JP2019026394A - Container gripping device - Google Patents

Abstract

To provide a container gripping device capable of preventing shaking and so on of a container during its movement by firmly gripping it even when the weight of the container increases.SOLUTION: A container gripping device comprises a supporting member with a guide member, a moving member attached to the supporting member and capable of moving relative to the supporting member, a first arm attached to one side face of the moving member, a second arm attached to the opposite side of the first arm in the moving member, a first gripping portion attached to the tip of the first arm and a second gripping portion attached to the tip of the second arm, wherein the moving member has a receiving member to fit to the guide member, the guide member and receiving member maintain the fitting condition when the moving member moves relative to the supporting member, each gripping portion has a predetermined angle relative to each arm when the moving member is in a predetermined fixed position, each predetermined angle substantially coincides with the side face angle relative to the plane direction of the container and therefore, each of the first and second gripping portions can grips both side faces of the container.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a container gripping device that grips a container used in various places such as a factory and a distribution center for movement.

  In various business fields and product fields, various products and products (hereinafter collectively referred to as articles) are manufactured in factories corresponding to the respective fields. Or, in a distribution center or the like, a delivery operation of manufactured articles is performed. In either case, a plurality of articles such as finished products and semi-finished products are often moved together.

  At this time, a plurality of articles are packed in a dedicated case. In many cases, this special case containing a plurality of articles shifts to a delivery or transportation step. For example, a certain 30 articles are packed in a dedicated case. This special case packed with goods is used for delivery and transportation.

  At this time, containers are widely distributed as dedicated cases in order to improve graspability and visibility in storing, shipping and transporting articles. The containers have the same shape and size and are used for storing and transporting articles. Since the containers have the same shape and size, they can be used in common in various places, and can be conveniently used for accommodating a plurality of containers, loading them into transport equipment, and the like.

  In addition, since the container is a common container in one factory or distribution center, the worker can easily grasp the container and work safety is increased. Alternatively, a plurality of containers can be stacked and moved inside the factory or distribution center. Furthermore, the reliability and safety are enhanced by using a common container for shipping and transportation to the outside.

  In this way, a common container having the same size and shape is often used for storing articles.

  At this time, in a factory or a distribution center, a plurality of containers containing articles may be stacked on a moving carriage. By stacking a plurality of containers on the carriage, it is possible to move many containers at once (that is, many articles at a time).

  Here, various articles are manufactured on a manufacturing line. Many processes are automated in the production line, and labor saving and cost reduction are progressing. Articles manufactured on the manufacturing line are finally stored in containers. For example, several tens of articles are accommodated in one container.

  Containers in which the articles are stored are generated one after another, and a process of loading these containers on a moving carriage is finally performed. When loaded on a moving carriage, multiple containers are transported at once.

  However, the work of loading a container in which an article is stored on a moving carriage is often performed manually. This is because a container filled with several tens of articles may weigh several tens of kilograms, and automatic equipment for loading the container on a moving carriage or the like is not easily spread. This is because, in particular, the performance of the gripping device that can grip a heavy container to move reliably is insufficient.

  For this reason, there has been a situation in which the last step of loading the container on the moving carriage is performed manually. The work of loading a container of several tens of kilograms on a moving cart is a very heavy burden on the operator, and has been a problem in terms of safety and efficiency.

  In such a situation, a technique for gripping a container or the like has been proposed (see, for example, Patent Document 1, Patent Document 2, and Patent Document 3).

JP 2014-50904 A JP-A-8-90457 JP 2008-93823 A

  In Patent Document 1, the pair of left and right gripping tools 4A and 4B is made of a plate material having a plate surface parallel to the front-rear direction perpendicular to the left-right direction in which both gripping tools are arranged in parallel. And a horizontal plate portion 18b extending rearward from the lower end thereof, and the cross-sectional shape of the front side 18c of the vertical plate portion 18a is formed in a shape in which the lateral width gradually increases from the pointed end. By swinging horizontally around the vertical axis passing through the vertical plate portion 18a, the entire gripper is switched between a horizontal extending / retracting posture parallel to the front-rear direction and a container supporting posture where the horizontal plate portion 18b is tilted inward by a predetermined angle. A container moving gripping device having gripping tool attitude switching means is disclosed.

  Patent Document 1 includes a gripping mechanism that grips a container from the left and right and a moving mechanism that moves the gripped container up and down.

  However, the gripping device of Patent Document 1 grips the container while sandwiching the container from the left and right, and grips the container by increasing the clamping force at this time. As described above, the container may have a weight of several tens of kilograms, and the heavier or larger the container, the more force is required for pinching. This is because the gripping device of Patent Document 1 is configured to sandwich the container while increasing the force sandwiched from the left and right.

  As the container weight increases or the size increases, the necessary force to sandwich from the left and right increases. For this reason, it is necessary to increase the size and performance of the gripping device. There is a problem of cost increase. In addition, when it is necessary to load a container on a moving carriage, there are often only very narrow places left. This is because it is provided at the end of the production line. An increase in size of the gripping device is not preferable in terms of the installation area.

  Further, when the structure is sandwiched between the pair of hands from the left and right, each of the pair of hands must apply a force. Since the gripping mechanism and the moving mechanism by the pair of hands have an independent structure, the hand is swayed from side to side as the force to be applied by the hand increases. In other words, the container may sway left and right (horizontal direction) while holding the container.

  If the grasped container is swayed from side to side, it may cause a drop, which is not preferable from the viewpoint of safety and protection of articles. Of course, it is not preferable to load the moving cart.

  In particular, when the grasped container is moved in the horizontal direction, there is a problem of shaking in the horizontal direction due to weight and inertia. As described above, shaking is not preferable from the viewpoints of safety, protection of articles, and work performance. There is also a problem that it becomes difficult to load on the moving carriage.

  Patent Document 2 includes first and second scrapers opposed so as to sandwich both side surfaces of an article from the horizontal direction, and a fork that supports a temporary surface of the article sandwiched between both scrapers in a vertical direction. Disclosed is a cargo handling robot hand in which a first scraper is fixed, a second scraper is movable by a liquid cylinder, and a fork is movable by a cylinder in the cargo handling robot hand.

