JP2020171236A - Claw open/close device - Google Patents

Abstract

To facilitate sandwiching of an object between a first claw and a second claw which open and close in a claw open/close device.SOLUTION: A first claw 60a and a second claw 60b constituting a claw open/close device 10 come into a closed state when coming closer to each other, and an open state when separating away from each other. The claw open/close device 10 has a claw displacement mechanism which synchronously displaces the first claw 60a and the second claw 60b in a direction of coming closer to each other or in a direction of separating away from each other. In the claw open/close device 10, there are provided a first cam and a second cam which pivot the first claw 60a and the second claw 60b, respectively, both in from the open state to the closed state and in from the closed state to the open state.SELECTED DRAWING: Figure 3

Description

The present invention relates to a claw opening / closing device including a first claw and a second claw that can approach or separate from each other and are in a closed state when they approach each other and in an open state when they are separated from each other.

Harvesting of fruit vegetables is generally carried out by the worker picking the fruit vegetables from the branches and stems. In the case of a plant that forms a fruit stalk, for example, the worker holds the fruit stalk and swings it around one part of the stalk (especially delamination in tomatoes and the like), thereby destroying the center of the fruit stalk. Is cut off together with a part of the fruit stem.

In order to perform such an operation, the operator needs to swing the fruit vegetables back and forth a plurality of times in order to sufficiently destroy the fruit stalk, which requires a large movement of the arm. This operation is a burden on the operator. From this point of view, Patent Document 1 has come to propose an end effector for fruit harvesting corresponding to a hand portion of a robot. When harvesting cherry tomatoes, this fruit harvesting end effector bends the small fruit stalks by, for example, shaking the cherry tomatoes, thereby separating the cherry tomatoes from the delamination.

JP-A-2010-207118

Sufficient space is required to swing the fruit vegetables (cherry tomatoes in Patent Document 1) as described in Patent Document 1. In other words, in a small space where fruit vegetables are densely packed, it becomes difficult to swing the fruit vegetables and thus harvest the fruit vegetables.

In addition, the robot needs a highly accurate recognition means for detecting the delamination and determining the swinging direction of the fruit vegetables. This is because if the recognition error is large, the fruit vegetables will be damaged, such as the settling being removed during the swinging operation. Moreover, if the rocked fruit vegetables hit another fruit vegetable, there is a concern that the fruit vegetables may be damaged or the other fruit vegetables may separate from the fruit stem and fall to the ground. In either case, the commercial value decreases. That is, the yield of fruit vegetables that can be shipped as commercial products is reduced.

The present invention has been made to solve the above-mentioned problems, and is a claw opening / closing device capable of pressing an object to be pressed such as a fruit stalk and holding an object separated from the object to be pressed. The purpose is to provide.

In order to achieve the above object, according to one embodiment of the present invention, a claw opening / closing device including a first claw and a second claw that are closed when they approach each other and open when they are separated from each other. There,
A claw displacement mechanism that synchronously displaces the first claw and the second claw,
The first cam and the second cam for making the first claw and the second claw rotatable both when the open state is changed to the closed state and when the closed state is changed to the open state, respectively.
With
Provided is a claw opening / closing device in which the area of a portion of the first claw and the second claw facing each other in a closed state is larger than the area of a portion of the first claw and the second claw facing each other in an open state. Will be done.

According to the present invention, when the first claw and the second claw are changed from the open state to the closed state, the first claw and the second claw are rotated, and the first claw and the second claw in the closed state are mutually connected. The area of the facing portion (closed state facing portion) is set to be larger than the area of the facing portion (open state facing portion) of the first claw and the second claw in the open state. Therefore, the first claw and the second claw come into wide contact with the object sandwiched between the two claws. Therefore, it becomes easy to press the object, hold the object separated from the object to be pressed, and the like.

It is a schematic perspective view of the main part when the claw opening / closing device which concerns on embodiment of this invention is in an open state. It is a schematic bottom view of the claw opening and closing device in an open state. It is an enlarged perspective view of the main part of the claw opening / closing device in an open state. It is a schematic bottom view of the claw opening and closing device in a closed state. It is an enlarged perspective view of a main part when a claw opening / closing device changes from an open state to a closed state. It is an enlarged perspective view of the main part of the claw opening / closing device in a closed state.

