JP4534961B2 - Article gripper - Google Patents

Description

  The present invention relates to an article gripper, and more particularly to an article gripper used for a caser that holds an article such as a container and stores it in a box, or an answerer that takes out an article from the box.

  Various types of article grippers are conventionally known as a caser for inserting an article into a box and an answerer for taking out an article from the box. Casers, anchorers, etc. in which such article grippers are used are desired to be used for many kinds of articles having different sizes and shapes. Therefore, in the conventional configuration, when the kind of article is changed, the gripper is used. The whole is removed and replaced with another gripper.

  Normally, an article gripper is provided with a grip member that directly grips an article and an operation mechanism for opening and closing the grip member. Therefore, in the configuration in which the entire gripper is exchanged as described above, the number of parts is large and the exchange is performed. It is necessary to prepare a large number of large grippers for use, and there are various problems such as high cost and a large space for storage when not in use.

  Therefore, a gripper has been proposed in which the operating mechanism and the grip member are separated and can be replaced by removing only the grip member. Since this gripper only replaces the grip member, the cost can be greatly reduced compared with the conventional gripper that replaces the whole as described above, and there are merits such as less storage space. is there.

  However, in addition to the grip claw that directly contacts and grips the article, the grip member includes parts such as a swing shaft that is the swing center of the grip claw, a roller that is opened and closed by a cam, and a spring. In addition, since many parts are used in the mechanism for attaching and detaching the grip member and the operating mechanism, it is somewhat expensive to replace only the grip member. In addition, there is a problem that a troublesome operation is required for attaching and detaching the grip member.

  Therefore, the applicant of the present invention has already filed an application for an invention of an article gripper in which only the grip claw portion that directly contacts the article among the grip members can be removed from the grip claw holding member and replaced (Patent Document). 1).

Briefly explaining the configuration of the invention described in Patent Document 1, the article gripper includes a pair of grip members and an operating mechanism for opening and closing the grip members, and the lower end portion of the grip member is approached and separated. Holds and releases articles (containers). The grip member has a grip claw holding member, a grip claw attached to the holding member, and a lock means (bolt) for restricting movement of the grip claw. The grip claw holding member is formed between the abutment part where the upper part of the grip claw abuts, the back support part that supports the back of the grip claw when it abuts, and the contact part and the back support part. Gap. The upper part of the grip claw is inserted through the gap and brought into close contact with the contact part. Also, a positioning spring pin is implanted on the inner surface side of the grip claw, while a pin hole is provided at a position corresponding to the spring pin in the center of the bottom surface of the block on the grip claw holding means side. After positioning by the spring pin and the pin hole, it is fixed by the locking means.
JP 2001-150380 A (page 2-4, FIG. 3)

  In the invention of the above-mentioned Patent Document 1, since only the grip claw portion of the grip member can be removed and replaced, the cost of replacement parts can be reduced and the storage space can be greatly reduced. The structure for connecting the holding member and the grip claw is somewhat complicated, and it has been desired to further simplify the attaching / detaching operation.

  The present invention provides an article gripper including a pair of grip members that open and close an article by approaching and separating from each other, and an operation mechanism that opens and closes the grip member, wherein the grip member includes a grip claw that grips the article, And a grip claw holding member to which the grip claw is attached. The grip claw holding member supports the grip claw and holds the grip claw, and supports the lower end of the grip claw to prevent the grip claw from falling off. And a gripping claw that is supported by the locking portion and held by the connecting means, and the gripping claw is rotated about the locking portion as a fulcrum to be removed.

  According to a second aspect of the present invention, the connecting means is a leaf spring, and the grip claw is provided with a stopper that engages with a lower end of the leaf spring to restrict upward movement. It is characterized by.

  Furthermore, the invention described in claim 3 is characterized in that the grip claw holding member is formed with a hole through which a pusher that pushes the outer surface side of the grip claw passes.

  The article gripper of the present invention has a simple structure, and it is possible to remove and replace only the part of the grip claw that directly contacts the article among the grip members by a very simple operation.

  The pair of grip members that release and hold the article by approaching and separating from each other have a grip claw that grips the article and a grip claw holding member to which the grip claw is attached. When the grip claw is attached to the grip claw holding member, the connecting means for engaging and holding the grip claw and the locking portion for supporting the lower end of the grip claw to prevent the drop off are provided. The grip claw is held by the connecting means while being supported by the locking portion, and when removing the grip claw, the grip claw may be rotated using the locking portion as a fulcrum, thereby simplifying the structure. , Achieved the purpose of easy operation.

