JP3437955B2 - Object gripping device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object gripping device which is preferably used for gripping an object when conveying sheet-like objects such as laminated corrugated cardboard sheets.

[0002]

2. Description of the Related Art A conventionally known apparatus for gripping sheet-like objects (hereinafter abbreviated as works) such as stacked corrugated cardboard sheets includes a pair of gripping members which can be displaced toward and away from each other. The work is gripped and conveyed between the pair of gripping members. In this gripping device, since the work is held by the frictional force between the gripping member and the end surface of the work, when the size of the work is large, the work bends and the contact area between the end surface of the work and the gripping member becomes small,
There is a problem that the frictional force is lowered and the work is likely to drop. In order to solve this problem, a gripping device has been proposed in which a supporting piece for receiving the lower part of the work is provided at the lower end of each gripping member. Although this gripping device can prevent the work from dropping in the gripping state, it has the following problems when the grip of the work is released and the work is placed at a desired position.

FIG. 9 is a diagram showing a gripping state and a gripping releasing state of a conventional work 1. In the gripped state of the work 1, the work 1 is supported by the support piece 3 provided at the lower end portion of the gripping member 2 as shown in FIG. 9A, so that the work 1 is prevented from falling even if the work 1 bends. You can On the other hand, when the pair of gripping members 2 are moved in the separating direction to release the gripping of the work 1, the frictional force generated between the work 1 and the support piece 3 is different between one side and the other side. As shown in 9 (2), the work 1 falls off the one support piece 3 earlier than the other support piece 3 and drops in a tilted state, and the placement position of the work 1 deviates from the desired position indicated by the imaginary line. There is a problem. Several prior arts have been proposed in order to prevent such displacement of the mounting position of the work 1.

In Japanese Utility Model Registration No. 2585230, a plurality of strip-shaped elastic members extending in the up-down direction and a plurality of anti-slip plates are provided in the width direction of the sandwiching plate on the inner surfaces of the pair of sandwiching plates facing each other. The upper part of the body is fixed to the sandwich plate, the elastic plate is tilted inward toward the lower part, and the lower part of the anti-slip plate is provided with a protrusion that can be engaged with the lower surface of the luggage. A clamp device is disclosed in which the amount of protrusion of the inner surface of the lower portion of the elastic plate is smaller than that of the elastic plate.

In this prior art, when the pair of sandwiching plates are moved in the directions relatively separated from each other, the elastic plate moves inward and comes into contact with the outer periphery of the load, so that the load is moved along the inner surface of the elastic plate. Can be slipped and dropped. Therefore, it is possible to place the luggage at a desired position.

In this prior art, since the elastic plate is fixed to the holding plate in a cantilevered state, a bending stress is repeatedly generated at the base end of the elastic plate as the load is held / released repeatedly. There is a problem that fatigue fracture is likely to occur. In addition, since the amount of protrusion of the inner surface of the lower part of the elastic plate is set to be larger than the amount of protrusion of the protrusion of the anti-slip plate, it is necessary to increase the amount of movement of the holding plate in the separating direction in order to release the holding of the load. However, there is a problem that the size of the clamp device becomes large.

Japanese Patent No. 2806470 includes a pair of sandwiching plates and a receiving piece which is provided at the lower end of the sandwiching plates and receives the lower surface of the transported object.
A clamp device in which a guide plate and an elastic tube are provided instead of the elastic plate of Japanese Patent No. 585230 is disclosed. The elastic tube is provided between the sandwiching plate and the guide plate, expands by the supply of the pressure fluid, and moves the sandwiching plate and the guide plate in a direction in which they are relatively separated from each other. In this prior art, when stacking the transported objects, the elastic tube is expanded to bring the guide plate and the transported object into contact with each other, and the sandwiching plate is moved outward to separate the receiving piece from the transported objects. by this,
Since the transported objects fall while being guided by the inner surfaces of the pair of guide plates, they can be stacked at a desired position without tilting.

This prior art has a problem that if the supply of the pressure fluid becomes non-uniform on one side and the other side, the stacking position of the conveyed objects deviates from the desired position. Further, since the pressure fluid is used, it is necessary to provide a complicated piping system, and there is a problem that the equipment cost becomes high.