Hereinafter, suitable embodiments of the claw opening / closing device according to the present invention will be described, and will be described in detail with reference to the accompanying drawings. In the following, "bottom" and "top" correspond to the bottom and top of FIGS. 1 and 3, but this is for convenience to simplify the explanation and facilitate understanding, and the claw opening and closing It does not specify the direction when the device is actually used.

FIG. 1 is a schematic perspective view of a main part of the claw opening / closing device 10 according to the present embodiment in an open state. In this case, the claw opening / closing device 10 functions as an end effector of a robot (not shown), and is used when harvesting fruit vegetables (in this case, tomatoes) 100.

The claw opening / closing device 10 has a motor holding plate 12. The opening / closing motor 14 is housed in the motor holding plate 12. The opening / closing motor 14 constitutes a claw displacement mechanism together with the first crankshaft 16 and the second crankshaft 18 described later. As shown in FIG. 2, which is a schematic bottom view of the claw opening / closing device 10, the rotating shaft 20 of the opening / closing motor 14 projects downward. A substantially circular rotating disk 22 is fitted onto the rotating shaft 20. The turntable 22 rotates integrally with the rotary shaft 20 as the rotary shaft 20 rotates.

The lower surface of the rotating disk 22 is exposed on the bottom surface side of the motor holding plate 12. The start end portion of the first large arm member 26a is connected to the exposed lower surface via the first small arm member 24a, and the start end portion of the second large arm member 26b is connected via the second small arm member 24b. Will be done. The first crankshaft 16 is configured to include a first small arm member 24a and a first large arm member 26a, and the second crankshaft 18 is configured to include a second small arm member 24b and a second large arm member 26b. ..

More specifically, the start end portion of the first small arm member 24a is connected to one surface of the turntable 22 via the first connecting bolt 30 and the nut 31. On the other hand, the end portion of the first small arm member 24a is inserted into the U-shaped groove 32 formed at the start end portion of the first large arm member 26a, and is inserted through the second connecting bolt 34 and the nut 31. It is connected to the start end portion of one large arm member 26a. The same applies to the connection between the turntable 22 and the second small arm member 24b, and the connection between the second small arm member 24b and the second large arm member 26b.

The first connecting bolt 30 and the second connecting bolt 34 are passed through the first bearing 36 and the second bearing 38 (see FIG. 2), respectively. Therefore, the first connecting bolt 30 / nut 31 and the second connecting bolt 34 / nut 31 are all rotatable relative to the first bearing 36 and the second bearing 38.

The first large arm member 26a extends from the start end portion to the middle so as to approach the second large arm member 26b, and then extends in a direction away from the second large arm member 26b until the end portion. .. Therefore, a bent portion is formed in the middle of the first large arm member 26a. A relatively long engaging recess 40 opens in this bent portion.

On the other hand, the second large arm member 26b also extends from the start end portion to the middle so as to approach the first large arm member 26a, and then extends in a direction away from the first large arm member 26a until the end portion. By being present, a bent portion is formed in the middle. An engaging convex portion 42 bulges toward the engaging concave portion 40 in this bent portion. The engaging convex portion 42 enters the engaging concave portion 40.

A first guide groove 44a and a second guide groove 44b are formed on the upper surfaces of the terminal portions of the first large arm member 26a and the second large arm member 26b, respectively. The first guide groove 44a extends from the end face of the first large arm member 26a facing the second large arm member 26b toward the back surface of the end face, and forms an arc shape curved with a predetermined curvature. Similarly, the second guide groove 44b extends from the end face of the second large arm member 26b facing the first large arm member 26a toward the back surface of the end face, and forms an arc shape curved with a predetermined curvature. Is formed in.

