure of the front-end | tip part of the opening / closing part 24a is equipped with the structure similar to the holding | grip hand 20 which concerns on 1st Embodiment.

  The opening / closing part 24a includes a guide part 24c for guiding the parallel movement of the opening / closing part 24a. The distal end portion of the opening / closing portion 24a is configured to approach and separate by being applied with a driving force by compressed air supplied from the outside. The guide portion 24c is formed with a guide groove 24d along the moving direction of the distal end portion of the opening / closing portion 24a, and one end of the distal end portion of the opening / closing portion 24a is movably fitted in the guide groove 24d. This guides the parallel movement of the tip of the opening / closing part 24a.

  As shown in FIG. 9, the gripping hand 20 a according to the second embodiment configured as described above realizes a large opening / closing operation because the distal end portion of the opening / closing portion 24 a moves in parallel along the guide portion 24 c. An effective opening can be realized when it is desired to widen the mouth of the outer bag 40.

  The present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the present invention. For example, in this embodiment, the case where the gripping hands 20 having the same shape are attached to the first arm unit 10a and the second arm 10b has been described. The product may be inserted by the operator's handwork as long as the mouth of the outer bag can be widened.

  Further, in the gripping hand 20 according to the present embodiment, the case where an air chuck that is driven by air is employed for the opening / closing parts 24 and 24a has been described. However, the driving method is not limited thereto, and for example, an electromagnetic using a solenoid or the like. A chuck may be used.

  Further, the gripping hand 20 according to the present embodiment has been described as applied to the bagging device 1 for inserting a product into an exterior bag, but the device to be applied is not limited to this, and suction and gripping are required at the same time. It can be applied to any device. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

20 gripping hands, 24, 24a opening / closing part, 31 gripping part, 32 suction part, 32a elastic member, 40 exterior bag.

Claims (5)

A gripping hand comprising a pair of opening and closing portions assembled so as to be openable and closable so that the tips are separated from and close to each other,
The gripping hand, wherein the opening / closing part includes a gripping part for gripping an object and an adsorption part for attracting and holding the object. The adsorbing part is disposed alongside the grip part along the longitudinal direction of the opening and closing part,
The gripping hand according to claim 1, wherein a tip portion of the suction portion includes an elastic member, and the elastic member protrudes from a contact surface on which the gripping portions contact each other.   The gripping hand according to claim 1 or 2, further comprising: a position sensor that detects a position of the opening / closing unit; and a vacuum sensor that detects a vacuum state between the suction unit and the object.   2. The pair of opening / closing portions is rotatably assembled to a pivot formed at one end of the opening / closing portion, and opens and closes when the other end is separated and close to the rotation. 4. The gripping hand according to any one of items 1 to 3.   The gripping hand according to any one of claims 1 to 3, wherein the pair of opening / closing parts opens and closes by the parallel movement of the respective opening / closing parts along the direction of separation and proximity.

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