[0009]

SUMMARY OF THE INVENTION An object of the present invention is to enable an object to be securely held with a simple structure so as not to drop during transportation, and the object mounting position does not deviate from a desired position. An object of the present invention is to provide an object gripping device capable of releasing gripping of an object.

[0010]

SUMMARY OF THE INVENTION According to the present invention, a pair of gripping members which are provided so as to be able to be displaced toward and away from each other in the lateral direction and which grip an end portion of an object, and the gripping members are driven toward and away from each other. A driving means, a support piece provided at the lower end portion of each gripping member, projecting in a direction in which they approach each other, and receiving a lower part of the end portion of the object, provided for each gripping member, extending vertically, and gripping the upper end portion. The gripping member is angularly displaced around an axis extending in a direction perpendicular to the moving direction of the member, and is swingably supported by the gripping member between the gripping surface of the gripping member facing the object and the vicinity of the free end of the supporting piece. Provided between the operating piece, the gripping member and the operating piece,
When the pair of gripping members move in a direction away from each other, a spring force in the proximity direction of the gripping members can be applied to the lower portion of the operating piece, and the magnitude of the spring force can be relatively moved on the lower portion of the end portion of the object on the support piece. And a stopper means for restricting the lower part of the actuating piece from being further angularly displaced from the position near the free end of the support piece in the direction in which the gripping members approach each other. A plurality of storage holes are formed in the gripping member at intervals along the swing axis of the operating piece, the upper portion of the operating piece is inside the storing hole, and the lower portion of the operating piece is inside the storing hole. The stopper means is capable of moving in and out, is provided on a surface of the operating piece opposite to the surface facing the object, and is fixed to the first stopper member protruding in a direction away from the object, and the first stopper member. In the proximity direction of the lower part of the operating piece A gripping device for the object, characterized in that it comprises a second stopper member for limiting a position quantity.

According to the present invention, when the driving means is driven to move the pair of gripping members in a direction in which they approach each other, the end face of the object and the operating piece come into contact with each other, and the operating piece causes the spring force of the spring member. And is angularly displaced from the free end of the support piece toward the grip surface. As a result, the end surface of the object comes into contact with the grip surface and is gripped, and the lower portion of the end surface of the object is supported by the support piece. Therefore, it is possible to reliably transport the object with a simple structure so as not to drop it. Further, when the driving means is driven to move the pair of gripping members in the directions away from each other, the magnitude of the spring force of the spring member becomes equal to or larger than the value for relatively moving the lower portion of the end portion of the object on the support piece. Since it is set, the actuating piece can be angularly displaced from the gripping surface toward the free end of the supporting piece by overcoming the frictional force that tends to move the object in the separating direction together with the supporting piece.

As a result, the object is simultaneously separated from the supporting pieces provided on the pair of gripping members, so that the object can be dropped without tilting. Therefore, it is possible to release the grip of the object with a simple configuration so that the placement position of the object does not deviate from the desired position. Further, the stopper means restricts the lower part of the actuating piece from further displacing from the position near the free end portion of the supporting piece in the direction in which the gripping members approach each other, so that when gripping an object, the gripping member moves in the separating direction. It is possible to shorten the distance. Therefore, the device can be downsized.

[0013]

Since the upper part of the operating piece exists in the storage hole and the lower part of the operating piece can move in and out of the storage hole, the contact interface between the end surface of the object and the gripping surface of the gripping member is flattened, and the gripping force is increased. Can be increased. Further, since it becomes possible to support the lower part of the object in the entire region from the base end part to the free end part of the support piece, it is possible to increase the supporting force of the object. Further, since the first stopper member provided on the operating piece and the second stopper member fixed to the gripping member abut on the side opposite to the surface of the operating piece facing the object, the operating piece can be reliably operated with a simple structure. It is possible to limit the amount of displacement of the lower part of the in the proximity direction.

Further, the present invention is characterized in that the holding member is provided with a hinge provided with a hinge pin having an axis line coinciding with the swing axis line, and an upper end portion of the operating piece is fixed to the hinge.