The first insertion hole 46a extending along the longitudinal direction of the first large arm member 26a and the second large arm member 26b on the tip end surface of the terminal portion of the first large arm member 26a and the second large arm member 26b, The openings of the second insertion holes 46b are formed respectively. The first insertion hole 46a intersects the first guide groove 44a. In other words, when the first guide groove 44a is visually recognized, the first insertion hole 46a can be visually recognized. Further, as shown in detail in FIG. 3, a first guide pin 50a extending so as to be substantially orthogonal to the longitudinal direction of the first insertion hole 46a is positioned and fixed in the vicinity of the terminal portion of the first insertion hole 46a. ..

The second insertion hole 46b also intersects the second guide groove 44b on the way from the opening to the end. Further, the second guide pin 50b is positioned and fixed in the vicinity of the end portion thereof.

A first claw 60a and a second claw 60b are provided at the tips of the first large arm member 26a and the second large arm member 26b. Explaining concretely by exemplifying the first claw 60a, the first claw 60a is a rising portion of a first pressing portion 62a including a flat portion and a rising portion of the first pressing portion 62a that rises vertically from the flat portion. It has a first shaft portion 64a provided on the back surface. Then, the first shaft portion 64a is inserted into the first insertion hole 46a. Here, a torsion spring (not shown) is housed in the first insertion hole 46a. The torsion spring elastically urges the first shaft portion 64a so that the flat portion of the first pressing portion 62a is in a posture extending along the horizontal direction (lying posture).

The first shaft portion 64a has a first semi-cylindrical notch 66a having a shape in which a side peripheral wall thereof is cut out by approximately 180 ° at a portion corresponding to the intersection position of the first insertion hole 46a and the first guide groove 44a. It is formed. That is, the first semi-cylindrical notch 66a is exposed from the first insertion hole 46a and the first guide groove 44a. When the first claw 60a and the second claw 60b are in the open state, the first semi-cylindrical notch 66a is in an upright posture in which the bottom wall extends along the vertical direction.

At the end of the first shaft portion 64a on the terminal side of the first insertion hole 46a, a first annular notch 68a having a shape notched so that the side peripheral wall thereof orbits over 360 ° is formed. The side peripheral wall of the first guide pin 50a enters the first annular notch 68a.

The second claw 60b is configured in the same manner as the first claw 60a. Therefore, for the component corresponding to the component of the first claw 60a, the above-mentioned name "first" is replaced with "second", and the reference code subscript "a" is replaced with "b". Detailed description will be omitted.

When the first claw 60a and the second claw 60b are in the open state, the first pressing portion 62a and the second pressing portion 62b have flat portions along the horizontal direction under the elastic action of the torsion spring as described above. It becomes an extended lying posture. At this time, the first pressing portion 62a and the second pressing portion 62b face each other on the side surfaces of the flat portion extending along the vertical direction. In short, the opposing portions are the side surface of the first pressing portion 62a facing the second pressing portion 62b and the side surface of the second pressing portion 62b facing the first pressing portion 62a. Hereinafter, each side surface is also referred to as an "open state facing portion", and reference numerals are 70a and 70b.

On the other hand, as shown in FIGS. 4 and 6, when the first claw 60a and the second claw 60b are in the closed state, the flat portions of the first pressing portion 62a and the second pressing portion 62b are along the vertical direction. It becomes an extended posture (standing posture). At this time, the first pressing portion 62a and the second pressing portion 62b face each other on the flat portions extending along the vertical direction. Since this surface faces downward when it is in the open state, it is hereinafter referred to as the "bottom surface" for convenience. Further, each bottom surface may be referred to as a "closed state facing portion", and reference numerals may be 72a and 72b.

A cam board 74 is connected to the lower surface of the tip of the motor holding board 12 via a bolt (not shown). The cam board 74 has a flat plate-shaped portion 76 having a small thickness, and a thick arc-shaped wall portion 78 protruding and curved so as to hang down from one end of the flat plate-shaped portion 76. On the lower surface side of the flat plate-shaped portion 76, a bent portion of the first large arm member 26a and an engaging convex portion 42 of the second large arm member 26b are located. Further, a third connecting bolt 80 is provided in the flat plate-shaped portion 76 so as to pass through the engaging concave portion 40 and the engaging convex portion 42. That is, the end portions of the first large arm member 26a and the second large arm member 26b are held by the cam board 74 via the third connecting bolt 80. A third bearing 82 (see FIG. 2) is also inserted between the third connecting bolt 80 and the nut 31. Therefore, the third connecting bolt 80 and the nut 31 are rotatable relative to the third bearing 82.

