JP2514337Y2 - Gripping device - Google Patents

Gripping device

Info

Publication number
JP2514337Y2
JP2514337Y2 JP1989033050U JP3305089U JP2514337Y2 JP 2514337 Y2 JP2514337 Y2 JP 2514337Y2 JP 1989033050 U JP1989033050 U JP 1989033050U JP 3305089 U JP3305089 U JP 3305089U JP 2514337 Y2 JP2514337 Y2 JP 2514337Y2
Authority
JP
Japan
Prior art keywords
piston
cylinder
grasped
link
links
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP1989033050U
Other languages
Japanese (ja)
Other versions
JPH02124985U (en
Inventor
律 松嶋
Original Assignee
象印チェンブロック株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 象印チェンブロック株式会社 filed Critical 象印チェンブロック株式会社
Priority to JP1989033050U priority Critical patent/JP2514337Y2/en
Publication of JPH02124985U publication Critical patent/JPH02124985U/ja
Application granted granted Critical
Publication of JP2514337Y2 publication Critical patent/JP2514337Y2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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  • Load-Engaging Elements For Cranes (AREA)

Description

【考案の詳細な説明】 (産業上の利用分野) 本考案は、クレーンなどの巻上装置に取付けて使用す
る把持装置、詳しくは被把持物を所定の挟持力で挟持し
て、該被把持物を前記クレーンなどで移動させるように
した把持装置に関する。
DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a gripping device which is used by being attached to a hoisting device such as a crane, and more specifically, to grip an object to be gripped with a predetermined gripping force. The present invention relates to a gripping device configured to move an object with the crane or the like.

(従来の技術) 従来、この種把持装置として、例えば実開昭63-73285
号公報に記載されたものが知られており、この公報記載
のものは、被把持物の両側に当接される一対の挟持爪を
備え、該各挟持爪を開放させて前記被把持物の両側に当
接させ、斯かる状態で上方に持上げることにより、格別
な動力源を必要とすることなく、前記被把持物の自重な
どで前記各挟持爪に所定の挟持力を発生させるようにし
ている。
(Prior Art) Conventionally, as a gripping device of this kind, for example, the actual exploitation Sho 63-73285
The one described in this publication is known, and the one disclosed in this publication is provided with a pair of holding claws that come into contact with both sides of the object to be held, and the holding claws are opened to open the object to be held. By abutting on both sides and lifting up in such a state, it is possible to generate a predetermined clamping force on each clamping claw by the own weight of the object to be grasped, etc. without requiring a special power source. ing.

(考案が解決しようとする課題) 所で、以上の把持装置では、被把持物を前記各挟持爪
で挟持して持上げるとき、特に強度的に弱い箱物などの
被把持物を持上げるようなとき、前記各挟持爪に発生す
る挟持力で被把持物が変形したり或いは破損したりする
ことがあり、しかも、前記各挟持爪で被把持物を挟持す
るときには、作業者が各挟持爪を開放状態に保持しなが
ら、該各挟持爪を被把持物の両側まで移動させて当接さ
せる必要があるため、挟持作業が非常に面倒となる問題
があった。
(Problems to be solved by the invention) However, in the above gripping device, when the object to be gripped is lifted by being clamped by each of the clamping claws, the object to be gripped, such as a box having a particularly weak strength, is lifted. At this time, the gripping force generated in each of the gripping claws may deform or damage the object to be gripped. Moreover, when the gripping claw is clamped by the gripping claw, an operator holds each gripping claw. Since it is necessary to move the holding claws to both sides of the object to be held and hold them while holding the open state, there is a problem that the holding work becomes very troublesome.

本考案は以上のような問題に鑑みてなしたもので、そ
の目的は、被把持物の持上時、被把持物を強固に把持し
て持上げることができながら、例え強度的に弱い被把持
物を挟持して持上げる場合でも、該被把持物の破損を招
いたりすることなく、各種被把持物に適用することがで
き、しかも、該被把持物の挟持作業が迅速且つ簡単にで
きる把持装置を提供することにある。
The present invention has been made in view of the above problems. An object of the present invention is to firmly grasp and lift an object to be grasped when the object to be grasped is lifted, but with weak strength. Even when gripping an object to be gripped and lifting it, it can be applied to various objects to be gripped without causing damage to the object to be gripped, and moreover, clamping work of the object to be gripped can be performed quickly and easily. To provide a gripping device.

