JP2522501Y2 - Opening / closing link mechanism such as clamp - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial application field) The present invention relates to an opening / closing link mechanism such as a clamp. More specifically, the present invention is mounted on an arm tip of a hydraulic shovel or the like and opened / closed by expanding / contracting a rod of a hydraulic cylinder. The present invention relates to an opening and closing link mechanism such as a clamp having a pair of opening and closing members such as a clamp and a bucket.

(Prior Art) A conventional opening / closing link mechanism such as a clamp will be described with reference to FIG.

Reference numerals 100, 102, 104, and 106 denote first, second, third, and fourth arms, respectively, which are parallel links formed by a first shaft 108, a second shaft 110, a third shaft 112, and an opening / closing shaft 114. Is formed, the third
The shaft 112 is rotatably fixed to the tip of the arm 116 of the excavator, and rotatably fixed to the tip of the rod 118 of the first shaft 108.

When the rod 118 contracts, the first shaft 108 retracts to the left in the drawing. At this time, since the third shaft 112 is fixed to the tip of the arm 116, the distance between the second shaft 110 and the third shaft 112 is reduced, and both ends of the clamp 120 are closed.

Conversely, when the rod 118 extends to the right in the drawing, the second shaft 1
The distance between 10 and the third shaft 112 increases, and both ends of the clamp 120 open. The trajectory drawn by the ends of both clamps 120 when closing and opening is an arc that is always symmetrical with respect to a straight line k that passes through the opening / closing axis 114 and is parallel to the arm 116 or the rod 118.

(Problem to be solved by the invention) However, the above-described clamp has the following problems.

Since the trajectories of both clamps only draw a circular arc symmetrically about the opening / closing axis, when the clamps are closed, they just contact at the farthest point from the opening / closing axis. Therefore, in the work of breaking or taking in the earth and sand, there is only an operation of merely digging or scooping up, so that there is a problem that it is not suitable for operations such as unloading and unloading of earth and sand which require an operation of scraping.

Further, both clamps are opened around the opening / closing axis until the first axis of the parallel link and the opening / closing axis interfere with each other, but the opening angle cannot be made sufficiently large.

For this reason, when working with the arm substantially parallel to the ground, it is necessary to release and drop the object gripped by both clamps. However, there is a drawback that the work efficiency is reduced because the robot may not be able to fall due to being caught.

On the other hand, Japanese Patent Publication No. 61-39278 discloses an opening / closing link mechanism capable of greatly opening both clamps.

This opening / closing link mechanism is provided with a swing shaft or the like in the middle of the clamp, and uses a hanging tool utilizing a pulley mechanism to apply a lifting force caused by a wire to the opening / closing axis of the clamp, such as wood. It is applied to suspending heavy objects.

However, in the mechanism disclosed in the above publication, both clamps are opened by an equilibrium action based on their own weight because a pulley is used.

For this reason, in the above mechanism, the clamp cannot be forcibly opened and closed, the working direction is limited to the direction of gravity, and the device itself has the disadvantage of being large.

Therefore, it is almost impossible to attach the mechanism to the arm tip of the excavator.

Further, JP-A-56-46033 discloses a pair of opening / closing members which are supported by an opening / closing shaft so as to be openable and closable and which are formed in a substantially symmetrical shape to grip an object to be gripped when closed. A swing shaft that rotatably attaches a middle portion of one of the opening and closing members to a tip portion of the arm (on the center line of the arm);
A first link portion having one end rotatably connected to a middle portion of the other opening / closing member of the pair of opening / closing members and the other end rotatably connected to the arm; and a middle portion of the one opening / closing member. An opening / closing link mechanism of a backhoe having a second link portion that connects the arm and further connects the rod of the hydraulic cylinder to transmit the driving force of the hydraulic cylinder to the one opening / closing member is disclosed. ing.

However, according to this opening / closing link mechanism, the middle portion of one of the opening / closing members is directly mounted on the swing shaft located at the tip of the arm of the backhoe, and the first link portion is located below the arm. Directly attached to the shaft. According to this configuration, the open / close axes of the pair of open / close members are always located on one side (lower side) of the arm.