The lower end of the arcuate wall portion 78 is slidably engaged with the first guide groove 44a and the second guide groove 44b. Therefore, the lower end of the arcuate wall portion 78 is exposed from the first semi-cylindrical notch 66a and the second insertion hole 46b exposed from the first insertion hole 46a in the first guide groove 44a and the second guide groove 44b. Close to the second semi-cylindrical notch 66b. The lower end of the arcuate wall portion 78 of the cam board 74 and the first semicircular columnar notch 66a form the first cam, and the lower end of the arcuate wall portion 78 and the second semicircular columnar notch 66b form the second cam. ..

Further, a contact detection sensor 84 is provided at substantially the center of the arcuate wall portion 78. The contact detection sensor 84 detects that the arcuate wall portion 78 has come into contact with the fruit stalk 102 (delamination 104) or the like.

The claw opening / closing device 10 according to the present embodiment is basically configured as described above, and the effects thereof will be described next. In the following, a case where the tomato 100 as a fruit vegetable is separated from the fruit stem 102 will be illustrated.

In order to separate the tomato 100, which is a fruit vegetable, from the fruit stalk 102 by harvesting or the like, the robot advances the claw opening / closing device 10 toward the fruit stalk 102 by performing an appropriate operation. Along with this, the first claw 60a and the second claw 60b in the open state, more specifically, the open state facing portion 70a of the first pressing portion 62a and the open state facing portion 70b of the second pressing portion 62b A fruit stalk 102 is passed between them. When the contact detection sensor 84 detects that the arcuate wall portion 78 has come into contact with the fruit stalk 102, the progress of the claw opening / closing device 10 is stopped.

The volumes of the first pressing portion 62a and the second pressing portion 62b are relatively small. Further, the heights of the first pressing portion 62a and the second pressing portion 62b in the lying state are also small. Therefore, even in a region where a plurality of tomatoes 100 are densely packed, the delamination 104 to be crushed can be easily passed between the first pressing portion 62a and the second pressing portion 62b.

Next, the opening / closing motor 14 is urged. As a result, the rotating shaft 20 of the opening / closing motor 14 rotates clockwise by about 90 °, and the rotating disk 22 fitted on the rotating shaft 20 rotates integrally. It goes without saying that the rotation direction of the turntable 22 is clockwise and the rotation angle is about 90 °. As a result of this rotation, each start end portion and each end portion of the first small arm member 24a and the second small arm member 24b move from the position shown in FIG. 2 to the position shown in FIG. This is because the start ends of the first small arm member 24a and the second small arm member 24b are connected to the turntable 22 via the first connecting bolt 30 and the nut 31.

The start ends of the first large arm member 26a and the second large arm member 26b are connected to the end portions of the first small arm member 24a and the second small arm member 24b via the second connecting bolt 34. There is. Therefore, the first large arm member 26a and the second large arm member 26b are centered on the third connecting bolt 80 provided at the bent portion, and the start ends are separated from each other while the end portions are close to each other. Rotate to do so. At this time, the lower end of the arcuate wall portion 78 constituting the cam board 74 slides relatively in the first guide groove 44a and the second guide groove 44b.

While the first crankshaft 16 and the second crankshaft 18 are performing the above operations, the first connecting bolt 30, the second connecting bolt 34, and the third connecting bolt 80 are the first bearing 36, respectively. It rotates relative to the second bearing 38 and the third bearing 82.

While the first large arm member 26a and the second large arm member 26b are rotating in this way, the first claw 60a and the second claw 60a provided at the end portions of the first large arm member 26a and the second large arm member 26b are provided. The claws 60b approach each other. That is, the first claw 60a and the second claw 60b move toward the closed state while being displaced in synchronization.