  Hereinafter, the present invention will be described with reference to embodiments shown in the drawings. 1 is a front view of an article gripper according to an embodiment of the present invention, FIG. 2 is a side view of a grip member constituting the article gripper, and FIG. 3 is a view in the direction of arrow III in FIG. The article gripper 2 includes a pair of grip members 6 and 6 that hold an article (a container 4 in this embodiment) and an opening and closing cylinder 8 as an operation mechanism that opens and closes the grip members 6 and 6. Although the structure for opening and closing the both grip members 6 and 6 is not shown in the figure, for example, as in the conventional configuration (see Patent Document 1), the cam is moved up and down by an air cylinder to open and close both the grip members 6 and 6. May be. It can also be opened and closed by other configurations.

  Each grip member 6 includes a grip claw 10 that holds the container 4 and a base (grip claw holding member) 12 to which the grip claw 10 is attached. The grip claw holding member 12 has an upper straight portion 12 a, an intermediate inclined portion 12 b, and a lower straight portion 12 c, and the upper straight portion 12 a is fixed to the upper mounting plate 14. As shown in FIG. 1, the pair of grip claw holding members 12 and 12 are fixed in a direction in which the intermediate inclined portions 12 b and 12 b expand to both sides as they go downward.

  On the lower straight portion 12c of the grip claw holding member 12, there are a connecting member 16 that engages and holds both sides of the grip claw 10, and a lower end portion of the grip claw 10 attached to the grip claw holding member 12. The grip claw holding member 12 is provided with a locking portion 12d that is separated from the lower end portion and supports the grip claw holding member 12 so as not to fall off. In this embodiment, the connecting member 16 is a leaf spring, and as described above, the outer surface of the grip claw holding member 12 fixed to the upper mounting plate 14 (in this specification, the grip claws 10, 10 The opposite surfaces of the grip claw holding members 12 and 12 are called inner surfaces, and the opposite surfaces are called outer surfaces.) Both sides 16a and 16a are fixed to the inner surface 12e side of the grip claw holding members 12. It is bent toward (see FIG. 3). Further, the ends 16b, 16b of the side portions 16a, 16a are slightly bent inward (in a direction approaching each other). As for this leaf | plate spring 16, the both sides 16a and 16a have a clearance gap with respect to the both-side walls 12f and 12f of the grip claw holding member 12, and the front-end | tips 16b and 16b of both sides 16a and 16a are grips. It is away from the inner surface 12e of the claw holding member 12.

  The grip claw 10 is attached to the inner surface 12e side of the lower side straight portion 12c of the grip claw holding member 12. As shown in FIG. 3, the grip claw 10 includes a flat portion 10a having a width slightly larger than the width of the grip claw support member 12, and a side wall 10b provided on both sides of the flat portion 10a with the outer surface side facing. 10b. The outer surface of the flat portion 10a (the surface facing the grip claw holding member 12 side) has substantially the same width as the grip claw 10, and the opposite surfaces of the side walls 10b and 10b are the thickness of the grip claw holding member 12. Have approximately the same length.

  A pad 18 for gripping the article 4 is attached to the lower part on the inner surface side of the grip claw 10. The pad 18 is made of a material such as resin, and a surface 18a on the side for holding the article 4 is cut out in a V shape.

  The locking portion 12d formed at the lower end portion of the grip claw holding member 12 has a slope that is high on the inner surface side and lower toward the outer surface side. On the other hand, the lower end portions of both side walls 10b, 10b of the grip claw 10 are inclined surfaces 10c having the same inclination as the inclination of the engaging portion 12d of the grip claw holding member 12. Further, in the leaf spring 16 fixed to the grip claw holding member 12, the distance between the end portions 16b, 16b of the side portions 16a, 16a is slightly shorter than the distance between the side walls 10b, 10b of the grip claw 10. ing. Therefore, in the state where the inclined surfaces 10c, 10c formed at the lower ends of the both side walls 10b, 10b of the grip claw 10 are supported by the locking portions 12d, 12d at the lower end of the grip claw holding member 12, When the upper part of the grip claw 10 is pressed in the direction of the grip claw holding member 12, the upper part of the grip claw 10 pushes and spreads the tip parts 16b, 16b of the leaf spring 16, and is fitted and held between the side parts 16a, 16a. . Tapered notches 10d and 10d are formed on the outer surface sides of the both side walls 10b and 10b of the grip claw 10 so that the tip portions 16b and 16b of the leaf spring 16 can easily pass through.

  Tapered cutouts 10e and 10e into which the tips 16b and 16b of the leaf springs 16 are fitted at positions where the leaf springs 16 are engaged on the inner surface of the grip claws 10 (the surfaces where the grip claws 10 and 10 face each other). (See FIG. 4 described later). When the grip claw 10 is fitted and connected between the tip portions 16b, 16b of the leaf spring 16 of the grip claw holding member 12, the leaf spring 16 fits into the notches 10e, 10e on the back side of the grip claw 10, and this cut The lower end portions 10f and 10f of the notches 10e and 10e serve as stoppers for the leaf spring 16 to restrict the grip claw 10 from moving upward.