Therefore, when operating the pair of opening / closing members, the operator needs to be careful that the opening / closing axis is always displaced downward (the side where it is difficult to confirm the operation) with respect to the center line of the arm. Therefore, it is difficult to operate the pair of opening and closing members. That is, since there is a shift between the center line of the arm and the opening / closing axis which is difficult for the operator to grasp, the operating feeling of the arm does not match the operating feeling of the pair of opening / closing members, resulting in poor operability.

Further, when the pair of opening and closing members grip the object to be gripped,
Since the load is applied only to one side of the arm, the balance of the load applied to the arm is lost, which also deteriorates the operability.

Since the swing shaft of one of the opening / closing members is provided at the tip of the arm, it is difficult to configure the pair of opening members to open upward in terms of balance. For this reason, it is difficult to operate such that an object to be gripped at a high place is gripped and pulled down as in the case of dismantling a house.

In addition, in this opening / closing link mechanism, it is necessary to form a special attachment portion for attaching the first link portion below the arm in addition to the attachment portion for attaching a normal bucket or the like.

In addition, when not attached to the arm, one end of each link is not attached to the shaft and can freely rotate, so special care must be taken when storing, transporting and attaching to the arm. It is required and difficult for operators to handle.

Therefore, an object of the present invention is to provide a pair of opening and closing members that can be widely opened to perform a suitable squeezing operation, have good operability for the opening and closing operations, and be easily attached to an arm tip of a hydraulic shovel. Can be done,
An object of the present invention is to provide an opening / closing link mechanism such as a clamp that can be easily handled.

(Means for Solving the Problems) In order to achieve the above object, the present invention has the following configuration.

That is, the opening and closing link mechanism such as the clamp of the present invention is
A base portion detachably provided at the distal end of the arm, a pair of opening / closing members which are pivotally supported by an opening / closing shaft and which are formed in a substantially symmetrical shape to grip an object to be gripped when closed, A swinging shaft that rotatably attaches a middle part of one of the opening / closing members to the base, and one end rotatably connected to a middle part of the other opening / closing member of the pair of opening / closing members. The first link portion whose end is rotatably connected to the base, the middle portion of the one opening / closing member and the base are connected, and the rod of the hydraulic cylinder is further connected, so that the hydraulic pressure is increased. In a link of an opening / closing link mechanism such as a clamp having a second link portion for transmitting a driving force of a cylinder to the one opening / closing member, a pivotal attachment position of the swing shaft and the first link portion to the base portion is determined. , When the base is attached to the tip of the arm The opening / closing shaft is located on the opposite side with respect to the extension of the core wire, and the opening / closing axis is set so as to be substantially on the extension of the center line of the arm when the pair of opening / closing members are closed. In the opening and closing link mechanism such as a clamp.

(Operation) Next, the operation will be described with reference to the drawings.

FIG. 1 shows a state in which a pair of clamps 24a and 24b, which are opening / closing members, are closed. The rod 20 of the hydraulic cylinder is extended by receiving hydraulic pressure.

The rod 20 is shortened and the link 14a is behind (left side of the drawing)
When pulled, the link 14b also moves rearward, and the clamp 24a is opened about the swing shaft 26. Then, since the distance between the swing shaft 26 and the opening / closing shaft 28 is constant, the opening / closing shaft 28 moves in a circular arc from a position substantially on the extension of the center line of the arm to above the extension.

In this state, as shown in FIG. 2, the opening / closing shaft 28 rotates counterclockwise by the angle θ. Then, the clamp 24a moves upward in an arc. At the same time, since the length of the link 14c is constant as shown in FIG. 2, the clamp 24b opens in an arc downward.

As a result, the pair of clamps 24a and 24b can be greatly opened mutually obliquely upward.

Next, when the link 14a is pushed forward (to the right in the drawing) by applying hydraulic pressure to the rod 20 and pushing the link 14a forward, the clamp 24a pivots downward around the swing shaft 26 and closes, and the opening / closing shaft 28 also returns to the original position. Rotate back to position. At this time, the opening / closing shaft 28 moves obliquely downward and rearward, so that when the pair of clamps 24a and 24b close, the opening / closing shaft 28 moves down the length indicated by X and retreats by the length indicated by Z. For this reason, a pair of clamps 24a, 24b
Can perform a suitable squeezing operation from above.

(Embodiment) Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

 First, the configuration will be described in detail.