  Patent Document 3 discloses a gripping device including two tightening jaws that can be relatively moved by an electric device, and a toggle lever including first and second lever members.

  In both Patent Documents 2 and 3, an element gripped from the left and right grips an object such as a container. In this grip, force is applied from the left and right. The gripping elements are independent, and gripping is performed with an independent force.

  Because of this technique, Patent Documents 2 and 3 have the same problems as Patent Documents 1 and 2.

  When a normal article is targeted as in Patent Document 3, it is possible to deal with the shape of the article in various ways by applying a gripping force from the side surface. However, since the containers have the same shape and size, this point is not necessary. Conversely, in the case of a container, not a normal article, the weight becomes very heavy even if the size and shape are common. Holding a heavy container by applying force from both sides causes the above-mentioned problems.

  As described above, the conventional gripping device grips the container by increasing the force applied from both sides in proportion to the weight of the container. This technique has problems such as an increase in size and a container shaking as the weight of the container increases.

  SUMMARY OF THE INVENTION In view of these problems, an object of the present invention is to provide a container gripping device that can reliably grip even when the weight of the container increases and can prevent shaking during movement.

In view of the above problems, the container gripping device of the present invention is a container gripping device for gripping a container,
A support member having a guide member;
A movable member attached to the support member and movable relative to the support member;
A first arm attached to one side of the moving member;
A second arm attached to the moving member opposite to the first arm;
A first gripping part attached to the tip of the first arm;
A second gripping part attached to the tip of the second arm,
The moving member has a receiving member that fits with the guide member, and when the moving member moves relative to the support member, the guide member and the receiving member maintain a fitted state,
When the moving member is at a predetermined fixed position, the first gripping portion has a first predetermined angle with respect to the first arm, the second gripping portion has a second predetermined angle with respect to the second arm,
Each of the first predetermined angle and the second predetermined angle substantially matches the angle of the side surface with respect to the planar direction of the container, and each of the first gripping portion and the second gripping portion can grip both side surfaces of the container.

  In the container gripping device of the present invention, the gripping part grips both side surfaces of the container by the lowering of the moving member provided in the support member. The force with which the gripping part grips both sides of the container is not generated by the gripping part itself, but is generated by the moving member, so that it is not necessary to increase the force generated by the gripping part as the container weight increases. As a result, an increase in size of the entire gripping device can be suppressed.

  Moreover, in raising and lowering the moving member, the guide member can be fitted to fix the position of the moving member. For this reason, when the moving member is lowered and the gripping portion is in the gripping state, the force to the gripping portion is fixed and the gripping force does not drop.

  In addition, the gripping portions on both sides with respect to the moving member do not swing the position from side to side. After the gripping part grips, the positional relation and distance relation between the gripping part and the moving member are fixed, and the gripped container is hardly shaken during gripping. The same is true when the grasped container moves. As a result, it is possible to prevent the gripping device from being broken or the container falling due to the horizontal shaking of the container.

It is a perspective view of the holding apparatus for containers of the present invention. It is a perspective view of the holding apparatus for containers in Embodiment 1 of the present invention. It is a perspective view of the grasping device for containers moved to the fixed position in Embodiment 1 of the present invention. It is a perspective view which shows the state which has hold | gripped the container 100 in Embodiment 1 of this invention. It is a front view of the holding apparatus for containers which starts the holding of the container in Embodiment 1 of this invention. It is a front view of the holding apparatus for containers which approached the holding of the container in Embodiment 1 of this invention. It is a front view of the holding apparatus for containers which hold | gripped the container in Embodiment 1 of this invention. It is a perspective view of the holding apparatus for containers in Embodiment 2 of this invention. It is a front view of the support member in Embodiment 2 of this invention. It is a perspective view of the holding apparatus for containers in Embodiment 2 of this invention. It is a perspective view of the holding device for containers which can hold a plurality of containers in Embodiment 2 of the present invention.

A container gripping device according to a first aspect of the present invention is a container gripping device for gripping a container,
A support member having a guide member;
A movable member attached to the support member and movable relative to the support member;
A first arm attached to one side of the moving member;
A second arm attached to the moving member opposite to the first arm;
A first gripping part attached to the tip of the first arm;
A second gripping part attached to the tip of the second arm,
The moving member has a receiving member that fits with the guide member, and when the moving member moves relative to the support member, the guide member and the receiving member maintain a fitted state,
When the moving member is at a predetermined fixed position, the first gripping portion has a first predetermined angle with respect to the first arm, the second gripping portion has a second predetermined angle with respect to the second arm,
Each of the first predetermined angle and the second predetermined angle substantially matches the angle of the side surface with respect to the planar direction of the container, and each of the first gripping portion and the second gripping portion can grip both side surfaces of the container.

  With this configuration, the first grip portion and the second grip portion can grip the container only by moving the moving member relative to the support member.

In the container gripping device according to the second invention of the present invention, in addition to the first invention, the moving member applies a force to the first gripping part via the first arm and the second member via the second arm. 2 Apply force to the gripping part,
Each of the first gripping part and the second gripping part comes into contact with both side surfaces of the container and applies a force applied from the moving member to the container for gripping.

  With this configuration, the movement of the moving member and the fixing force at the fixed position can apply the holding force to the first holding part and the second holding part. The gripping force can be realized by a force in the moving direction of the moving member. A separate force only for gripping and its structure can be eliminated.

In the container gripping device according to the third invention of the present invention, in addition to the first or second invention, the moving member moves to the fixed position by moving in the first direction,
By the fitting of the guide member and the receiving member, the position of the moving member is fixed and the first arm and the second arm are fixed at the fixed position.

  With this configuration, the gripping state can be maintained only by the fixing force at the fixed position of the moving member. A gripping force can be continuously applied.

  In the container gripping device according to the fourth aspect of the present invention, in addition to any one of the first to third aspects, the moving member moves at the first arm and the second arm as they move in the first direction. , And the crossing angle of the first arm and the second arm is reduced as it moves in the second direction opposite to the first direction.

  With this configuration, it is possible to finally generate the grip angle of the grip portion only by moving the moving member.