  A circular through hole 12g is formed above the position where the leaf spring 16 is attached to the grip claw holding member 12 (see FIG. 2). The upper end of the grip claw 10 held by the leaf spring 16 extends to the position of the through hole 12g. A pusher is inserted into the through hole 12g and the upper end on the outer surface side of the grip claw 10 is pushed. The grip claw 10 held by the spring 16 can be removed. The pusher may be a manual push type in which a separate pin is inserted into the through hole 12g. In this embodiment, the pusher holding portion 20 is provided outside the through hole 12g of the grip claw holding member 12. In the pusher holding portion 20, a pin 22a (see FIG. 5B described later) is provided at the tip, and the pusher 22 having a head (not shown) at the rear end is held. In addition to being inserted into the through hole 12g, the spring is biased in a direction to retract the head so that the pin 22a does not protrude from the through hole 12g. When removing the grip claw 10, when the head housed in the pusher holding portion 20 is pressed against the spring, the tip of the pin 22a protrudes from the through hole 12g, and the upper end of the grip claw 10 on the outer surface side. To disengage the grip claw 10 from the engagement of the leaf spring 16.

  The operation of the article gripper 2 according to the above configuration will be described. The article gripper 2 of this embodiment includes a pair of grip members 6 and 6 each having a grip claw holding member 12 and a grip claw 10, and an operation mechanism 8 for opening and closing the grip members 6 and 6, and an upper operation. The mechanism 8 is attached to a robot hand (not shown) for operation. The grip claw 10 is attachable to and detachable from the grip claw holding member 12, and an optimum one is selected according to the size and shape of the article (container 4) to be gripped and attached to the grip claw holding member 12.

  The process of attaching the grip claw 10 to the grip claw holding member 12 will be described with reference to FIGS. First, in a state where the upper portion of the grip claw 10 is inclined so as to be separated from the grip claw holding member 12, the inclined surface 10 c at the lower end thereof is the upper end of the locking portion 12 d provided at the lower end of the grip claw holding member 12. (Refer to the upper diagram in FIG. 4A). Next, the upper portion of the grip claw 10 is rotated toward the grip claw holding member 12 while pressing so that the inclined portion 10c does not come off from the locking portion 12d. When the grip claw 10 is rotated to a position where it contacts the leaf spring 16 (see the upper and lower figures in FIG. 4B), the lower ends of the tip portions 16b and 16b of the leaf spring 16 come into contact with the grip claw 10. Tapered cutouts 10d and 10d are formed at the inner side corners of both side walls 10b and 10b of the grip claw 10, and both the front ends 16b and 16b of the leaf spring 16 are pushed and expanded by the cutouts 10d and 10d. The grip claw 10 is gradually inserted between both side portions 16a, 16a of the leaf spring 16. If the upper side of the grip claw 10 is rotated to the grip claw holding member 12 as it is, the both side walls 10b, 10b of the grip claw 10 will fit between the side parts 16a, 16a of the leaf spring 16, and the leaf spring 16 will The grip claw 10 is held by the front end portions 16b and 16b of the both side portions 16a and 16a (see the upper and lower drawings in FIG. 4C).

  As described above, the grip claw 10 can be rotated via the leaf spring 16 simply by pressing the lower inclined surface 10c against the locking portion 12d of the grip claw holding member 12 and rotating the locking claw 10 using the locking portion 12d as a fulcrum. It can be easily connected to the grip claw holding member 12. Moreover, the locking portion 12d formed at the lower end of the grip claw holding member 12 has a higher inner surface side (grip claw 10 side) and a lower outer surface side. Since the inclined surface 10c has an inclination that matches the portion 12d, the grip claw 10 connected to the grip claw holding member 12 moves downward with respect to the grip claw holding member 12 and the direction in which the lower end is separated. There is no fear of moving to the door, and it is securely connected. Further, a stopper 10f (the lower ends of the tapered notches 10e and 10e) is formed on the inner surface side of the grip claw 10 at substantially the same height as the lower ends of the front end portions 16b and 16b of the leaf spring 16. Is also restricted from moving upward with respect to the grip claw holding member 12. Therefore, the grip claw 10 can be connected to the grip claw holding member 12 by a simple operation, and can be securely held.