(課題を解決するための手段) 上記目的を達成するために、本考案の把持装置では、
シリンダ(11)と、ピストン(12)と、これらシリンダ
(11)とピストン(12)との間に介装されこれらシリン
ダ(11)とピストン(12)とを伸長方向に付勢するスプ
リング(13)とから成る伸縮機構(1)を形成し、該伸
縮機構(1)の前記シリンダ(11)とピストン(12)と
の何れか一方に、ベース部材(2)を固定すると共に、
前記シリンダ(11)とピストン(12)との他方に巻上装
置に接続される支持部材(14)を固定し、前記ベース部
材(2)の両端部に、それぞれ第1リンク(3)(3)
と、該第1リンク(3)(3)と平行に延びる第2リン
ク(4)(4)とを揺動自由に枢支して、第1及び第2
リンクにより平行リンク機構を形成し、これら第1及び
第2リンク(3)(3)(4)(4)の一端側にブラケ
ット(5)(5)を枢支すると共に、該ブラケット
(5)(5)の内面側に被把持物の表面に広い接触面積
で当接する当接面(61)を持つバッド(6)(6)を水
平方向に揺動可能に取り付け、また前記第1リンク
(3)(3)の他端側を前記支持部材(14)に枢支され
る揺動アーム(7)(7)に連結して、前記伸縮機構
(1)の伸長により前記第1及び第2リンク(3)
(3)(4)(4)を介して前記バッド(6)(6)
を、前記両当接面(61)が平行状態を保った状態でその
間隔が狭まる方向に揺動させるべく成し、更に前記シリ
ンダ(11)とピストン(12)との何れか一方に係合部
(8)を設け他方に該係合部と係合する係止体(9)を
設けて、この係止体(9)の前記係合部(8)への係合
により、前記伸縮機構(1)を前記バッド(6)(6)
が開放する短縮位置で位置保持すべく成したことを特徴
とするものである。
(Means for Solving the Problems) In order to achieve the above object, the gripping device of the present invention is
A cylinder (11), a piston (12), and a spring (13 which is interposed between the cylinder (11) and the piston (12) and urges the cylinder (11) and the piston (12) in the extension direction. And a base member (2) is fixed to either one of the cylinder (11) and the piston (12) of the expansion / contraction mechanism (1).
A support member (14) connected to the hoisting device is fixed to the other of the cylinder (11) and the piston (12), and the first links (3) and (3) are respectively attached to both ends of the base member (2). )
And the second links (4) and (4) extending in parallel with the first links (3) and (3) so as to freely swing and support the first and second links.
A parallel link mechanism is formed by the links, and brackets (5) and (5) are pivotally supported on one end sides of the first and second links (3), (3), (4) and (4), and the bracket (5) is also supported. Pads (6) and (6) having an abutting surface (61) that abuts the surface of the object to be grasped on the inner surface side of (5) with a wide contact area are horizontally swingably mounted, and the first link ( 3) The other end of (3) is connected to a swing arm (7) (7) pivotally supported by the support member (14), and the extension and contraction mechanism (1) is extended so that the first and second Link (3)
(3) (4) (4) through the pad (6) (6)
To swing in a direction in which the distance between the abutting surfaces (61) is kept parallel to each other, and is engaged with either one of the cylinder (11) and the piston (12). A portion (8) is provided and a locking body (9) that engages with the engagement portion is provided on the other side, and the expansion and contraction mechanism is provided by the engagement of the locking body (9) with the engagement portion (8). (1) to the bad (6) (6)
It is characterized in that it is designed to hold the position in the shortened position in which it is opened.

(作用) 以上の把持装置では、前記各パッド(6)を被把持物
の両側に当接させて持上げることにより、該被把持物の
自重などで前記シリンダ(11)とピストン(12)とが伸
長方向に移動され、これに伴い前記ベース部材(2)と
支持部材(14)が伸長方向へ移動し、この伸長方向の移
動で前記各アーム(7)と各リンク(3)を介して前記
各パッド(6)が、その対向間隔を狭める方向に揺動さ
れて、これら各パッド(6)で前記被把持物が強固に挟
持されるのであるが、このとき、前記平行リンク機構に
よりブラケット(5)(5)に取り付けられた各パッド
(6)(6)は、該パッドの当接面(61)が平行状態を
保った状態でその対向間隔が狭まる方向に揺動する上
に、当接面(61)を持つパッド(6)(6)を前記ブラ
ケットに水平方向に揺動可能に取り付けているので、パ
ッド(6)は被把持物に対して部分的に接触することな
く実質上全面接触することができ、被把持物に対する圧
力が小さく且つ被把持物との摩擦が大きくなるため、例
え強度的に弱い被把持物であっても、前記各パッド
(6)の挟持力で破損されることはなく、該各パッド
(6)で前記被把持物が確実に挟持されるのであり、し
かも、前記シリンダ(11)とピストン(12)との間には
スプリング(13)が介装されていて、前記被把持物の把
持時には、前記スプリング(13)の押圧力が前記シリン
ダ(11)とピストン(12)とを伸長させる方向に直ちに
作用するため、前記各パッド(6)による前記被把持物
の挟持が効果的かつ速やかに行われるのである。
(Operation) In the above-described gripping device, the pads (6) are brought into contact with both sides of the object to be grasped and lifted, so that the cylinder (11) and the piston (12) are separated by the weight of the object to be grasped. Is moved in the extension direction, and accordingly, the base member (2) and the support member (14) are moved in the extension direction, and by this movement in the extension direction, the arms (7) and the links (3) are passed through. The pads (6) are swung in the direction of narrowing the facing interval so that the object to be grasped is firmly held by the pads (6). At this time, the parallel link mechanism is used to bracket the brackets. (5) Each pad (6) (6) attached to (5) swings in a direction in which the facing interval is narrowed while the contact surface (61) of the pad is kept parallel, and The pad (6) (6) having the contact surface (61) is horizontally attached to the bracket. Since the pad (6) can be brought into contact with the object to be grasped substantially entirely without being in partial contact with the object to be grasped, the pressure on the object to be grasped is small and the pad (6) is not contacted with the object to be grasped. Since the friction is large, even if an object to be grasped has a weak strength, it is not damaged by the clamping force of each pad (6), and the object to be grasped is surely secured by each pad (6). In addition, a spring (13) is interposed between the cylinder (11) and the piston (12), and when the object to be grasped is grasped, the pressing force of the spring (13) is held. Immediately acts in the direction of extending the cylinder (11) and the piston (12), so that the object to be grasped can be effectively and promptly held by the pads (6).