Here, a first semicircular columnar notch 66a and a second semicircular columnar notch 66b are formed in the first shaft portion 64a of the first claw 60a and the second shaft portion 64b of the second claw 60b, respectively. The first semi-cylindrical notch 66a and the second semi-cylindrical notch 66b are in an upright posture before the first large arm member 26a and the second large arm member 26b rotate, and the first guide groove 44a and the second guide groove It is exposed at 44b. The lower end of the arcuate wall portion 78 slides relatively in the first guide groove 44a and the second guide groove 44b as the first large arm member 26a and the second large arm member 26b rotate. At this time, it abuts on the bottom walls of the first semicircular columnar notch 66a and the second semicircular columnar notch 66b, and further, the bottom wall is opposite to the rotation direction of the first large arm member 26a and the second large arm member 26b. Press in the direction.

By this pressing, the first semi-cylindrical notch 66a and the second semi-cylindrical notch 66b begin to incline so as to be separated from each other as shown in FIG. Following this, the first shaft portion 64a and the first pressing portion 62a rotate counterclockwise, while the second shaft portion 64b and the second pressing portion 62b rotate clockwise. Therefore, the first pressing portion 62a and the second pressing portion 62b rotate so that the bottom surfaces thereof are directed from the horizontal direction to the vertical direction. During this time, the rotating first shaft portion 64a and second shaft portion 64b are individually guided by the first guide pin 50a and the second guide pin 50b that have entered the first annular notch 68a and the second annular notch 68b, respectively. ..

As described above, the rotational movement of the turntable 22 is converted into the displacement movement of the first claw 60a and the second claw 60b in the closing direction via the first crankshaft 16 and the second crankshaft 18, so that the first claw 60a and the second claw 60b are displaced in the closing direction. The distance between the 1 pressing portion 62a and the 2nd pressing portion 62b becomes smaller. At the same time, the first pressing portion 62a and the second pressing portion 62b are changed from the lying posture to the standing posture. Then, a part of the fruit stalk 102 (for example, the delamination 104) comes into contact with the bottom surfaces of the first pressing portion 62a and the second pressing portion 62b in the standing posture.

In the present embodiment for separating the tomato 100, it is preferable to select the delamination 104 as the site for crushing the fruit stalk 102. This is because the delamination 104 is bulging, so that it can be easily recognized by the recognizing means, and it is easier to break it than other parts. Therefore, the case where the delamination 104 is crushed will be described below.

The delamination 104 is then sandwiched between the closed state facing portions 72a and 72b and is pressed. The delamination 104 pressed in this way is easily crushed (broken) as shown in FIG. This destruction leads to the tomato 100 being cut and separated from the fruit stem 102.

The rotation angle of the turntable 22 from the start to the stop is about 90 ° as described above. In this case, the rotation angles of the first shaft portion 64a and the second shaft portion 64b from the rotation of the turntable 22 to the stop of rotation are also about 90 °. Therefore, the first semi-cylindrical notch 66a and the second semi-cylindrical notch 66b are in a lying posture extending along the horizontal direction as shown in FIG. 6, and the first pressing portion 62a and the second pressing portion 62b are formed. However, the longitudinal direction extends along the vertical direction, and the bottom surfaces face each other in an upright posture.

As described above, in the present embodiment, after the release layer 104 is sandwiched between the first pressing portion 62a and the second pressing portion 62b, the first pressing portion 62a and the second pressing portion 62b are brought closer to the release layer 104. be able to. Moreover, while the open state facing portions 70a and 70b are relatively narrow side surfaces of the first pressing portion 62a and the second pressing portion 62b, the closed state facing portions 72a and 72b are the first pressing portions 62a and the second. 2 The bottom surfaces of the pressing portions 62b are relatively wide. That is, the area of the closed state facing portions 72a and 72b is larger than that of the open state facing portions 70a and 70b. Therefore, it becomes easy to sandwich the delamination 104 between the bottom surfaces of the first pressing portion 62a and the second pressing portion 62b.