In the container gripping device according to the fifth aspect of the present invention, in addition to the fourth aspect, as the first arm moves in the first direction, the crossing angle between the first arm and the first gripping portion decreases. Approach the first predetermined angle,
As the second arm moves in the first direction, the crossing angle between the second arm and the second gripping portion is reduced and approaches the second predetermined angle.

  With this configuration, it is possible to finally generate the grip angle of the grip portion only by moving the moving member.

In the container gripping device according to the sixth aspect of the present invention, in addition to any one of the first to fifth aspects,
A positioning member that moves by fitting the guide member and the receiving member;
A piston for moving the positioning member;
And having
By the movement of the piston in the first direction, the positioning member moves in the first direction, and the state where the positioning member is fixed at the fixed position can be maintained.

  With this configuration, the moving member can be reliably moved and fixed at the fixed position. Even if the required fixing force increases, it can be handled.

In the container gripping device according to the seventh invention of the present invention, in addition to any of the first to sixth inventions, when the moving member is in the fixed position,
The first arm and the first gripper can maintain a first predetermined angle of intersection,
The second arm and the second gripper can maintain a second predetermined angle of intersection,
The distance to the first gripping part and the distance to the second gripping part are maintained on the basis of the moving member.

  With this configuration, the state in which the container can be held can be maintained by fixing the moving member at the fixed position, and in addition, the container is not shaken left and right in the holding state.

  In the container gripping device according to the eighth aspect of the present invention, in addition to the seventh aspect, the first gripping portion and the second gripping portion provide the gripping force to the container only with the force by which the moving member is fixed. Cause it to occur.

  With this configuration, the force for fixing the moving member at the fixed position becomes the gripping force as it is.

  In the container gripping device according to the ninth aspect of the present invention, in addition to the seventh aspect, the distance to the first gripping portion and the distance to the second gripping portion are maintained based on the moving member. The grasped container does not shake in the horizontal direction with respect to the moving member.

  With this configuration, it is possible to prevent problems such as dropping during the movement of the container.

  In the container gripping device according to the tenth aspect of the present invention, in addition to any of the first to ninth aspects, each of the first predetermined angle and the second predetermined angle is approximately 90 degrees.

  With this configuration, the container having a corner portion of 90 degrees is surely held.

  In the container gripping device according to the eleventh invention of the present invention, in addition to any of the first to tenth inventions, when the moving member is in the fixed position, the first arm and the second arm are substantially omitted. Parallel.

  With this configuration, it is possible to increase the fixing force and the sense of stability while the container is being held.

  In the container gripping device according to the twelfth aspect of the present invention, in addition to any of the first to eleventh aspects, the lengths of the first arm and the second arm are variable.

  With this configuration, it is possible to cope with changes in the size of the container.

  In the container gripping device according to the thirteenth aspect of the present invention, in addition to any of the first to twelfth aspects, the guide member is concave, and the convex width is the width at the fixed position other than that. It is smaller than the width at.

  With this configuration, it is possible to reduce the wear of the guide member and the receiving member due to the movement of the moving member while increasing the fixing force at the fixing position.

  In the container gripping device according to the fourteenth aspect of the present invention,

  With this configuration,

In the container gripping device according to the fifteenth aspect of the present invention, in addition to any of the first to fourteenth aspects, the first gripping portion includes a first sub-arm that is rotatably connected to the first arm. And a first gripping claw rotatably connected to the first sub arm,
The second gripping portion has a second sub-arm that is rotatably connected to the second arm, and a second gripping claw that is rotatably connected to the second sub-arm.

  With this configuration, it becomes easy to adjust the crossing angle of each of the first gripping portion and the second gripping portion to a desired angle by changing the angle in two stages.

In the container gripping device according to the sixteenth aspect of the present invention, in addition to any one of the first to fifteenth aspects, the moving member moves in a substantially horizontal direction based on the installation angle of the support member,
The first arm and the second arm change the crossing angle in a substantially vertical direction.

  With this configuration, a container gripping device can be realized according to the convenience of the installation location.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  (Embodiment 1)

(About containers)
A container to be gripped by the container gripping device of the present invention will be described. FIG. 1 is a perspective view of a container gripping device of the present invention. The container 100 can accommodate articles therein as shown in FIG. 1 and has the same shape and the same size depending on the type. Of course, when the type of the container 100 changes, the shape and size change.

  The container 100 can be folded, and it is also preferable that the container 100 is highly flexible in use. Even if the weight of the container 100 itself is not large, when an article is accommodated inside the container 100, the weight may be as high as several tens of kilograms, and it is very difficult to load it on a cart manually. The container gripping device of the present invention can grip both sides of the container 100 and load it on a cart or take it down from the cart.

(Overview)
An overall outline of the container gripping device will be described. FIG. 2 is a perspective view of the container gripping device according to Embodiment 1 of the present invention. FIG. 2 shows a state before the moving member 3 to be described later is positioned at the top and the container 100 is gripped.

  The container gripping device 1 includes a support member 2, a moving member 3, a first arm 4, a second arm 5, a first gripping part 6, and a second gripping part 7.

  The support member 2 includes a guide member 21. The support member 2 is combined with the frame 20 and can form the entire skeleton of the container gripping device 1 together with the frame 20. The support member 2 is provided with a moving member 3, a first arm 4, and a second arm 5, and becomes the center of the entire combination of the container gripping devices 1.

  The moving member 3 is attached to the support member 2. The moving member 3 is movable with respect to the support member 2 by this attachment. The moving member 3 may move up and down in the vertical direction with respect to the support member 2 or may move in a plane in the plane direction. In FIG. 2, since the support member 2 is provided in a substantially vertical direction, the moving member 3 attached thereto moves up and down.

  The moving member 3 can move in each of the first direction (downward in FIG. 2) and the second direction (upward in FIG. 2) of the arrow shown in FIG. The first direction and the second direction are opposite to each other.

  The moving member 3 includes a receiving member 31 that fits with the guide member 21. When the moving member 3 moves relative to the support member 2 (in the attached support member 2), the receiving member 31 maintains a fitted state with the guide member 21. That is, the moving member 3 can move with respect to the support member 2 while the receiving member 31 is fitted to the guide member 21. For this reason, the moving member 3 can move without eliminating the combination with the support member 2.