また、前記被把持物を所定位置にまで移動させて下ろ
すときには、前記シリンダ(11)とピストン(12)とが
近接方向に移動され、前記各パッド(6)が互いに離間
方向に揺動されて、該各パッド(6)の被把持物に対す
る挟持力が解除されるのであるが、このとき前記シリン
ダ(11)とピストン(12)との近接方向への移動に伴い
前記係合部(8)が係止体(9)に係合されて、前記各
パッド(6)が開放状態に保持されるのであり、従っ
て、次の被把持物を挟持するとき、作業者が前記各パッ
ド(6)を開放状態に保持したりする必要がなくなり、
該各パッド(6)による前記被把持物の挟持作業が簡単
に行われる。
When the object to be grasped is moved to a predetermined position and lowered, the cylinder (11) and the piston (12) are moved in the proximity direction, and the pads (6) are swung in the direction away from each other. The gripping force of each pad (6) with respect to the object to be grasped is released. At this time, the engaging portion (8) is moved as the cylinder (11) and the piston (12) move in the approaching direction. Is engaged with the locking body (9) so that the pads (6) are held in the open state. Therefore, when the next object to be grasped is nipped, the operator must hold the pads (6). It is no longer necessary to hold the
The work of sandwiching the object to be grasped by the pads (6) is easily performed.

(実施例) 第4図は、把持装置(H)を備えた釣り合いクレーン
(C)の全体構造を示しており、移動可能とされた基台
(F)にクレーン本体(D)を回転自由に取付け、該本
体(D)にほぼ水平方向に延びるリンク(L)を支持し
て、このリンク(L)を前記本体(D)に内装した駆動
装置で上下動させるようになすと共に、前記リンク
(L)の先端に垂直方向に延びる吊り下げアーム(A)
を連結し、該アーム(A)の下端側に、前記駆動装置を
発停制御する電源スイッチなどを備えた操作ボックス
(B)を支持する一方、このボックス(B)の下端側に
前記把持装置(H)を固定支持して、前記駆動装置によ
る前記リンク(L)及びアーム(A)の上下動と、前記
基台(F)に対する前記本体(D)の回転とにより、前
記把持装置(H)に把持した被把持物(M)を移動させ
るようにしている。
(Example) FIG. 4 shows the entire structure of a balancing crane (C) equipped with a gripping device (H), in which the crane body (D) can be freely rotated on a movable base (F). The link (L) is attached to the main body (D) and extends in a substantially horizontal direction, and the link (L) is moved up and down by a drive unit installed in the main body (D). L) A suspension arm (A) extending vertically to the tip of
And an operation box (B) equipped with a power switch for controlling the start and stop of the drive device is supported on the lower end side of the arm (A), while the gripping device is provided on the lower end side of the box (B). (H) is fixedly supported, and by the vertical movement of the link (L) and the arm (A) by the driving device and the rotation of the main body (D) with respect to the base (F), the gripping device (H ), The object to be grasped (M) is moved.

また、前記リンク(L)とアーム(A)には、複数の
連結ロッドを並設して、これら各ロッドにより前記被把
持物(M)を水平態勢で移動可能としている。
Further, a plurality of connecting rods are provided in parallel on the link (L) and the arm (A), and the grasped object (M) can be moved in a horizontal posture by each of these rods.

しかして、以上のようなクレーン(C)に使用する前
記把持装置(H)を、次のように構成したのである。
The gripping device (H) used for the crane (C) as described above is configured as follows.

即ち、前記把持装置(H)は、第1図〜第3図で明ら
かにしたごとく、上下方向に延びる筒状のシリンダ(1
1)と、該シリンダ(11)内に移動自由に設けた筒状の
ピストン(12)と、これらシリンダ(11)とピストン
(12)とを常時伸長方向に付勢するスプリング(13)と
をもった伸縮機構(1)を備え、この伸縮機構(1)に
おける前記シリンダ(11)の下部側に、横方向に延びる
ベース部材(2)を固定する。
That is, the gripping device (H) has a cylindrical cylinder (1) extending in the vertical direction, as is clear from FIGS. 1 to 3.
1), a cylindrical piston (12) movably provided in the cylinder (11), and a spring (13) for constantly urging the cylinder (11) and the piston (12) in the extension direction. The expansion / contraction mechanism (1) is provided, and the base member (2) extending in the lateral direction is fixed to the lower side of the cylinder (11) in the expansion / contraction mechanism (1).

また、前記ベース部材(2)の長さ方向両外端部に、
該ベース部材(2)の上下方向へと延びる2本1組とし
た2組の第1リンク(3)(3)を、それぞれ枢支軸
(a)を介して揺動自由に対称状態に支持すると共に、
前記ベース部材(2)における各リンク(3)(3)の
内側部位に、この各リンク(3)(3)と平行に下方側
に向けて延びる2本1組とした2組の第2リンク(4)
(4)を、枢支軸(b)を介して揺動自由に支持する一
方、前記第1及び第2リンク(3)(4)の下端側に、
それぞれ枢支軸(c)(d)を介してブラケット(5)
(5)を支持し、この各ブラケット(5)(5)の内面
側に、被把持物(M)に対して広い接触面積で当接され
る当接面(61)をもった矩形状のパッド(6)(6)を
それぞれ取付ける。
Further, at both outer ends in the length direction of the base member (2),
Two sets of first links (3) and (3) extending in the up-down direction of the base member (2) are supported in a swingable and symmetric state via pivot shafts (a), respectively. Along with
Two sets of second links, one set of two extending in a downward direction in parallel with the links (3) and (3), in the inner portion of the links (3) and (3) of the base member (2). (4)
(4) is swingably supported via a pivot shaft (b), while at the lower end side of the first and second links (3) and (4),
Bracket (5) via pivots (c) and (d) respectively
A rectangular shape having a contact surface (61) supporting the bracket (5) and contacting the object to be grasped (M) with a wide contact area on the inner surface side of each bracket (5) (5). Install pads (6) and (6) respectively.