According to the present invention, since the gripping member is provided with the hinge having the hinge pin and the upper end portion of the operating piece is fixed to the hinge, the operating piece can be swung smoothly around the hinge pin. As a result, no bending stress is generated at the base end of the actuating piece, so damage is prevented and the service life can be extended.

[0017]

1 is a front view showing a simplified structure of a gripping device 5 according to an embodiment of the present invention, FIG. 2 is a plan view of FIG. 1, and FIG. Is a side view of
FIG. 4 is a sectional view taken along the section line IV-IV in FIG. The gripping device 5 includes a device body 6 and a pair of gripping members 9. The device main body 6 includes a pair of first and second horizontal frames 7a and 7b extending in the lateral direction, and first to first connecting the first and second horizontal frames 7a and 7b extending in the direction perpendicular to the horizontal direction.
Includes third connecting members 8a, 8b, 8c. The first and second horizontal frames 7a, 7b are arranged parallel to each other and are opposed to each other, and the first to third connecting members 8a, 8b, 8c are one end portions and central portions of the first and second horizontal frames 7a, 7b. , And the other end, respectively. The apparatus main body 6 is connected to a robot arm tip portion or the like via a connecting member 10 and is moved or swung. The pair of gripping members 9 are provided so as to be able to be displaced toward and away from each other in the lateral direction, and a sheet-like object 11 such as a corrugated cardboard bundle 11 is provided.
The end portion (hereinafter referred to as a work) is gripped. Hereinafter, for convenience of description, the surface of the gripping device 5 that faces the workpiece 11 is referred to as an inner surface, and the surface on the opposite side is referred to as an outer surface.

The first connecting member 8a of the apparatus main body 6 is provided with driving means 13 for driving the gripping members 9 in the directions of approaching and separating from each other. The drive unit 13 includes a motor 14, and the motor 14 is provided on the first connecting member 8a. The motor shaft 15 of the motor 14 has an axis line extending vertically, and a first spur gear 16 is mounted on the motor shaft 15. A first bracket 21 is fixed to the lower portion of the first connecting member 8a, and a pair of bearings 19 is attached to the first bracket 21. The pair of bearings 19 rotatably supports the first rotating shaft 18 having an axis extending vertically. First spur gear 16
Is a second spur gear 17 having a larger diameter than the first spur gear 16.
And the second spur gear 17 is engaged with the first rotary shaft 18
Is attached to the upper end of the. At the lower end of the first rotating shaft 18,
The first pulley 20 is mounted.

A second bracket 22 is fixed to the third connecting member 8c at the other end of the apparatus main body 6, and a pair of bearings 24 are mounted on the second bracket 22. The pair of bearings 24 includes a second rotary shaft 23 having an axis extending vertically.
Rotatably supported. At the lower end of the second rotary shaft 23,
The second pulley 25 is mounted. An endless belt 26 is stretched between the first pulley 20 and the second pulley 25. The axes of the motor shaft 15, the first and the rotating shafts 18, 23 are in the same vertical plane and are parallel to each other in that plane.

The pair of gripping members 9 have flat gripping surfaces parallel to each other and facing substantially vertically to the facing inner surfaces facing the work 11. The tips of the first and second connecting arms 27 and 28 are fixed to the upper portions of the gripping members 9, respectively. The first and second connecting arms 27, 28 are arms that extend in the lateral direction in a slender manner, and are arranged in parallel with each other with a gap in the direction perpendicular to the lateral direction. A first connecting arm 2 connected to one (right side in FIGS. 1 and 2) gripping member 9.
7 extends along the outer side surface of the first horizontal frame 7a, and the second connecting arm 28 extends along the inner side surface of the second horizontal frame 7b. On the other hand, the other gripping member 9 (left side in FIGS. 1 and 2)
The first connecting arm 27 connected to the second horizontal frame 7b extends along the outer side surface of the second horizontal frame 7b, and the second connecting arm 28 extends along the inner side surface of the first horizontal frame 7a.