  The first arm 4 is attached to the moving member 3. Here, the 1st arm 4 is attached to the position of the one side surface of the moving member 3, as FIG. 2 shows. The second arm 5 is attached to the moving member 3. Here, as shown in FIG. 2, the second arm 5 is attached to the position of the other side surface of the moving member 3. As a result, the first arm 4 and the second arm 5 are attached to both sides of the moving member 3.

  The first arm 4 is attached to the moving member 3 so that its fulcrum can rotate. The second arm 5 is also attached to the moving member 3 so that its fulcrum can be rotated. For this reason, when the moving member 3 moves, the crossing angle between the first arm 4 and the second arm 5 can be changed. For example, when the moving member 3 moves in the first direction, the intersection angle between the first arm 4 and the second arm 5 increases. When the moving member 3 moves in the second direction, the crossing angle between the first arm 4 and the second arm 5 decreases.

  The first grip 6 is attached to the first arm 4. The 1st holding part 6 is attached to the front-end | tip of the 1st arm 4, for example. The first grip 6 is attached to the first arm 4 so as to be rotatable. When the first arm 4 moves in the first direction in this rotatable state, the first gripping portion 6 reduces the crossing angle with the first arm 4 and moves the first arm 4 in the second direction. The first holding part 6 can increase the angle of intersection with the first arm 4.

  The first grip 6 contacts one side surface of the container 100. By this contact, the first grip portion 6 can grip one side surface of the container 100.

  The second grip 7 is attached to the second arm 5. The second grip 7 is attached to the tip of the second arm 5, for example. The second grip 7 is attached to the second arm 5 so as to be rotatable. When the second arm 5 moves in the first direction in this rotatable state, the second gripping portion 7 reduces the crossing angle with the second arm 5 and moves the second arm 5 in the second direction. The second gripping portion 7 can increase the angle of intersection with the second arm 5.

  The second grip 7 comes into contact with one side surface of the container 100. By this contact, the second gripping portion 7 can grip one side surface of the container 100. At this time, the second gripping portion 7 is positioned on the opposite side of the first gripping portion 6 and grips the side surface of the container 100 opposite to the first gripping portion 6.

  The moving member 3 is movable in each of the first direction and the second direction. Here, FIG. 3 shows a state after the moving member 3 has moved in the first direction from the state of FIG. 2 and moved to a predetermined fixed position. FIG. 3 is a perspective view of the container gripping device moved to the fixed position in the first embodiment of the present invention. A state after the moving member 3 has moved in the first direction (down here) and has reached a predetermined fixed position is shown.

  The moving member 3 can move along the first direction. At this time, the receiving member 31 moves while being fitted to the guide member 21 of the support member 2. The moving member 3 moves in the first direction and reaches a predetermined fixed position. The predetermined fixed position is a position where the first gripping part 6 and the second gripping part 7 can grip the container 100. For example, it is the maximum position where the moving member 3 can move in the first direction with respect to the support member 2.

  When the moving member 3 is in a predetermined fixed position, the first gripping portion 6 is at a first predetermined angle with respect to the first arm 4. That is, the crossing angle between the first grip 6 and the first arm 4 is the first predetermined angle. The first predetermined angle substantially coincides with the angle of the side surface with respect to the planar direction of the container 100. For example, when the container 100 has a square shape as shown in FIG. 1, the angle of the side surface with respect to the planar direction is approximately 90 degrees. For this reason, the crossing angle between the first gripping part 6 and the first arm 4 is preferably about 90 degrees in gripping. That is, in this case, the first predetermined angle is approximately 90 degrees.

  Similarly, when the moving member 3 is at a predetermined fixed position, the second gripping portion 7 is at a second predetermined angle with respect to the second arm 5. That is, the intersection angle between the second gripping portion 7 and the second arm 5 is the first predetermined angle. The second predetermined angle substantially coincides with the angle of the side surface with respect to the planar direction of the container 100. For example, when the container 100 has a square shape as shown in FIG. 1, the angle of the side surface with respect to the planar direction is approximately 90 degrees. For this reason, the crossing angle between the second gripping portion 7 and the second arm 5 is preferably about 90 degrees in gripping. That is, in this case, the second predetermined angle is approximately 90 degrees.

  Of course, the first predetermined angle and the second predetermined angle may be set variously depending on the angle of the corner of the container 100.

  Here, the 1st holding | grip part 6 and the 1st arm 4 are connected by the joint, and can be rotated by a joint. When the fulcrum of the first arm 4 is moved by the movement of the moving member 3 in the first direction, the crossing angle between the first arm 4 and the first gripping portion 6 becomes smaller. The same applies to the second grip 7 and the second arm 5. In FIG. 3, when the fulcrum of the first arm 4 and the second arm 5 (connection portion with the moving member 3) is lowered, the crossing angle between the first arm 4 and the first gripping portion 6 becomes small, and the second arm 5. And the angle of intersection between the second gripping portion 7 is reduced.

  As the crossing angle becomes smaller, the first gripping part 6 and the second gripping part 7 can come into contact with both side surfaces of the container 100.

  FIG. 3 shows a state in which each of the first gripping portion 6 and the second gripping portion 7 can grip both side surfaces of the container 100 (can touch and grip along both side surfaces). Since the moving member 3 is in the fixed position, the first gripping portion 6 and the second gripping portion 7 can grip both side surfaces of the container 100.

  Here, the position and angle of the first grip 6 and the second grip 7 are fixed depending on the position of the moving member 3. Further, the moving member 3 applies a force to the first grip portion 6 and the second grip portion 7. With this applied force, the first gripping portion 6 and the second gripping portion 7 can grip the container 100 by applying a gripping force. Even when the container 100 becomes heavier, the first gripping portion 6 and the second gripping portion 7 can grip and hold the gripping force on the container 100 only by the force of the moving member 3.