尚、前記広い接触面積とは、被把持物(M)を把持し
て持上げる場合に、被把持物(M)を変形させることな
く把持できる大きさの接触面積のことである。
The large contact area is a contact area of a size that allows the grasped object (M) to be grasped and lifted without being deformed.

そして、前記ベース部材(2)に対する第1及び第2
リンク(3)(4)の枢支軸(a)(b)と、前記ブラ
ケット(5)に対する各リンク(3)(4)の枢支軸
(c)(d)とで、4点リンク機構を形成して、前記伸
縮機構(1)の伸長時に、前記各パッド(6)(6)を
水平方向に移動させて、その各当接面(61)(61)で前
記被把持物(M)の両側を挟持するようになす。
And, the first and second with respect to the base member (2)
A four-point link mechanism including the pivots (a) and (b) of the links (3) and (4) and the pivots (c) and (d) of the links (3) and (4) with respect to the bracket (5). When the expansion / contraction mechanism (1) is extended, the pads (6) and (6) are moved in the horizontal direction, and the abutting surfaces (61) and (61) of the pads (6) and (6) move the grasped object (M). ) Both sides are clamped.

また、前記各パッド(6)は、前記ブラケット(5)
に上下方向に延びる枢支ピン(e)を介して揺動可能に
取付け、前記伸縮機構(1)の伸長時に、前記各当接面
(61)を被当接物(M)の側面に確実に当接可能となす
のである。
In addition, each pad (6) includes the bracket (5).
Is swingably mounted to the side surface of the object to be contacted (M) when the expansion and contraction mechanism (1) is extended. Can be abutted against.

更に、前記各第1リンク(3)(3)の上部側には、
それぞれ枢支軸(f)を介して揺動アーム(7)(7)
を揺動自由に支持して、該各アーム(7)(7)の先端
側を、前記ピストン(12)の上部側に設けた支持具(1
4)に枢支軸(g)を介して支持すると共に、この支持
部(14)の上部側を前記操作ボックス(B)の下端側に
取付けて、前記クレーン(C)の上動に伴う前記ピスト
ン(12)のシリンダ(11)に対する伸長により、前記揺
動アーム(7)(7)を介して前記第1及び第2リンク
(3)(4)を、前記各パッド(6)(6)の間隔を狭
める方向に揺動させるようになす。
Further, on the upper side of each of the first links (3) and (3),
Swing arms (7) (7) via pivot shafts (f), respectively
A support tool (1) in which the distal ends of the arms (7) and (7) are provided on the upper side of the piston (12) while swingably supporting the
4) is supported via a pivot shaft (g), and the upper side of this support portion (14) is attached to the lower end side of the operation box (B) to allow the crane (C) to move upward. By the extension of the piston (12) with respect to the cylinder (11), the first and second links (3) and (4) are connected to the pads (6) and (6) via the swing arms (7) and (7). Swing in a direction that narrows the interval.

また、前記伸縮機構(1)を構成するシリンダ(11)
とピストン(12)との何れか一方側に係合部(8)を、
他方側に、該係合部(8)に係合する係止体(9)をそ
れぞれ設けて、この係止体(9)の前記係合部(8)へ
の係合で、前記伸縮機構(1)を前記パッド(6)
(6)が開放する短縮位置で位置保持するようになす。
Further, a cylinder (11) that constitutes the expansion mechanism (1).
The engaging portion (8) on either side of the piston and the piston (12),
Locking bodies (9) that engage with the engaging portions (8) are provided on the other side, respectively, and by the engagement of the locking bodies (9) with the engaging portions (8), the expansion mechanism is expanded. (1) to the pad (6)
(6) is held at the shortened position where it is opened.

具体的には、第3図で明らかにしたごとく、前記係止
体(9)として、複数のボール(91)と、該各ボール
(91)を押圧付勢する複数のバネ(92)とを用いる。
Specifically, as shown in FIG. 3, as the locking body (9), a plurality of balls (91) and a plurality of springs (92) for pressing and biasing the balls (91) are provided. To use.

そして、前記ピストン(12)の内方上部位置に、固定
ねじ(S)を介してムク状のブロック体(15)を固定
し、該ブロック体(15)の上下方向中間部位に、前記バ
ネ(92)を収容する複数の収容孔(16)を設けると共
に、この各収容孔(16)と対向する前記ピストン(12)
の壁部に、前記ボール(91)を受入れ、その外周一部を
外方側に突出させる複数の開口部(17)を設けて、前記
収容孔(16)に前記バネ(92)を収容し、かつ、前記開
口部(17)に前記ボール(91)を配置し、該ボール(9
1)の外周一部を前記バネ(92)で常時前記開口部(1
7)の外方側に突出させるようになす。
Then, a block-shaped block body (15) is fixed to an upper inner position of the piston (12) via a fixing screw (S), and the spring ( 92) and a plurality of housing holes (16) for housing the pistons (12) facing the respective housing holes (16).
A plurality of openings (17) for receiving the balls (91) and projecting a part of the outer periphery of the balls (91) to the outer side are provided in the wall portion of the housing, and the springs (92) are housed in the housing holes (16). In addition, the ball (91) is arranged in the opening (17), and the ball (9
Part of the outer circumference of (1) is always covered by the spring (92) with the opening (1).
Make it project to the outside of 7).