Further, in this case, the first pressing portion 62a and the second pressing portion 62b approach each other (the first claw 60a and the first claw 60a) via the first crankshaft 16 and the second crankshaft 18 for the rotational movement of the turntable 22. It is converted into a displacement motion (the two claws 60b are closed). Therefore, a large propulsive force in the direction toward the second pressing portion 62b is generated in the first pressing portion 62a, and a large propulsive force in the direction toward the first pressing portion 62a is generated in the second pressing portion 62b. Therefore, a large pressing force is applied to the delamination 104. Therefore, the delamination 104 is easily destroyed.

In addition, the tomato 100 can be easily separated from the delamination 104 without shaking. Therefore, it becomes easy to harvest the tomato 100 even in a narrow space, and the work load of the operator is reduced. Moreover, it does not damage the tomato 100, which is the separation target, or another tomato 100. In addition, since the delamination 104 is crushed, it is possible to avoid cutting the bottom and the like. Therefore, it is possible to harvest a large number of tomatoes 100 having commercial value.

Furthermore, as described above, when it is detected that the fruit stalk 102 has come into contact with the arcuate wall portion 78, the progress of the claw opening / closing device 10 may be stopped, so that the robot is equipped with a highly accurate recognition means. You don't have to. By this amount, the cost can be reduced.

The portion of the fruit stem 102 on the tomato 100 side of the delamination 104 remains between the closed state facing portions 72a and 72b. Therefore, the robot can directly transport the tomato 100 separated from the fruit stem 102 to the harvest storage box or the like.

After the crushing of the delamination 104 is completed or the transportation of the tomato 100 is completed, the rotation shaft 20 of the opening / closing motor 14 is rotated by about 90 ° counterclockwise in the opposite direction to the above. At this time, the turntable 22 is also integrally rotated counterclockwise by about 90 °. As a result, the postures of the first crankshaft 16 (first small arm member 24a, first large arm member 26a) and the second crankshaft 18 (second small arm member 24b, second large arm member 26b) are shown in FIG. Return to. Of course, the first connecting bolt 30, the second connecting bolt 34, and the third connecting bolt 80 rotate relative to the first bearing 36, the second bearing 38, and the third bearing 82.

During this process, the first large arm member 26a and the second large arm member 26b have the third connecting bolt 80 provided at the bent portion as the center of rotation, and the start ends approach each other while the end portions approach each other. Rotate so as to be separated from each other. Therefore, the first claw 60a and the second claw 60b are separated from each other in synchronization with each other. Further, the lower end of the arcuate wall portion 78 slides relatively in the first guide groove 44a and the second guide groove 44b in the direction away from the first semicircular columnar notch 66a and the second semicircular columnar notch 66b. .. Therefore, the pressing force on the first semicircular columnar notch 66a and the second semicircular columnar notch 66b at the lower end of the arcuate wall portion 78 becomes smaller.

As described above, the first shaft portion 64a and the second shaft portion 64b are elastically urged by the torsion spring in the direction in which the first pressing portion 62a and the second pressing portion 62b are in the recumbent posture. Therefore, when the pressing force from the lower end of the arcuate wall portion 78 becomes smaller than the elastic urging force of the torsion spring, the first shaft portion 64a and the first pressing portion 62a rotate clockwise, while the second shaft portion 64b. And the second pressing portion 62b rotates counterclockwise. That is, the first pressing portion 62a and the second pressing portion 62b rotate so that their bottom surfaces are oriented from the vertical direction to the horizontal direction. During this time, the rotating first shaft portion 64a and second shaft portion 64b are guided by the first guide pin 50a and the second guide pin 50b, respectively, in the same manner as described above.

When the turntable 22 returns to its original position, the first semi-cylindrical notch 66a and the second semi-cylindrical notch 66b are in an upright posture extending along the vertical direction as shown in FIG. The pressing portion 62a and the second pressing portion 62b are in a lying posture in which the longitudinal direction extends along the horizontal direction and the side surfaces face each other. While the postures of the first pressing portion 62a and the second pressing portion 62b are changed in this way, the fruit stalk 102 is released from the restraint of the first pressing portion 62a and the second pressing portion 62b.