  FIG. 4 is a perspective view showing a state where the container 100 according to Embodiment 1 of the present invention is gripped. Each of the first gripping part 6 and the second gripping part 7 grips both side surfaces of the container 100. Since the moving member 3 is in the fixed position, the angles of the first arm 4 and the second arm 5 are also fixed, and each of the first gripping part 6 and the second gripping part 7 applies a gripping force to the container 100. . With this gripping force, the first gripping part 6 and the second gripping part 7 can grip the container 100 reliably.

  Depending on the shape of the container 100, the first predetermined angle and the second predetermined angle may have an angle other than approximately 90 degrees.

(Description of operation)
Next, the operation of the container gripping device 1 will be described.

  FIG. 5 is a front view of the container gripping apparatus that starts gripping the container according to Embodiment 1 of the present invention. FIG. 6 is a front view of the container gripping device approaching the container gripping according to Embodiment 1 of the present invention. FIG. 7 is a front view of the container gripping device that grips the container according to Embodiment 1 of the present invention. Each of FIGS. 5 to 7 shows both the container gripping device 1 and the container 100.

  The container gripping device 1 grips the container 100 in the order shown in FIGS. Conversely, the container gripping apparatus 1 opens the gripped container 100 in the order shown in FIGS.

(State of FIG. 5)
First, the container gripping device 1 is in the state shown in FIG. A container 100 is installed and is in a preparation state for gripping the container 100. For example, the container 100 is installed in a production line or a boxing line. The container gripping device 1 is installed at a position for gripping the installed container 100.

  In the container gripping apparatus 1, the moving member 3 is in a state before starting to move in the first direction with respect to the support member 2. For example, the moving member 3 is in an initial state before starting to move in the first direction. In this initial state, the intersecting angle between the first arm 4 and the second arm 5 connected to the moving member 3 is the minimum. The fulcrum of the first arm 4 and the second arm 5 (connection portion with the moving member 3) is in a state before moving in the first direction. In the case of FIG. 5, these fulcrums are in a state before being lowered.

  However, the support member 2 is lowered together with the frame 20 so that the first arm 4 and the like can grip the container 100.

  The first grip 6 connected to the first arm 4 has a large crossing angle with the first arm 4. For this reason, the 1st holding | grip part 6 is the state which cannot contact the side surface of the container 100. FIG.

  Similarly, the second grip portion 7 connected to the second arm 5 has a large intersection angle with the second arm 5. For this reason, the 2nd holding | grip part 7 is a state which cannot contact the side surface of the container 100. FIG. As a result, the container gripping device 1 is still in a state before the container 100 is gripped.

(State of FIG. 6)
Next, the moving member 3 starts moving in the first direction with respect to the support member 2. It is the state of FIG. In FIG. 6, the moving member 3 descends. As the moving member 3 moves in the first direction, the fulcrum of the first arm 4 and the second arm 5 also moves in the first direction. In the movement of the moving member 3, the receiving member 31 of the moving member 3 maintains a state of being fitted with the guide member 21 of the support member 2.

  Here, the guide member 21 is a concave recess in the support member 2, and the receiving member 31 may be a convex protrusion that fits into the recess. Of course, the fitting may be reversed with the concavities and convexities reversed.

  As the fulcrum moves in the first direction, the intersection angle between the first arm 4 and the second arm 5 also increases.

  When the fulcrum of the first arm 4 moves in the first direction, the crossing angle between the first arm 4 and the first gripping portion 6 decreases. When the fulcrum of the second arm 5 moves in the first direction, the crossing angle between the second arm 5 and the second gripping portion 7 decreases. At this time, the first arm 4 and the second arm 5 are connected to the moving member 3 at the same position, so that the change in the crossing angle between the first arm 4 and the first grip portion 6 and the second The change in the angle of intersection between the arm 5 and the second gripping portion 7 is the same. Of course, they may be configured differently.

  As the moving member 3 moves in the first direction, the crossing angle between the first arm 4 and the first gripping portion 6 becomes smaller. As the crossing angle decreases, the inside of the first gripping portion 6 approaches the side surface of the container 100. Similarly, as the moving member 3 moves in the first direction, the crossing angle between the second arm 5 and the second gripping portion 7 becomes smaller. As the crossing angle becomes smaller, the inside of the second gripping portion 7 approaches the side surface of the container 100.

  The inner sides of the first gripping part 6 and the second gripping part 7 are in contact with the side surface of the container 100.

(State of FIG. 7)
FIG. 7 shows a state in which the moving member 3 has reached the fixed position. The moving member 3 moves in the first direction and reaches a predetermined fixed position. The predetermined fixed position is a position where the first gripping part 6 and the second gripping part 7 can grip the container 100. The fixed position may be determined by the shape of the container 100, the configuration of the container gripping device 1, and the like. For example, the crossing angle between the first arm 4 and the second arm 5 may be approximately 180 degrees, that is, they may be in a substantially parallel state.

  As the moving member approaches the fixed position, the intersection angle between the first arm 4 and the first gripping portion 6 is reduced and approaches the first predetermined angle. Further, when the moving member 3 reaches the fixed position, as shown in FIG. 7, the crossing angle between the first arm 4 and the first gripping portion 6 becomes the first predetermined angle.

  Similarly, as the moving member approaches the fixed position, the intersection angle between the second arm 5 and the second gripping portion 7 is reduced and approaches the second predetermined angle. Furthermore, when the moving member 3 reaches the fixed position, as shown in FIG. 7, the intersection angle between the second arm 5 and the second gripping portion 7 becomes the second predetermined angle.

  FIG. 7 shows a state in which the first gripping portion 6 and the second gripping portion 7 are gripping both side surfaces of the container 100 at the first predetermined angle and the second predetermined angle.

  The first predetermined angle substantially coincides with the angle of the side surface with respect to the planar direction of the container 100, and the second predetermined angle is the same. By becoming such an angle, the inside of the 1st holding part 6 and the inside of the 2nd holding part 7 will be in the state which contacts each of the both sides | surfaces of the container 100. FIG.

  Here, the length by which the first arm 4 and the second arm 5 are opened corresponds to the distance (length) between both side surfaces of the container 100. That is, the distance between the first gripping part 6 and the second gripping part 7 matches the length of the container 100. By this coincidence, each of the inner sides of the first gripping part 6 and the second gripping part 7 can apply a gripping force while being in contact with both side surfaces of the container 100.