Guide rails 31 extending in the lateral direction are laid on the outer and inner surfaces of the first and second horizontal frames 7a and 7b, respectively. Each guide rail 31 exists in the same horizontal plane, and is arranged in parallel to each other in that plane. The cross section of the guide rail 31 perpendicular to the axis is substantially T-shaped. At the base end portions of the first and second connecting arms 27, 28, there is an intermediate piece 32.
The sliding piece 33 is fixed via. A fitting groove extending in the lateral direction is formed in the sliding piece 33, and the fitting groove has a substantially T-shaped cross-section perpendicular to the axis. The guide rail 31 and the fitting groove are fitted so as to be slidable in the lateral direction. As a result, the sliding piece 33 and the guide rail 31 are connected in a state in which the displacement of the sliding piece 33 in a direction other than the lateral direction is blocked.

The base end portion of the second connecting arm 28 connected to the one and the other holding member 9 is connected to the belt 26 via the connecting piece 34. More precisely, the first horizontal frame 7a
The base end portion of the second connecting arm 28 extending along the inner side surface of the second connecting frame 28 is connected to the surface of the belt 26 facing the first horizontal frame 7a via the connecting piece 34, and extends along the inner side surface of the second horizontal frame 7b. The base end portion of the extending second connecting arm 28 is connected via a connecting piece 34 to the surface of the belt 26 facing the second horizontal frame 7b. As a result, the motor 14 is driven to rotate, the rotation speed is reduced by the first and second spur gears 16 and 17, and the first pulley 2
When 0 is rotated to move the belt 26 in the direction indicated by the arrow 35 in FIG. 2, the one and the other gripping members 9 move in the direction in which they approach each other as the belt 26 moves.
When the belt 4 is rotationally driven in the opposite direction to move the belt 26 in the direction opposite to the arrow 35, the one and the other gripping members 9 move in the directions away from each other.

FIG. 5 is a sectional view taken along the section line VV of FIG. FIG. 5 shows the structure of the opposing gripping surfaces of the gripping member 9. A support piece 36 is provided at the lower end of the grip member 9. The support pieces 36 project inwardly from the facing gripping surfaces of the gripping members 9, that is, in the direction in which the gripping members 9 approach each other (hereinafter referred to as the approaching direction), and as shown in FIG. Support the bottom. A plurality of (two in the present embodiment) storage holes 37 are formed in the gripping member 9 at intervals in a direction perpendicular to the approaching / separating direction, and a hinge is provided at the upper peripheral edge of each storage hole 37 of the gripping member 9. 39 is attached. The hinge 39 includes an upper hinge piece 40, a lower hinge piece 41, and a hinge pin 43. The upper hinge piece 40 is
The lower hinge piece 41 is detachably fixed to the upper peripheral portion of each accommodation hole 37, and the lower hinge piece 41 is angularly displaceably connected to the upper hinge piece 40 via a hinge pin 43. The hinge pin 43 has an axis (hereinafter referred to as a swing axis 44) extending in a direction perpendicular to the approaching / separating direction of the grip member 9. An operating piece 45 is attached to the lower hinge piece 41.

The operating piece 45 is a member extending vertically,
It is supported by the gripping member 9 via a hinge 39 so as to be swingable around a swing axis line 44. The operating piece 45 swings between the holding surface of the holding member 9 and the vicinity of the free end portion of the support piece 36 as described later. Anti-slip members 46 extending vertically are joined to both sides of the storage hole 37. The storage hole 37, the hinge 3
9, the operating piece 45 and the anti-slip member 46 are arranged symmetrically with respect to an imaginary plane 47 perpendicular to the swing axis 44.

FIG. 6 is a sectional view taken along section line VI-VI in FIG. The operating piece 45 is a rectangular flat plate-shaped operating plate 4.
9 and a pair of side plates 50 that are connected to both sides of the operating plate 49 and extend substantially vertically outward from the outer surface of the operating plate 49, and are supported by the gripping member 9 via hinges 39 such that they can be angularly displaced. . The vertical length of the side plate 50 is set shorter than the vertical length of the storage hole 37, and the lower end portion of the operating plate 49 projects below the lower end portions of the side plate 50 and the storage hole 37, and the upper surface of the support piece 36. It extends right above. A hook-shaped first stopper member 53 is provided on the lower outer surface of the operating plate 49. The first stopper member 53 is connected to the first rising piece 54 and extends outwardly from the outer surface of the operating plate 49 to extend outward, and the first contact extending in parallel with the outer surface of the operating plate 49 and extending downward. And a piece 55. A fixing plate 56 is provided on the lower outer surface of the storage hole 37 of the grip member 9.