また、前記シリンダ(11)の上部側に、前記ボール
(91)の外周一部を受入係止可能とした円弧形状の前記
係合部(8)を形成し、前記ピストン(12)のシリンダ
(11)に対する縮小時に、前記係合部(8)にボール
(91)を係止させて、前記シリンダ(11)とピストン
(12)とを縮小状態に保持可能となすのである。
Further, the arc-shaped engaging portion (8) capable of receiving and locking a part of the outer periphery of the ball (91) is formed on the upper side of the cylinder (11), and the cylinder () of the piston (12) ( At the time of contraction with respect to 11), the ball (91) is locked to the engaging portion (8) so that the cylinder (11) and the piston (12) can be held in a contracted state.

更に、前記シリンダ(11)の壁部で前記係合部(8)
の形成部位に、該係合部(8)から外部へと貫通する挿
通孔(18)を形成すると共に、この挿通孔(18)に挿通
されるピン(19a)をもった板ばねから成る解除レバー
(19)を、前記挿通孔(18)の下方側に固定ねじ(S)
を介して取付け、前記シリンダ(11)とピストン(12)
との縮小時で、前記ボール(91)が係合部(8)に係合
されているとき、前記解除レバー(19)を押動操作する
ことによって、前記ボール(91)を前記バネ(92)に抗
して内方側に後退させ、前記ボール(91)と係合部
(8)との係合をワンタッチ操作で解除して、前記シリ
ンダ(11)に対するピストン(12)の伸長動作を簡単か
つ速やかに行うようにしている。
Further, the engagement portion (8) is formed on the wall portion of the cylinder (11).
An insertion hole (18) penetrating from the engaging portion (8) to the outside is formed in the formation part of the plate, and the release is composed of a leaf spring having a pin (19a) inserted into the insertion hole (18). Fix the lever (19) to the lower side of the insertion hole (18) with the fixing screw (S).
Mounted via the cylinder (11) and piston (12)
When the ball (91) is engaged with the engaging portion (8) when the ball (91) is contracted, the release lever (19) is pushed to move the ball (91) into the spring (92). ), The ball (91) and the engaging portion (8) are disengaged by a one-touch operation to extend the piston (12) with respect to the cylinder (11). I try to do it easily and quickly.

次に、以上のように構成した把持装置(H)の作用に
ついて説明する。
Next, the operation of the gripping device (H) configured as above will be described.

先ず、前記被把持物(M)の移動を行う場合には、前
記クレーン(C)を駆動させて、前記把持装置(H)を
被把持物(M)の近くにまで降下させ、前記各パッド
(6)を被把持物(M)の両側に当接させて、前記解除
レバー(19)で前記係合部(8)と係止体(9)との係
合を解除させながら、前記クレーン(C)で把持装置
(H)を徐々に持上げることにより、前記被把持物
(M)の自重と、前記各リンクやブラケットなど被把持
物(M)の挟持に寄与する挟持具の全体重量と、前記各
パッド(6)の摩擦係数と、前記スプリング(13)の付
勢力とで、前記ピストン(12)がシリンダ(11)に対し
伸長方向へと移動され、これに伴い前記各揺動アーム
(7)と前記第1及び第2リンク(3)(4)とを介し
て前記各パッド(6)が、その対向間隔を狭める方向に
揺動され、これら各パッド(6)で前記被把持物(M)
が強固に挟持されるのであり、このとき、前記各パッド
(6)は、前記被把持物(M)の両側に広い接触面積で
当接されるため、例え強度的に弱い箱物などの被把持物
(M)であっても、前記各パッド(6)の挟持力で破損
されることはなく、該各パッド(6)で前記被把持物
(M)が確実に挟持される。
First, when moving the object to be grasped (M), the crane (C) is driven to lower the grasping device (H) to a position close to the object to be grasped (M), and each pad is moved. The crane (6) is brought into contact with both sides of the object to be grasped (M) to release the engagement between the engagement portion (8) and the locking body (9) by the release lever (19), and By gradually lifting the gripping device (H) with (C), the weight of the object to be gripped (M) itself and the total weight of the clamps that contribute to clamping the object to be gripped (M) such as the links and brackets. And the friction coefficient of each pad (6) and the urging force of the spring (13) cause the piston (12) to move in the extension direction with respect to the cylinder (11). The pads (6) are paired with each other through the arm (7) and the first and second links (3) and (4). Is swung in a direction to reduce the distance, the object to be grasped them in each pad (6) (M)
Are firmly sandwiched, and at this time, since the pads (6) are brought into contact with both sides of the object to be grasped (M) with a wide contact area, the pads (6), such as a box object which is weak in strength, can be caught. Even the grasped object (M) is not damaged by the clamping force of each pad (6), and the grasped object (M) is reliably clamped by each pad (6).