In FIG. 1, reference numeral 10 denotes a base, which is detachably fixed to the tip of the arm 12 of the excavator by an appropriate method.

14a is a link having a substantially triangular shape, one end of which is the first
A shaft 16 is attached to the base 10 and a second shaft 18 is rotatably fixed to a tip of a rod 20 of a hydraulic cylinder. The other end is connected to the link 14b via the third shaft 22,
The link 14b is connected to a clamp 24a, which is one of the opening and closing members. The second link 14a and link 14b
Of the link portion.

Reference numeral 26 denotes a swing shaft, on which a clamp 24a is rotatably mounted on the base 10 at an intermediate position thereof. When the pair of clamps 24a and 24b are closed, the swing shaft 26
A predetermined amount Y (however, l // n) is obtained from a line 1 connecting the center between the opening / closing shaft 28 whose base end portions of the a and 24b are rotatably supported on each other and the ends of the clamps 24a and 24b. It is located above. That is, when the base 10 is attached to the tip of the arm 12, the swing shaft 26 is located above the extension of the center line of the arm 12. Therefore, the opening / closing shaft 28 can make a circular motion with the radius Y around the swing shaft 26.

The opening / closing shaft 28 is set to be substantially on the extension of the center line of the arm 12 when the pair of clamps 24a and 24b are closed.

Reference numeral 14c denotes a link, which constitutes a first link portion, and has a clamp 24b having one end on the base 10 and the other end on the other opening / closing member.
To restrict the opening angle of the clamp 24b. The position where the link 14c is attached to the base 10 is located below the extension of the center line of the arm 12 when the base 10 is attached to the tip of the arm 12. Accordingly, when the pair of clamps 24a and 24b are closed, the opening / closing shaft 28 can be preferably positioned substantially on the extension of the center line of the arm 12.

Further, when the distal ends of the two clamps 24a and 24b, which are the pair of opening and closing members, are closed, the base 10 is
It has a recess so that the opening / closing shaft 28 of 4b can move without interference. The concave portion is formed at the base portion at a position sandwiched between each of the portions where the pivot shaft 26 and one end of the link 14c are axially attached, and is formed to expand in the distal direction.

 Next, the operation will be described.

FIG. 1 shows a state in which the pumps 24a and 24b, which are opening / closing members, are closed. At this time, the rod 20 is in an extended state due to the application of hydraulic pressure. Here, the rod 20 is moved backward. That is, when the tip of the rod 20 is moved to the left of the drawing, the link 14a
Rotate counterclockwise around 6. At this time, since the link 14a is pulled backward (also to the left in the drawing), the clamp 24a rotates counterclockwise about the swing shaft 26 to open the tip.

At the same time, the opening / closing shaft 28 also rotates counterclockwise about the swing shaft 26, and opens the clamp 24b downward. The opening angles of the clamps 24a and 24b are restricted by the lengths of the links 14b and 14c. However, since the swing shaft 26 is located above the distance Y between the line segments l and n, the opening and closing shaft 28 is also turned upward. Move. Therefore, when viewed from the line l, the locus of the clamp 24a is larger than the locus of the clamp 24b.

In FIG. 2, when the clamps 24a and 24b are widely opened, the swing angle θ of the opening / closing shaft 28 and the vertical movement amount X of the opening / closing shaft 28 are shown.
(Where m // l) and the horizontal movement amount Z.

In this manner, the pair of clamps 24a and 24b can be greatly opened mutually obliquely upward.

Next, when the rod 20 is extended, the link 14a falls forward (to the right in the drawing), and the link 14b horizontally moves forward,
The clamp 24a is closed, and at the same time, the opening / closing shaft 28 is rotated clockwise so that θ = 0 °, the link 14c is rotated clockwise about the axis on the base 10 side, and the clamp 24b is also closed.

At this time, since the opening / closing shaft 28 retreats by the horizontal distance Z, the pair of clamps 24a and 24b
Will only retreat. Further, the opening / closing shaft 28 is also X
Move by.

As a result, the pair of clamps 24a and 24b draw a locus that is swept from obliquely upward to obliquely downward. Therefore, the present invention can be suitably used for work such as breaking down an object to be grasped located above, such as when dismantling a house, or work for scraping out earth and sand.