The fixed plate 56 is a rectangular plate-shaped member extending in the direction of the swing axis 44, and is fixed by being suspended in the storage hole 37. The second stopper member 57 is provided on the inner surface of the upper portion of the fixed plate 56.
Is provided. The second stopper member 57 is a hook-shaped member provided in the storage hole 37, and is connected to the second rising piece 58 that extends inwardly from the inner surface of the fixing plate 56 and the second rising piece 58, and is connected to the fixing plate 56. A second contact piece 59 extending upward in parallel to the inner surface of the. The second contact piece 59 is
The first contact piece 5 is provided on the inner side of the first contact piece 55.
The inner surface of 5 and the outer surface of the second contact piece 59 abut when the actuating piece 45 is angularly displaced in the direction of arrow 52 about the swing axis 44. The contact position, that is, the position determined by the protruding height of each of the first and second contact pieces 55, 59 is such that the lower portion of the operating piece 45 is near the free end portion of the support piece 36, to be precise, the free end of the support piece 36. When angularly displaced slightly inward from the part,
The angular displacement is set to stop. The first stopper member 53 and the second stopper member 57 form stopper means.

A first spring holding piece 63 projecting outward is provided on the outer surface of the operating plate 49 below the first stopper member 53, and on the inner surface of the fixed plate 56 below the second stopper member 57. The second spring holding piece 64 protruding inward is provided so as to face the first spring holding piece 63. A coil spring 65, which is a spring member, is mounted between the first and second spring holding pieces 63, 64. The coil spring 65 is compressed when the pair of gripping members 9 move in the mutually separating direction (hereinafter referred to as separating direction), and applies a spring force in the proximity direction to the lower portion of the operating piece 45. The magnitude of this spring force is
The lower part of the end of the above is selected to be a value that can move on the support piece 36 against the frictional force of the contact surface. A pair of operating pieces 45 is provided on each of the one and the other gripping members 9, and one coil spring 65 is provided on each of the pair of operating pieces 45. The spring forces of the four coil springs 65 in total are the same. Further, the driving force of the motor 14 is such that when the workpiece 11 is gripped, the operating piece 4
5 is in contact with the end of the work 11, the coil spring 65
It is set so that the operating piece 45 can be housed in the housing hole 37 against the spring force of.

FIG. 7 is a diagram showing a gripped state of the work 11. The gripping operation of the work 11 is performed as follows.

(1) The belt 2 is driven by rotating the motor 14.
6 is moved in the direction of arrow 35 to bring the pair of gripping members 9 close to each other to adjust the distance between the gripping members. The distance between the gripping members is set such that the distance between the free ends of the support pieces 36 faces each other.
Is adjusted to be slightly longer than the length in the proximity direction.

(2) After adjusting the distance between the gripping members, the transporting means such as a robot is operated to move the gripping device 5 to the work taking-out position, and the pair of gripping members 9 is taken out as shown in FIG. 7 (1). The workpieces 11 are placed on both sides of the work 11 placed on the table 67. At this time, the vertical position of the support piece 36 is adjusted so that the upper surface of the support piece 36 is located directly below the lower surface of the end surface of the work 11.

(3) After adjusting the position of the gripping member 9, the motor 1
The gripping members 9 are moved in the directions in which they are closer to each other by the rotation drive of the workpiece 4, and the workpiece 1 is moved as shown in FIG.
Hold 1 from both sides. As a result, the actuating piece 45 is angularly displaced outward around the swing axis 44 of the hinge pin 43 by overcoming the spring force of the coil spring 65, and the lower end of the actuating plate 49 of the actuating piece 45 and the accommodation hole for the gripping member 9 are accommodated. The angular displacement is stopped at a position where the lower peripheral edge of 37 contacts. Therefore, the lower peripheral portion of the storage hole 37 of the grip member 9 constitutes another stopper member. In this state, the operating piece 45 is housed in the housing hole 37, and the first stopper member 53
And the second stopper member 57 are separated from each other. The coil spring 65 is in a compressed state.