The present invention is not particularly limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.

For example, a handle (grip portion) is provided on the motor holding board 12, and a power switch for the opening / closing motor 14 is provided on the handle, and the operator turns on the power switch to operate the first claw 60a and the second claw 60b. The operation of closing the state may be performed, and the operation of opening the first claw 60a and the second claw 60b may be performed by turning it off. That is, the claw opening / closing device 10 may be incorporated into a work tool instead of the robot end effector.

Further, it goes without saying that the fruit vegetables are not limited to the tomato 100, and the part of the fruit stem 102 that is destroyed is not limited to the delamination 104.

Further, it is also possible to make an object other than the fruit stalk 102 a target to be sandwiched between the first claw 60a and the second claw 60b of the claw opening / closing device 10. In other words, the claw opening / closing device 10 is not particularly limited to a device or a tool that separates the fruit vegetable 100 from the fruit stem 102 (presses the fruit stem 102). For example, the claw opening / closing device 10 may be incorporated into a portable press device, and a pressing force may be applied to a predetermined work by the first claw 60a and the second claw 60b.

Furthermore, the claw opening / closing device 10 is not limited to a device that applies a large pressing force that crushes an object sandwiched between the first claw 60a and the second claw 60b. For example, the claw opening / closing device 10 may be incorporated into a transfer device in which a predetermined work is sandwiched between the first claw 60a and the second claw 60b and conveyed in this state.

The claw opening / closing device 10 is not limited to the one that changes the first claw 60a and the second claw 60b from the open state to the closed state to crush or hold the object as described above. That is, the first claw 60a and the second claw 60b may be first brought into the closed state shown in FIGS. 4 and 6, and then changed to the open state shown in FIGS. 1 to 3. In this case, the claws are opened and closed. The device 10 can be used, for example, as a door opening device for opening a closed sliding door or the like, a tearing device for widening a rift, or the like.

10 ... Claw opening / closing device 14 ... Opening / closing motors 16, 18 ... Crankshafts 22 ... Rotating discs 24a, 24b ... Small arm members 26a, 26b ... Large arm members 40 ... Engagement recesses 42 ... Engagement protrusions 44a, 44b ... Guides Grooves 46a, 46b ... Insertion holes 50a, 50b ... Guide pins 60a, 60b ... Claws 62a, 62b ... Pressing parts 64a, 64b ... Shafts 66a, 66b ... Semi-cylindrical notches 68a, 68b ... Circular notches 70a, 70b ... Open state Facing parts 72a, 72b ... Closed state Facing part 74 ... Cam board 78 ... Arc-shaped wall part 84 ... Contact detection sensor 100 ... Tomato 102 ... Fruit stalk 104 ... Delamination

Claims (4)

A claw opening / closing device including a first claw and a second claw that are closed when they approach each other and open when they are separated from each other.
A claw displacement mechanism that synchronously displaces the first claw and the second claw,
The first cam and the second cam for making the first claw and the second claw rotatable both when the open state is changed to the closed state and when the closed state is changed to the open state, respectively.
With
A claw opening / closing device in which the area of a portion of the first claw and the second claw facing each other in the closed state is larger than the area of the portion of the first claw and the second claw facing each other in the open state. In the claw opening / closing device according to claim 1, the claw displacement mechanism includes an opening / closing motor, a first crankshaft that converts the rotational movement of the opening / closing motor into displacement movements of the first claw and the second claw, and a first crankshaft. A claw opening / closing device including two crankshafts, wherein the first claw is provided at the tip of the first crankshaft and the second claw is provided at the tip of the second crankshaft. In the claw opening / closing device according to claim 2, the first claw has a first shaft portion connected to the first crankshaft, and the second claw has a second shaft portion connected to the second crankshaft. A claw opening / closing device having the first cam provided on the first shaft portion and the second cam provided on the second shaft portion. The claw opening / closing device according to any one of claims 1 to 3, wherein a contact detection sensor is provided between the first claw and the second claw.

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