このとき、前記被把持物(M)の重量をW、前記挟持
具の全体重量をw、前記パッド(6)の摩擦係数をμ、
前記第1リンク(3)の距離を2L1、前記第2リンク
(4)の支点間距離をL2、前記スプリング(13)のばね
力をfkとすれば、持上げ力Fは、 F=L1/L2(W+w+fk)μとなる。
At this time, the weight of the object to be grasped (M) is W, the total weight of the holding tool is w, the friction coefficient of the pad (6) is μ,
If the distance of the first link (3) is 2L1, the distance between fulcrums of the second link (4) is L2, and the spring force of the spring (13) is fk, the lifting force F is F = L1 / L2 (W + w + fk) μ.

従って、F>Wとなるように設計することにより前記
被把持物(M)を持上げ得るのであり、また、前記(w
+fk)が前記被把持物(M)の初期持上げ力として作用
するために、この被把持物(M)の持上げが効果的かつ
速やかに行われることとなる。
Therefore, the object to be grasped (M) can be lifted by designing so that F> W.
Since + fk) acts as an initial lifting force of the object to be grasped (M), the object to be grasped (M) is lifted effectively and promptly.

また、前記被把持物(M)を所定位置にまで移動させ
て下ろすときには、前記クレーン(C)で把持装置
(H)の全体を降下させて前記被把持物(M)を接地さ
せ、この後前記把持装置(H)の下方側への移動を継続
することにより、前記ピストン(12)がシリンダ(11)
に対し近接方向に移動され、前記各パッド(6)が互い
に離間方向に揺動されて、この各パッド(6)の被把持
物(M)に対する挟持力が解除されるのであり、このと
き前記シリンダ(11)とピストン(12)との近接方向へ
の移動に伴い前記係合部(8)が係止体(9)に係合さ
れて、前記各パッド(6)が開放状態に保持され、前記
クレーン(C)による把持装置(H)の上方側への移動
で、前記各パッド(6)が被把持物(M)から離間され
て上方側へと持上げられるのである。従って、次の被把
持物(M)を挟持するとき、前記各パッド(6)による
前記被把持物(M)の挟持作業が簡単にできるのであ
る。
When moving the object to be grasped (M) to a predetermined position and lowering it, the crane (C) lowers the entire grasping device (H) to ground the object to be grasped (M). The piston (12) is moved to the cylinder (11) by continuing the downward movement of the gripping device (H).
The pads (6) are moved toward each other with respect to each other, and the pads (6) are oscillated in the directions away from each other, and the clamping force of the pads (6) with respect to the object to be grasped (M) is released. With the movement of the cylinder (11) and the piston (12) in the proximity direction, the engaging portion (8) is engaged with the locking body (9), and the pads (6) are held in an open state. By the upward movement of the gripping device (H) by the crane (C), the pads (6) are separated from the object to be grasped (M) and lifted upward. Therefore, when the next object to be grasped (M) is clamped, the work of clamping the object to be grasped (M) by the pads (6) can be easily performed.

以上の実施例では、前記シリンダ(11)側にベース部
材(2)を固定したが、このベース部材(2)は、前記
ピストン(12)側に固定することもできる。
Although the base member (2) is fixed to the cylinder (11) side in the above embodiments, the base member (2) may be fixed to the piston (12) side.

また、前記実施例では、前記シリンダ(11)側に係合
部(8)を、前記ピストン(12)側に前記係合部(8)
に係合する係止体(9)をそれぞれ設けるようにした
が、この係止体(9)を前記シリンダ(11)側に、前記
係合部(8)を前記ピストン(12)側に設けるようにし
てもよいのである。
Moreover, in the said Example, the engagement part (8) is on the said cylinder (11) side, and the said engagement part (8) is on the said piston (12) side.
The locking bodies (9) that engage with the respective are provided, but the locking bodies (9) are provided on the cylinder (11) side and the engaging portions (8) are provided on the piston (12) side. You may do so.