When the pair of clamps 24a and 24b are closed, the opening / closing shaft 28 is positioned substantially on the extension of the center line of the arm 12 as described above. For this reason, the pair of clamps 24a, 24b
When operating to close the arm, the operator may aim at moving the opening / closing shaft 28 on an extension of the center line of the arm, which makes it easy to grasp the steering feeling.

Further, in the case of the present embodiment, the pair of clamps 24a and 24b open diagonally upward, so that it is easy for the operator to visually observe and work while confirming the opening and closing operation, thereby improving operability. obtain.

Further, when the pair of clamps 24a and 24b grip and hold the object to be gripped, the line connecting the tip and the opening / closing shaft 28 substantially coincides with the extension of the center line of the arm 12.
For this reason, the load applied to the pair of clamps 24a and 24b is applied to the arm 12 in a well-balanced manner, thereby improving the operability.

When the clamps 24a and 24b are closed,
The opening / closing shaft 28 is moved into a concave portion provided between a portion of the base 10 where the swing shaft 26 and one end of the link 14c are mounted. Therefore, the opening / closing shaft 28 can move without interfering with the base 10, and the pair of clamps can be suitably opened / closed.

In addition, in the opening and closing link mechanism according to the present invention,
All links are preferably pivoted on the base 10 and the arm
There is no need to form a special shaft attachment portion on the 12 side, and attachment and detachment to and from the arm 12 can be facilitated, and handling properties such as storage and transportation are also good.

As described above, various preferred embodiments of the present invention have been described. However, the present invention is not limited to the above-described embodiments, and may be applied to, for example, an apparatus using a bucket or a claw instead of a clamp. It goes without saying that many modifications can be made without departing from the spirit of the invention.

(Effects of the Invention) According to the opening and closing link mechanism such as the clamp according to the invention,
The pivot shaft and the shaft attachment position of the first link portion to the base are located on opposite sides of an extension of the center line of the arm, and when the pair of opening and closing members are closed, It is set to be almost on the extension of the center line.

Thereby, the pair of opening / closing members can be greatly opened toward one side on the extension of the center line of the arm, and perform a suitable pushing operation from that position substantially on the extension of the center line of the arm. It has a significant effect that you can do it. Therefore, it can be suitably used for house dismantling work and the like.

Further, since the opening / closing axis can reciprocate between a position on one side on the extension of the center line of the arm and a position on the extension of the center line of the arm, the operator can easily grasp the operation feeling and is loaded. Since the load can be received in a well-balanced manner, a significant effect that operability can be improved is also achieved.

Furthermore, since the link is suitably attached to the base,
There is an advantage that the excavator can be easily attached to the tip of the arm of the hydraulic excavator, and that the handling is simple.

[Brief description of the drawings]

FIG. 1 is a side view showing a closed state of a clamp having a link mechanism according to the present invention, and FIG. 2 is a side view showing an open state of a clamp having a link mechanism according to the present invention. FIG. 3 is a side view showing a conventional clamp. 10 ... Base, 12 ... Arm, 14a, 14b, 14c ... Link, 24a, 24b ... Clamp, 26 ... Swing axis, 28 ... Open / close axis.

Claims (1)

(57) [Scope of request for utility model registration] 1. A pair of opening and closing members which are detachably provided at an end portion of an arm and which are pivotally supported by an opening and closing shaft so as to be openable and closable, and which are formed in a substantially symmetrical shape so as to grip an object to be gripped when closed. A member, a swing shaft rotatably pivoting a middle part of one of the pair of opening and closing members to the base, and one end rotating to a middle part of the other opening and closing member of the pair of opening and closing members. A first link portion which is freely connected and the other end of which is rotatably connected to the base portion; and a middle portion of the one opening / closing member is connected to the base portion, and further a rod of a hydraulic cylinder is connected. By this, in a link of an opening / closing link mechanism such as a clamp having a second link portion that transmits a driving force of a hydraulic cylinder to the one opening / closing member, the swing shaft and the base of the first link portion are connected to each other. When the base of the arm is The opening / closing shaft is positioned so as to be substantially on the extension of the center line of the arm when the pair of opening / closing members are closed when the pair of opening / closing members are closed. Opening and closing link mechanism such as a clamp.