  When in the fixed position, the movable member 3 can maintain the fixed position with respect to the support member 2 by fitting the guide member 21 and the receiving member 31 together. That is, the position can be fixed. Since the moving member 3 can be fixed at a fixed position, the positional relationship, mutual angular relationship, and configuration of the first arm 4, the second arm 5, the first gripping portion 6, and the second gripping portion 7 can be maintained.

  As a result, the moving member 3 can apply a gripping force to the first gripping part 6 via the first arm 4. The moving member 3 can apply a gripping force to the second gripping part 7 via the second arm 5. Each of the first gripping part 6 and the second gripping part 7 can be gripped by contacting the both side surfaces of the container 100 and applying a gripping force applied from the moving member 3 to the container 100.

  The moving member 3 moves to the fixed position by moving in the first direction. In the fixed position, the moving member 3 can be fixed. At this time, the position of the moving member 3 is fixed at the fixed position by the fitting of the guide member 21 and the receiving member 31. In addition, the positions of the first arm 4 and the second arm 5 are fixed.

  That is, the container gripping device 1 does not require a gripping force applying mechanism from the left and right independent of the vertical movement force.

  If the support member 2 is raised in the state of FIG. 7, the container 100 held by the first holding part 6 and the second holding part 7 is lifted (raised). When the support member 2 moves in the plane direction, the container 100 held by the first holding unit 6 and the second holding unit 7 moves in the plane direction (the same applies to the movement in the three-dimensional direction).

  At this time, the position of the moving member 3 is fixed to the fixed position by fitting the guide member 21 and the receiving member 31 to the support member 2. The position of the moving member 3 relative to the support member 2 does not fluctuate in the planar direction or the vertical direction. The first grip portion 6 is connected to the moving member 3 via the first arm 4. Since the length of the 1st arm 4 does not change, the position with respect to the moving member 3 of the 1st holding part 6 also does not change. Similarly, the second grip 7 is connected to the moving member 3 via the second arm 5. Since the length of the second arm 5 does not change, the position of the second gripping portion 7 relative to the moving member 3 does not change.

  That is, in the state where the moving member 3 is fixed at the fixed position, the relative positional relationship between the first gripping part 6 and the second gripping part 7 does not change. That is, the container 100 does not move between the first gripping part 6 and the second gripping part 7. That is, the container 100 is not shaken in the plane direction by the movement of the support member 2. As a result, the necessity of increasing the gripping force in the planar direction during gripping can be suppressed.

  Further, the first gripping portion 6 and the second gripping portion 7 generate the gripping force only by fixing the moving member 3 to the support member 2. This is because the positional relationship and correspondence with the container 100 depend on the fixing of the moving member 3. That is, the force necessary for gripping is only the fixing force of the moving member 3. As a result, the complexity of the mechanism for applying force is reduced, and the problems of the prior art, such as an increase in the size of the mechanism of the gripping part, can be solved for shaking the container 100 and gripping the container 100.

(Relative relationship at the fixed position of the moving member)
As described above with reference to FIG. 7, the moving member 3 moves in the first direction (the descending direction in FIG. 7) relative to the support member 2 and reaches the fixed position. As long as the driving mechanism for moving the moving member 3 in the first direction continues to apply the moving force, the moving member 3 is fixed at the fixed position by the fitting of the guide member 21 and the receiving member 31.

  When in the fixed position, the first arm 4 and the first gripping portion 6 can maintain an intersection angle of the first predetermined angle. Similarly, the second arm 5 and the second gripping portion 7 can maintain a second predetermined angle of intersection. As described above, the first predetermined angle and the second predetermined angle are angles at which both side surfaces of the container 100 can be gripped.

  Moreover, the distance to the 1st holding part 6 and the distance to the 2nd holding part 7 can also be maintained on the basis of the moving member 3. With this distance, gripping according to the width of the container 100 can be performed. Since these angles and distances are constant, the gripped container 100 does not shake in the plane direction (horizontal direction) (based on the moving member 3).

  At this time, in the case where the angle of the corners which are both side surfaces of the container 100 is approximately 90 degrees, each of the first predetermined angle and the second predetermined angle is preferably approximately 90 degrees. Of course, when the angles of the corners which are both side surfaces of the container 100 are other angles, the first predetermined angle and the second predetermined angle may be other angles.

  As described above, the distance (relative positional relationship) between the first gripping portion 6 and the second gripping portion 7 with respect to the moving member 3 is constant, and at the first predetermined angle and the second predetermined angle. By being maintained, the container 100 is not swayed and transported between the first gripping part 6 and the second gripping part 7.

  Further, the first gripping portion 6 and the second gripping portion 7 can fix the relative distance by fixing the angle by fixing the moving member 3 at the fixed position. By fixing these two, the first gripping part 6 and the second gripping part 7 can apply a gripping force to the container 100. In other words, the first gripping portion 6 and the second gripping portion 7 are only a force that fixes the moving member 3 (the driving force of the driving mechanism that moves the moving member 3 in the first direction and maintains the fixed position), and the container A gripping force of 100 is generated. With this gripping force, the first gripping part 6 and the second gripping part 7 can grip the container 100.

  Further, when the moving member 3 is in the fixed position, the first arm 4 and the second arm 5 are substantially parallel. By being substantially parallel, it is possible to efficiently apply a gripping force when gripping the container 100. Also, the gripping force can be increased. In particular, when the first predetermined angle and the second predetermined angle are approximately 90 degrees, the gripping force when the gripping force is generated only by the fixing force of the moving member 3 can be increased.

  As described above, the container gripping device 1 according to the first embodiment can solve the problems of the prior art and can reliably grip the container 100 in response to an increase in the size of the container 100.

  (Embodiment 2)

  Next, a second embodiment will be described.

(Movement of moving member by piston)
FIG. 8 is a perspective view of the container gripping device according to Embodiment 2 of the present invention. The state which focused on the part of the moving member 3 of the holding apparatus 1 for containers is shown. Reference numerals are omitted for the same elements as in FIG.