As described above, when the work 11 is gripped,
Since the operating piece 45 is stored in the storage hole 37, the surface of the gripping member 9 that faces the workpiece 11 forms a flat gripping surface. Therefore, the contact area between the work 11 and the gripping surface increases,
The gripping force can be increased. Further, since the operation plate 49 of the operation piece 45 can be angularly displaced to the base end portion of the support piece 36, the work 1 is extended over the entire length of the support piece 36 in the approaching and separating direction.
It becomes possible to support the lower surface of the end portion of No. 1 and work 1
The supporting force of 1 can be increased. by this,
The work 11 can be conveyed to the target position without dropping. In addition, the operating piece 45 is the storage hole 3 of the holding member 9.
Since it is possible to go in and out of the inside 7, it is possible to make the configurations of the gripping member 9 and the operating piece 45 compact.
It is possible to reduce the size of the device and save space.

FIG. 8 is a view showing a state where the work 11 is released from the grip. The grip release operation of the work 11 is performed as follows.

(A) The gripping device 5 is moved by operating the transfer means such as a robot, and the work 11 is moved as shown in FIG. 8 (1).
The target receiving position 70 on the pedestal 68 is positioned.

(B) After the positioning, the motor 14 is rotationally driven to move the belt 26 in the direction opposite to the arrow 35 so that the pair of gripping members 9 are separated from each other. A pair of gripping members 9
Are separated from each other, the actuating piece 45 is angularly displaced by the spring force of the coil spring 65 in the approaching direction around the swing axis line 44 in accordance with the amount of movement of the gripping member 9 in the separating direction. As described above, the spring force of the coil spring 65 is set to a value equal to or greater than the value that allows the lower portion of the end portion of the workpiece 11 to be relatively moved on the support piece 36 against the frictional force of the contact surface. Therefore, the operating piece 45 can be angularly displaced in the proximity direction by overcoming the frictional force that tends to move the work 11 together with the support piece 36 in the separating direction. Therefore, the gripping member 9 and the support piece 36 can be moved in the separating direction with the operating piece 45 in contact with the end surface of the work 11, in other words, with the work 11 stopped at the target receiving position 70. . Such an angular displacement operation of the operating piece 45 is performed in synchronization on the one and the other gripping members 9.

(C) When the gripping member 9 moves in the separating direction, the facing interval of the free ends of the support pieces 36 becomes longer than the length of the workpiece 11 in the separating direction, as shown in FIG. 8 (2).
The work 11 is simultaneously dropped from the one and the other gripping members 9, and is dropped and placed on the lower pedestal 68. In this state, the first and second stopper members 53 and 57 come into contact with each other to prevent the lower portion of the operating piece 45 from further displacing in the proximity direction from the position near the free end of the support piece 36.

As described above, when the gripping of the work 11 is released, the angular displacement of the operating piece 45 on the inner side of the free end portion of the support piece 36 is prevented, so that the facing interval of the lower portion of the operating piece 45 is reduced. It is prevented from becoming shorter than the facing interval of the free ends of the support pieces 36. Therefore, when the workpiece 11 is gripped next time, the moving distance of the pair of gripping members 9 in the separating direction can be shortened, and the device can be downsized. The work 11 has one and the other gripping members 9
Since the work 11 and the work 11 fall off at the same time, the work 11 is prevented from falling in an inclined state. Therefore, the work 11 can be accurately placed on the target receiving position 70.

As described above, in the present embodiment, the operating piece 45 is swingably provided on the gripping member 9 by the hinge 39, but the present invention is not limited to this configuration, and another configuration is possible. May be. Further, the gripping member, the operating piece and the stopper means may have other configurations.