(考案の効果) 以上説明したように本考案の把持装置では、シリンダ
(11)と、ピストン(12)と、これらシリンダ(11)と
ピストン(12)との間に介装されこれらシリンダ(11)
とピストン(12)とを伸長方向に付勢するスプリング
(13)とから成る伸縮機構(1)を形成し、該伸縮機構
(1)の前記シリンダ(11)とピストン(12)との何れ
か一方に、ベース部材(2)を固定すると共に、前記シ
リンダ(11)とピストン(12)との他方に巻上装置に接
続される支持部材(14)を固定し、前記ベース部材
(2)の両端部に、それぞれ第1リンク(3)(3)
と、該第1リンク(3)(3)と平行に延びる第2リン
ク(4)(4)とを揺動自由に枢支して、第1及び第2
リンクにより平行リンク機構を形成し、これら第1及び
第2リンク(3)(3)(4)(4)の一端側にブラケ
ット(5)(5)を枢支すると共に、該ブラケット
(5)(5)の内面側に被把持物の表面に広い接触面積
で当接する当接面(61)を持つバッド(6)(6)を水
平方向に揺動可能に取り付け、また前記第1リンク
(3)(3)の他端側を前記支持部材(14)に枢支され
る揺動アーム(7)(7)に連結して、前記伸縮機構
(1)の伸長により前記第1及び第2リンク(3)
(3)(4)(4)を介して前記バッド(6)(6)
を、前記両当接面(61)が平行状態を保った状態でその
間隔が狭まる方向に揺動させるべく成し、更に前記シリ
ンダ(11)とピストン(12)との何れか一方に係合部
(8)を設け他方に該係合部と係合する係止体(9)を
設けて、この係止体(9)の前記係合部(8)への係合
により、前記伸縮機構(1)を前記バッド(6)(6)
が開放する短縮位置で位置保持すべく成したから,被把
持物を前記パッド(6)(6)により狭圧した状態で持
ち上げると、被把持物とパッド(6)との間の摩擦抵抗
により被把持物そのものの重さで伸長機構が伸長してパ
ッド(6)をその対向間隔を狭める方向に動作できる上
に、前記平行リンク機構によりブラケット(5)(5)
に取り付けられ且つ該ブラケット(5)(5)に水平方
向に揺動可能に取り付けられた各パッド(6)(6)
は、該パッドの当接面(61)が平行状態を保った状態で
その対向間隔が狭まる方向に揺動できると共に、被把持
物に対して部分的に接触することなく実質上全面接触さ
せることができ、従って、被把持物に局部的に大きな力
が加わることがなく、しかも大きな摩擦力で把持するこ
とができる。このため、被把持物の持上時、被把持物を
強固に把持して持上げることができながら、例え強度的
に弱い箱体などの被把持物を挟持して持上げる場合にあ
っても、該被把持物を破損させたりすることなく、各種
被把持物に適用することが可能となり、しかも、該被把
持物の挟持作業を迅速かつ簡単確実に行い得るに至った
のである。
(Effects of the Invention) As described above, in the gripping device of the present invention, the cylinder (11), the piston (12), and the cylinder (11) interposed between the cylinder (11) and the piston (12). )
And a piston (12) for urging the piston (12) in an extension direction to form an expansion / contraction mechanism (1), and either the cylinder (11) or the piston (12) of the expansion / contraction mechanism (1) is formed. The base member (2) is fixed to one side, and the supporting member (14) connected to the hoisting device is fixed to the other side of the cylinder (11) and the piston (12) to fix the base member (2). The first link (3) (3) on each end
And the second links (4) and (4) extending in parallel with the first links (3) and (3) so as to freely swing and support the first and second links.
A parallel link mechanism is formed by the links, and brackets (5) and (5) are pivotally supported on one end sides of the first and second links (3), (3), (4) and (4), and the bracket (5) is also supported. Pads (6) and (6) having an abutting surface (61) that abuts the surface of the object to be grasped on the inner surface side of (5) with a wide contact area are horizontally swingably mounted, and the first link ( 3) The other end of (3) is connected to a swing arm (7) (7) pivotally supported by the support member (14), and the extension and contraction mechanism (1) is extended so that the first and second Link (3)
(3) (4) (4) through the pad (6) (6)
To swing in a direction in which the distance between the abutting surfaces (61) is kept parallel to each other, and is engaged with either one of the cylinder (11) and the piston (12). A portion (8) is provided and a locking body (9) that engages with the engagement portion is provided on the other side, and the expansion and contraction mechanism is provided by the engagement of the locking body (9) with the engagement portion (8). (1) to the bad (6) (6)
Since the object to be held is held in the shortened position where it is opened, when the object to be grasped is lifted in a state of being narrowed by the pads (6) and (6), the frictional resistance between the object to be grasped and the pad (6) causes The extension mechanism is extended by the weight of the object to be grasped and the pad (6) can be operated in the direction of narrowing the facing interval, and the brackets (5) (5) are provided by the parallel link mechanism.
Pads (6) (6) attached to the bracket (5) (5) so as to be horizontally swingable
Is capable of swinging in a direction in which the facing distance is narrowed while the contact surface (61) of the pad is kept in parallel, and is substantially in full contact with the object to be grasped without partially contacting it. Therefore, the object to be grasped can be grasped with a large frictional force without locally exerting a large force. Therefore, even when the object to be grasped can be firmly grasped and lifted at the time of lifting the object to be grasped, even when the object to be grasped such as a box body which is weak in strength is clamped and lifted. The present invention can be applied to various kinds of objects to be grasped without damaging the objects to be grasped, and moreover, the work of gripping the objects to be grasped can be performed quickly, simply and surely.

【図面の簡単な説明】[Brief description of drawings]

第1図は本考案にかかる把持装置の正面図、第2図は同
側面図、第3図は同要部の拡大半断面図、第4図は同把
持装置を設けた釣り合いクレーンの全体図である。 (1)……伸縮機構 (11)……シリンダ (12)……ピストン (13)……スプリング (2)……ベース部材 (3)……リンク (6)……パッド (61)……当接面 (7)……揺動アーム (8)……係合部 (9)……係止体 (M)……被把持物
Fig. 1 is a front view of a gripping device according to the present invention, Fig. 2 is a side view of the same, Fig. 3 is an enlarged half sectional view of the same part, and Fig. 4 is an overall view of a balancing crane provided with the gripping device. Is. (1) …… Expansion mechanism (11) …… Cylinder (12) …… Piston (13) …… Spring (2) …… Base member (3) …… Link (6) …… Pad (61) …… This Contact surface (7) …… Rotating arm (8) …… Engaging part (9) …… Locking body (M) …… Object to be grasped

───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 昭61−260993(JP,A) 特開 昭52−105459(JP,A) 特開 昭57−184086(JP,A) 特開 昭50−111756(JP,A) 実開 昭61−154282(JP,U) 実開 昭52−50468(JP,U) 実開 昭59−173682(JP,U) 実開 昭61−56377(JP,U) 実公 昭45−29711(JP,Y1) ─────────────────────────────────────────────────── --- Continuation of the front page (56) References JP 61-260993 (JP, A) JP 52-105459 (JP, A) JP 57-184086 (JP, A) JP 50- 111756 (JP, A) Actual opening 61-154282 (JP, U) Actual opening 52-50468 (JP, U) Actual opening 59-173682 (JP, U) Actual opening 61-56377 (JP, U) Actual public Sho-45-29711 (JP, Y1)