  The moving member 3 has a positioning member 32 and a piston 34. The positioning member 32 is a member that moves with the fitting of the guide member 21 and the receiving member 31. By this movement, the position of the moving member 3, that is, the positions of the first arm 4 and the second arm 5 are determined.

  The piston 33 moves the positioning member 32. At this time, the piston 33 moves the positioning member 32 in the first direction and the second direction. The piston 33 may be moved by receiving various pressure drives such as air pressure and hydraulic pressure. When the positioning member 32 is moved by the piston 33, the moving member 3 can be fixed at the fixed position. If the piston 33 is moved to the fixed position and the pressure applied to the piston 33 is continued, the moving member 3 remains fixed at the fixed position.

  If the piston 33 moves in the first direction, the positioning member 32 also moves in the first direction. If the piston 33 moves in the second direction, the positioning member 32 also moves in the second direction. Since pressure such as air pressure or hydraulic pressure is applied to the piston 33, the positioning member 33 can fix its position.

  By changing the position by moving the positioning member 32 by the piston 33, the position of the moving member 3 can be changed and the position can be fixed with high accuracy. In addition, the position can be easily fixed. Since the force for fixing the position is the force of the piston 33, the fixing to the fixing position can be ensured. The piston 33 may be moved by a motor.

(Variable arm length)
It is also preferable that the lengths of the first arm 4 and the second arm 5 are variable. The lengths of the first arm 4 and the second arm 5 correspond to the width of the container 100. The width of the container 100 is often constant according to the standard, but the width may change as the type or manufacturer changes.

  Since the lengths of the first arm 4 and the second arm 5 are variable, it is possible to cope with the change in the width of the container 100. For example, the length may be variable because the first arm 4 and the second arm 5 are foldable. Alternatively, the first arm 4 and the second arm 5 may be extendable so that the length is variable. Alternatively, the first arm 4 and the second arm 5 may have a variable length by being a joint structure.

  Alternatively, the first arm 4 and the second arm 5 can be interchanged so that the length can be made variable.

  As described above, since the lengths of the first arm 4 and the second arm 5 are variable, it is possible to handle the container 100 having various sizes.

(Guide member)
The guide member 21 is fitted with the receiving member 31. By this fitting, the relative positional relationship between the support member 2 and the moving member 3 is maintained. Moreover, the fixing at the fixing position is also maintained.

  At this time, when the guide member 21 is concave and the receiving member is convex, it is also preferable that the lower width of the guide member 21 is smaller than the upper width. FIG. 9 is a front view of a support member according to Embodiment 2 of the present invention. A concave guide member 21 is provided on the support member 2.

  As shown in FIG. 9, the lower width of the guide member 21 is smaller than the upper width. A convex receiving member 31 is fitted into the concave guide member 21. At this time, the fitting between the guide member 21 and the receiving member 31 becomes stronger as it is lowered downward. In particular, since the gap in the width direction is reduced, fixing and fitting in the width direction are strengthened.

  As a result, at the fixed position (below), the receiving member 31 to be fitted does not easily change its position in the width direction. In the fixed position, the first gripping part 6 and the second gripping part 7 grip the container 100. When in this gripping state, the fitting state is strong and it is difficult to move in the width direction, so that the shaking of the container 100 can be further prevented.

  In addition, since the width is wide above, the movement in the first direction is smooth, and wear of the guide member 21 and the receiving member 31 can be reduced.

  In other words, the width of the guide member 21 at the fixed position is smaller than the other width.

  Conversely, when the guide member 21 is convex and the receiving member 31 is concave, the change in width is reversed. The width of the guide member 21 at the fixed position is smaller than the other width.

  Alternatively, the receiving member 31 may have a width change like the guide member 21 described above.

(First gripping part and second gripping part)
FIG. 10 is a perspective view of the container gripping device according to Embodiment 2 of the present invention.

  The first grip 6 has a first sub arm 61 and a first grip claw 62. The first sub arm 61 is rotatably connected to the first arm 4. The first gripping claw 62 is pivotally connected to the first sub arm 61. That is, with the first arm 4 as a reference, the first gripping claw 62 changes the angle in two stages.

  Since the first gripping claw 62 contacts and grips the side surface of the container 100, the first predetermined angle can be accurately realized by changing the angle by two-stage rotation. Providing the first gripping claws 62 with projections 63 is also preferable in terms of increasing the gripping force.

  The second grip 7 has a second sub arm 71 and a second grip claw 72. The second sub arm 71 is pivotally connected to the second arm 5. The second gripping claw 72 is rotatably connected to the second sub arm 71. That is, with the second arm 5 as a reference, the second gripping claw 72 changes the angle in two stages.

  Since the second gripping claw 72 contacts and grips the side surface of the container 100, the second predetermined angle can be realized with high accuracy by changing the angle by two-stage rotation. Providing the second gripping claw 72 with a protrusion 73 is also preferable in terms of increasing the gripping force.

(Direction of moving member and support member)
In the description using FIG. 3 and the like, the case where the support member 2 and the moving member 3 are in the vertical direction has been described as an example. For this reason, the first direction is a downward direction, and the second direction is an upward direction. By this raising and lowering, the first gripping part 6 and the second gripping part 7 are configured to be able to grip both side surfaces of the container 100.

  The gripping of the container 100 during the elevation corresponds to a mode in which the container 100 is placed on the floor surface and the container gripping device 1 tries to grip the container 100 from above.

  On the other hand, it may be necessary to grip from the side of the container 100. The container gripping device 1 is used for moving the container 100. Depending on the installation location of the drive device related to this movement and the mode of the movement location, it may be better to grip the container 100 from the side.

  In this case, the container gripping device shown in FIG. 3 or the like may be installed along the planar direction or installed along the oblique direction. In this case, the support member 2 and the moving member 3 combined with the support member 2 may be along the plane direction or along the oblique direction (of course, may be along various angles).

  In the case where the support member 2 and the moving member 3 are installed at such various angles, the moving member 3 can move relative to the support member 2 based on the various angles. Also by this movement, the first gripping part 6 and the second gripping part 7 can make the respective intersecting angles the first predetermined angle and the second predetermined angle. At this time, the gripping surfaces of the first gripping part 6 and the second gripping part 7 can sandwich the side surface from the side of the container 100, or can sandwich the side surface from other angles.