[0039]

As described above, according to the present invention, when the driving means is driven to move the pair of gripping members in the direction of approaching each other, the end face of the object and the operating piece come into contact with each other, and the operating piece is further moved. Overcomes the spring force of the spring member and is angularly displaced from the free end of the support piece toward the grip surface. As a result, the end surface of the object comes into contact with the grip surface and is gripped, and the lower portion of the end surface of the object is supported by the support piece. Therefore, it is possible to reliably transport the object with a simple structure so as not to drop it. Further, when the driving means is driven to move the pair of gripping members in the directions away from each other, the magnitude of the spring force of the spring member becomes equal to or greater than the value for relatively moving the lower end portion of the object on the support piece. Since it is set, the actuating piece can be angularly displaced from the gripping surface toward the free end of the supporting piece by overcoming the frictional force that tends to move the object in the separating direction together with the supporting piece. As a result, the object is simultaneously separated from the support pieces provided on the pair of gripping members, so that the object can be dropped without tilting. Therefore, it is possible to release the grip of the object with a simple configuration so that the placement position of the object does not deviate from the desired position.

Further, since the swing axis of the operating piece exists in the storage hole, and the lower portion of the operating piece can move in and out of the storage hole,
The contact interface between the end surface of the object and the grip surface of the grip member is flattened, and the grip force can be increased. Further, since it becomes possible to support the lower part of the object in the entire region from the base end part to the free end part of the support piece, it is possible to increase the supporting force of the object.
Further, since the first stopper member provided on the operating piece and the second stopper member fixed to the gripping member abut on the side opposite to the surface of the operating piece facing the object, the operating piece can be reliably operated with a simple structure. It is possible to limit the amount of displacement of the lower part of the in the proximity direction.

Further, according to the present invention, since the holding member is provided with the hinge having the hinge pin and the upper end portion of the operating piece is fixed to the hinge, the operating piece can be swung around the hinge pin. As a result, no bending stress is generated at the base end of the actuating piece, so damage is prevented and the service life can be extended.

[Brief description of drawings]

FIG. 1 is a front view showing a simplified configuration of a gripping device 5 according to an embodiment of the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a side view of FIG.

FIG. 4 is a sectional view taken along the section line IV-IV in FIG.

5 is a sectional view taken along the section line VV in FIG.

6 is a cross-sectional view taken along the section line VI-VI in FIG.

FIG. 7 is a diagram showing a gripped state of a work 11.

FIG. 8 is a diagram showing a grip release state of the work 11;

FIG. 9 is a diagram showing a gripping state and a gripping released state of the conventional work 1.

[Explanation of symbols]

1,11 work 2,9 gripping member 3,36 Support piece 5 gripping device 14 motor 26 belt 27 First connecting arm 28 Second connecting arm 37 Storage hole 39 Hinge 43 Hinge pin 45 working piece 53 First stopper member 56 fixed plate 57 Second stopper member 65 coil spring 67 Take-out stand 68 cradle

Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B25J 15/08

Claims (2)

(57) [Claims] 1. A pair of gripping members which are provided so as to be able to be displaced toward and away from each other in the lateral direction and which grip an end portion of an object, drive means for driving the gripping members in a direction toward and away from each other, and each gripping member A support piece provided at the lower end, projecting in the direction of mutual proximity, and receiving the lower part of the end of the object; provided at each gripping member, extending vertically, and having the upper end perpendicular to the moving direction of the gripping member. An operating piece that is angularly displaced about an axis extending to the lower end and that is swingably supported by the gripping member between the gripping surface where the lower end faces the object of the gripping member and the vicinity of the free end of the supporting piece; When a pair of gripping members are provided between the gripping members and move in a direction away from each other, a spring force in the approaching direction of the gripping members is supported on the lower part of the operating piece, the size of which supports the lower part of the end portion of the object. A spring member that gives a value that is greater than or equal to the value that allows relative movement on one side. Stopper means for restricting further angular displacement of the lower part of the operating piece from the position near the free end of the supporting piece in the direction in which the gripping members approach each other. A plurality of storage holes are formed at intervals along with, the upper part of the operating piece is present in the storage hole, the lower part of the operating piece can go in and out of the storage hole, and the stopper means is The first stopper member provided on the surface opposite to the surface facing the object and protruding in the direction away from the object, and fixed to the gripping member and abutting the first stopper member, the lower direction of the operating piece in the approaching direction. Second to limit the amount of displacement in
An object gripping device comprising a stopper member. 2. The object according to claim 1, wherein the gripping member is provided with a hinge including a hinge pin having an axis line coinciding with the swing axis line, and an upper end portion of the operating piece is fixed to the hinge. Gripping device.