  When the size and shape of the article 4 held by the article gripper 2 are different, the grip claw 10 attached to the grip claw holding member 12 as described above is removed and replaced with another grip claw 10. The case where the grip claw 10 is removed will be described with reference to FIGS. In this embodiment, the pusher 22 is attached to the grip claw holding member 12 in advance by the pusher holding portion 20. That is, the pin 22a at the tip of the pusher 22 is inserted into the through hole 12g of the grip claw holding member 12, and is biased by a spring (not shown) so as not to protrude from the through hole 12g (FIG. 5A). )) When the head of the pusher 22 exposed on the back side of the pusher holding portion 20 is pressed, the pusher 22 moves forward against the spring, and the pin 22a at the tip protrudes from the through hole 12g to the outer surface side of the grip claw 10. Press the upper end of the. The grip claw 10 whose upper end has been pushed rotates around the inclined portion 10c at the lower end locked to the locking portion 12d of the grip claw holding member 12, and the upper portion held by the leaf spring 16 is rotated. The both side portions 16a, 16a of the leaf spring 16 are expanded to escape from the leaf spring 16 (see the upper and lower figures in FIG. 5B). In this way, the grip claw 10 that is firmly connected to the grip claw holding member 12 by the leaf spring 16 can be easily removed by a simple operation of pressing with the pusher 22.

  FIG. 6 is a view showing a main part of the article gripper 2 according to the second embodiment, and includes an engaging portion formed at the lower end of the grip claw holding member 12 and the grip claw 10 engaged with the engaging portion. Since the structure of the lower end is different from that of the first embodiment and the other parts are the same, the same parts are denoted by the same reference numerals and the description thereof is omitted.

  In the first embodiment, the locking portion 12d formed at the lower end of the grip claw holding member 12 and the lower end portion 10c of the grip claw 10 are both inclined surfaces. However, in this embodiment, a step portion is formed. Has been. The lower end of the grip claw holding member 12 is formed with a stepped locking portion 12h having a high inner surface side 12ha (grip claw 10 side) and a lower outer surface side 12hb. A protrusion 10g that fits into the lower step 12hb side of the grip claw holding member 12 is formed. Also in this embodiment, when the grip claw 10 is connected to the grip claw holding member 12, the protrusion 10 g at the lower end of the grip claw 10 is engaged with the step (locking portion) 12 h of the grip claw holding member 12. In this state, the upper portion of the grip claw 10 is rotated to the grip claw holding member 12 side so as to be sandwiched between the leaf springs 16. Further, when the grip claw 10 is removed from the grip claw holding member 12, the grip claw 10 is pressed with the locking portion 12h of the grip claw holding member 12 as a fulcrum by pressing the upper part on the outer surface side of the grip claw 10 with the pusher 22. The leaf spring 16 can be disconnected by rotating.

  FIG. 7 is a view showing the main part of the article gripper 2 according to the third embodiment, and the structure of the connecting means for attaching the grip claw 10 to the grip claw holding member 12 is different from that of the first embodiment. Therefore, only the different parts will be described, and the description of the other parts will be omitted. In the first embodiment, the plate spring 16 is used as the connecting means, and the grip claw 10 is sandwiched and connected by the two end portions 16b, 16b of the plate spring 16, but in this embodiment, the connecting means is used. A pair of ball plungers 24, 24 is used. A U-shaped plate 26 is fixed at a position where the leaf spring 16 is attached to the grip claw holding member 12 of the above embodiment, and ball plungers 24, 24 are provided on both side walls 26 a, 26 a of the plate 26. These ball plungers 24, 24 hold the grip claw 10 from both sides and connect the grip claw 10 to the grip claw holding member 12. Also in this embodiment, the grip claw 10 can be connected to and removed from the grip claw holding member 12 with a simple operation as in the above embodiments.

It is a front view of an article gripper. Example 1 It is a side view which shows the grip member of the said goods gripper. It is a III direction arrow line view of FIG. FIGS. 3A to 3C are explanatory views sequentially showing the process of connecting the grip claw to the grip claw holding member. (Example 2) FIGS. 4A and 4B are explanatory views sequentially showing the process of removing the grip claw from the grip claw holding member. It is a figure which shows the principal part of an article | item gripper. (Example 2) It is a figure which shows the principal part of an article | item gripper. (Example 3)

Explanation of symbols

6 Grip member 8 Actuation mechanism 10 Grip claw 10c Lower end of grip claw (inclined surface)
12 grip claw holding member 12d locking portion 16 connection means (leaf spring)

Claims (3)

In an article gripper provided with a pair of grip members that approach and separate from each other to grip and open an article, and an operation mechanism that opens and closes these grip members,
The grip member has a grip claw for gripping an article, and a grip claw holding member to which the grip claw is attached,
The grip claw holding member includes a connecting means that engages and holds the grip claw, and a locking portion that supports the lower end of the grip claw to prevent the grip claw from falling off, and supports the grip claw on the locking portion. An article gripper, wherein the article gripper is held by the connecting means while being removed, and the grip claw is rotated by using the locking portion as a fulcrum.   2. The article according to claim 1, wherein the connecting means is a leaf spring, and the grip claw is provided with a stopper that engages with a lower end of the leaf spring to restrict upward movement. Gripper.   The article gripper according to claim 1 or 2, wherein the grip claw holding member is formed with a hole through which a pusher that pushes the outer surface side of the grip claw passes.

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