  Further, the support member 2 and the moving member 3 may be installed at an angle that moves in a substantially plane (horizontal) direction, and the first arm 4 and the second arm 5 may change the angles in a substantially vertical direction.

(Grip of two containers)
FIG. 11 is a perspective view of a container gripping device capable of gripping a plurality of containers in Embodiment 2 of the present invention. The container gripping device 1 shown in FIG. 11 has a configuration capable of gripping two containers 100 simultaneously. Each element of the two container gripping devices is combined with the frame 11.

  With this combination, two containers 100 can be gripped simultaneously. Note that FIG. 11 shows a state where only one container 100 is gripped for ease of viewing.

  The elements of the two container gripping devices 1 are combined. For this reason, each of the supporting member 2A, the supporting member 2B, the moving member 3A, the moving member 3B, the first gripping portion 6A, the first gripping portion 6B, the second gripping portion 7A, and the second gripping portion 7B is provided.

  The first gripping unit 6A and the second gripping unit 7A grip one container 100. The first gripping part 6B and the second gripping part 7B grip one container 100. Thus, since each can hold | maintain the container 100, the two containers 100 can be hold | gripped or moved simultaneously.

  Of course, the number is not limited to two, and by increasing the number of combinations of the gripping devices 1, three or more containers 100 can be gripped simultaneously.

  By having such a configuration, it is possible to increase the efficiency in gripping the container 100 and the movement associated therewith.

  The container gripping device described in the first and second embodiments is an example for explaining the gist of the present invention, and includes modifications and alterations without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Container gripping device 11 Frame 2 Support member 20 Frame 21 Guide member 3 Moving member 31 Receiving member 32 Positioning member 33 Piston 4 First arm 5 Second arm 6 First gripping portion 61 First sub arm 62 First gripping claw 63 Protrusion 7 Second gripping part 71 Second sub arm 72 Second gripping claw 73 Projection 100 Container

Claims (16)

A container gripping device for gripping a container,
A support member having a guide member;
A movable member attached to the support member and movable relative to the support member;
A first arm attached to one side surface of the moving member;
A second arm attached to the moving member opposite to the first arm;
A first gripping part attached to the tip of the first arm;
A second gripping part attached to the tip of the second arm,
The moving member has a receiving member fitted to the guide member, and when the moving member moves relative to the support member, the guide member and the receiving member maintain a fitted state,
When the moving member is at a predetermined fixed position, the first gripping portion is at a first predetermined angle with respect to the first arm, and the second gripping portion is at a second predetermined angle with respect to the second arm. And
Each of the first predetermined angle and the second predetermined angle substantially coincides with an angle of a side surface with respect to a planar direction of the container, and each of the first gripping portion and the second gripping portion has both side surfaces of the container. A gripping device for containers that can be gripped. The moving member applies a force to the first gripping part via the first arm, applies a force to the second gripping part via the second arm,
The container grip according to claim 1, wherein each of the first gripping portion and the second gripping portion is in contact with both side surfaces of the container and grips the container with a force applied from the moving member. apparatus. The moving member moves to the fixed position by moving in the first direction,
The container according to claim 1 or 2, wherein the position of the moving member is fixed and the first arm and the second arm are fixed at the fixed position by fitting the guide member and the receiving member. Gripping device.   As the moving member moves in the first direction, the crossing angle of the first arm and the second arm is enlarged, and as the moving member moves in a second direction opposite to the first direction, the first arm and the second arm The container gripping device according to claim 1, wherein the crossing angle of the second arm is reduced. As the first arm moves in the first direction, the crossing angle between the first arm and the first gripping portion decreases and approaches the first predetermined angle,
The container gripping device according to claim 4, wherein as the second arm moves in the first direction, an intersection angle between the second arm and the second gripping portion is reduced to approach the second predetermined angle. . The moving member is
A positioning member that moves by fitting the guide member and the receiving member;
A piston for moving the positioning member;
And having
The said positioning member moves to the said 1st direction by the movement to the said 1st direction of the said piston, The state in which the said positioning member was fixed in the said fixed position can be maintained. Container gripping device. When the moving member is in the fixed position,
The first arm and the first gripper can maintain an intersection angle of the first predetermined angle,
The second arm and the second gripper can maintain an intersection angle of the second predetermined angle,
The container gripping device according to any one of claims 1 to 6, wherein a distance to the first gripping portion and a distance to the second gripping portion are maintained on the basis of the moving member.   The container gripping device according to claim 7, wherein the first gripping portion and the second gripping portion generate a gripping force on the container only with a force by which the moving member is fixed.   By maintaining the distance to the first gripping portion and the distance to the second gripping portion with respect to the moving member, the container being gripped with respect to the moving member does not shake in the horizontal direction. The container gripping device according to claim 7.   The container gripping device according to any one of claims 1 to 9, wherein each of the first predetermined angle and the second predetermined angle is approximately 90 degrees.   The container gripping device according to any one of claims 1 to 10, wherein when the moving member is in the fixed position, the first arm and the second arm are substantially parallel to each other.   The container gripping device according to any one of claims 1 to 11, wherein the lengths of the first arm and the second arm are variable.   The container gripping device according to any one of claims 1 to 12, wherein the guide member has a concave shape, and the width of the convex shape is smaller at the fixed position than at the other positions. The first gripping portion includes a first sub-arm that is rotatably connected to the first arm, and a first gripping claw that is rotatably connected to the first sub-arm,
The said 2nd holding | grip part has a 2nd sub arm connected to the said 2nd arm so that rotation is possible, and a 2nd holding claw connected to the said 2nd sub arm so that rotation is possible. The container gripping device according to any one of the above.   The container gripping device according to any one of claims 1 to 14, wherein the moving member is movable at various angles based on an installation angle of the support member. The moving member moves in a substantially horizontal direction based on an installation angle of the support member,
The container gripping device according to any one of claims 1 to 15, wherein the first arm and the second arm change an intersecting angle in a substantially vertical direction.