Claims (1)

(57)【実用新案登録請求の範囲】(57) [Scope of utility model registration request] 【請求項1】シリンダ(11)と、ピストン(12)と、こ
れらシリンダ(11)とピストン(12)との間に介装され
これらシリンダ(11)とピストン(12)とを伸長方向に
付勢するスプリング(13)とから成る伸縮機構(1)を
形成し、該伸縮機構(1)の前記シリンダ(11)とピス
トン(12)との何れか一方に、ベース部材(2)を固定
すると共に、前記シリンダ(11)とピストン(12)との
他方に巻上装置に接続される支持部材(14)を固定し、
前記ベース部材(2)の両端部に、それぞれ第1リンク
(3)(3)と、該第1リンク(3)(3)と平行に延
びる第2リンク(4)(4)とを揺動可能に枢支して、
第1及び第2リンクにより平行リンク機構を形成し、こ
れら第1及び第2リンク(3)(3)(4)(4)の一
端側にブラケット(5)(5)を枢支すると共に、該ブ
ラケット(5)(5)の内面側に被把持物の表面に広い
接触面積で当接する当接面(61)を持つパッド(6)
(6)を水平方向に揺動可能に取り付け、また前記第1
リンク(3)(3)の他端側を前記支持部材(14)に枢
支される揺動アーム(7)(7)に連結して、前記伸縮
機構(1)の伸長により前記第1及び第2リンク(3)
(3)(4)(4)を介して前記パッド(6)(6)
を、前記両当接面(61)が平行状態を保った状態でその
間隔が狭まる方向に揺動させるべく成し、更に前記シリ
ンダ(11)とピストン(12)との何れか一方に係合部
(8)を設け他方に該係合部と係合する係止体(9)を
設けて、この係止体(9)の前記係合部(8)への係合
により、前記伸縮機構(1)を前記パッド(6)(6)
が開放する短縮位置で位置保持すべく成したことを特徴
とする把持機。
1. A cylinder (11), a piston (12), and a cylinder (11) and a piston (12) interposed between the cylinder (11) and the piston (12) in an extending direction. An expansion / contraction mechanism (1) including a biasing spring (13) is formed, and a base member (2) is fixed to either one of the cylinder (11) and the piston (12) of the expansion / contraction mechanism (1). At the same time, a supporting member (14) connected to the hoisting device is fixed to the other of the cylinder (11) and the piston (12),
At both ends of the base member (2), a first link (3) (3) and a second link (4) (4) extending parallel to the first link (3) (3) swing. Pivot as possible,
A parallel link mechanism is formed by the first and second links, and brackets (5) and (5) are pivotally supported on one end sides of the first and second links (3), (3), (4) and (4), A pad (6) having an abutting surface (61) on the inner surface side of the bracket (5) (5) that abuts the surface of the object to be grasped with a wide contact area.
(6) is swingably mounted in the horizontal direction, and
The other ends of the links (3) and (3) are connected to swinging arms (7) and (7) pivotally supported by the support member (14), and the expansion and contraction mechanism (1) is extended so that the first and Second link (3)
(3) (4) (4) through the pads (6) (6)
To swing in a direction in which the distance between the abutting surfaces (61) is kept parallel to each other, and is engaged with either one of the cylinder (11) and the piston (12). A portion (8) is provided and a locking body (9) that engages with the engagement portion is provided on the other side, and the expansion and contraction mechanism is provided by the engagement of the locking body (9) with the engagement portion (8). (1) the pad (6) (6)
The gripping machine is characterized in that it is designed to hold the position in the shortened position where the grip is opened.
JP1989033050U 1989-03-22 1989-03-22 Gripping device Expired - Lifetime JP2514337Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1989033050U JP2514337Y2 (en) 1989-03-22 1989-03-22 Gripping device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1989033050U JP2514337Y2 (en) 1989-03-22 1989-03-22 Gripping device

Publications (2)

Publication Number Publication Date
JPH02124985U JPH02124985U (en) 1990-10-15
JP2514337Y2 true JP2514337Y2 (en) 1996-10-16

Family

ID=31536404

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1989033050U Expired - Lifetime JP2514337Y2 (en) 1989-03-22 1989-03-22 Gripping device

Country Status (1)

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JP (1) JP2514337Y2 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5522439B2 (en) * 2009-09-30 2014-06-18 国立大学法人九州工業大学 Gripping device
CN103318753A (en) * 2013-05-16 2013-09-25 安徽江淮汽车股份有限公司 Hoisting auxiliary tool

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4529711Y1 (en) * 1965-05-19 1970-11-14
JPS50111756A (en) * 1974-02-07 1975-09-02
JPS5250468U (en) * 1975-10-07 1977-04-11
JPS52105459A (en) * 1977-02-24 1977-09-03 Yasuhiro Watanabe Heavy article lifting gear
JPS57184086A (en) * 1981-05-08 1982-11-12 Daiya Kikai Kk Tongue device
JPS59173682U (en) * 1983-05-07 1984-11-20 来 末喜 U-shaped groove lifting device
JPS61154282U (en) * 1985-03-15 1986-09-25
JPS61260993A (en) * 1985-05-15 1986-11-19 株式会社日立製作所 Handling device

Also Published As

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JPH02124985U (en) 1990-10-15

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