JP4839238B2 - Gripping device and loading device - Google Patents

Description

  The present invention relates to a technique for gripping a solid cylinder having a cross-section of a mouth portion such as a wide-mouthed bottle having a size substantially equal to a cross-section close to the bottom portion.

For example, when packaging a plurality of bottles, it is necessary to grip the bottles. Conventionally, as such a gripping device, there is one disclosed in Patent Document 1.
The gripping device according to Patent Literature 1 is a device that hangs and holds a bottle by using a constricted portion formed in a neck portion of the bottle.
In other words, this conventional gripping device uses a suitable mechanism to place a ball disposed on the inner circumferential surface of the holding portion corresponding to the constricted portion of the bottle with a cylindrical holding portion covered from above the bottle. , Projecting toward the constriction. Since a plurality of balls are arranged on the inner peripheral surface of the cylinder surrounding the constricted portion, when all of them protrude toward the constricted portion, the constricted portion engages with the ball and is held by the holding portion. .

When transporting a plurality of bottles and packing them, the above gripping devices are arranged vertically and horizontally, and each of the arranged gripping devices grips the bottle.
Japanese Patent No. 3614848

  By the way, since the said holding | grip apparatus engages a some ball | bowl from the circumference to the constriction part of a bottle and grips a bottle, a holding | maintenance part must be larger than the opening part of a bottle. For this reason, in the case of a bottle whose mouth is smaller than the bottom and body, the holding part is larger than the bottle mouth, but by configuring the same size (outer shape) as the bottom and body, By arranging the gripping devices closely, it is possible to grip a plurality of bottles in close proximity and to pack them in the same posture, but when trying to grip a wide-mouthed bottle, the size of the holding portion is Since it must be larger than the trunk and the bottom, even if a plurality of gripping devices are arranged densely, the plurality of wide-mouthed bottles to be gripped are gripped at intervals. As a result, if the box is packed as it is, the bottles will be arranged at intervals, resulting in a problem that the boxes cannot be packed densely.

In addition, although the above demonstrated taking the wide-mouthed bottle as an example, it is a problem common to not only this but the gripping target object of what is called a cylindrical shape.
SUMMARY OF THE INVENTION An object of the present invention is to provide a gripping device and a loading device that are suitable for boxing a cylindrical object to be gripped without a gap.

  In order to achieve the above-mentioned object, the present invention conveys a gripping object having a constricted portion having a constricted portion in a gripping posture while reciprocating the gripping device main body from the take-out position to the loading position, and loads the gripping object. The gripping device is used in a loading device that performs the above-described gripping object, and the gripping object has a shape having one or more gaps between the gripping object and other gripping objects that are arranged adjacent to each other during loading. The apparatus has a main body part having a hollow portion that receives a mouth side of the gripping object formed on a lower surface, and an outer periphery of the main body part, and at least one position located in a gap corresponding part of the gripping object. A rod that is vertically slidable and has a tip formed in a wedge shape, and a sliding body that is provided below the tip of the rod and slides and urges inward of the cavity by a wedge action accompanying the movement of the rod. Comprising said loading Lowers the gripping device body from above the gripping object, inserts the mouth side of the gripping object into the cavity, and in that state, lowers the rod and slides the sliding body inward of the cavity. The gripping state is realized by engaging the constricted portion of the gripping object.

  According to the configuration described above, the gripping device includes the rod at at least one position located in a portion corresponding to the gap of the gripping object. Therefore, when a plurality of gripping devices are arranged vertically and horizontally so that they are adjacent to each other, the rod and the sliding body are positioned in a gap that is formed when a plurality of size-cylinder-type gripping objects are arranged vertically and horizontally. Become. Therefore, the gripping devices arranged so as to be adjacent to each other can grip the gripping objects of each dimension cylinder type so that they can be packed without leaving a space between the gripping objects of each dimension cylinder type.

  Here, the gripping object has a cylindrical shape, there are four gap-corresponding parts with respect to the gripping object, and each of the gap parts is located at a four-corner equivalent part of the main body, Rods are erected at each of the four corners corresponding portions, the main body has a cross shape, each of the tip portions of the cross shape is positioned at the four corners, and each of the four corners corresponding portions. Each of the rods is provided with a permissible hole that allows the cross bar to move up and down, and each of the rods is connected to the other end portion of the rod that is different from the wedge-shaped tip portion and the tip portion located at the spot. Therefore, it may be slidable up and down.

According to this configuration, the gripping device can be assembled such that each rod slides up and down simultaneously in conjunction with the vertical movement of the cross bar.
Here, the upper part of the main body has a cylindrical solid shape having a substantially cylindrical shape, and the permissible holes are provided in the cylindrical solid, and each of the permissible holes is provided in the cylindrical solid. A concave surface may be formed in the upward direction of the rod.

According to this configuration, the upper portion of the main body portion of the gripping device has a concave surface extending upward from the permissible hole, so that it is easy to use a tool for connecting each tip portion of the cross bar and each rod. Become.
Here, the lower part of the main body portion is a rectangular tube solid having a rectangular tube shape, and one side of the rectangular tube solid is substantially the same as the diameter of the cylindrical solid, It may be erected at each of the four corners of the rectangular solid.

According to this configuration, one side of the rectangular solid that is the lower part of the main body portion of the gripping device is substantially the same as the diameter of the cylindrical solid, so that the square cylindrical solid of the gripping device and the corner of the other gripping device They can be arranged at the last interval where the sides of the cylinder are in contact with each other. Thereby, a some holding | grip apparatus can be arranged vertically and horizontally so that it may adjoin closely.
In addition, the present invention provides a loading device that transports a gripping object having a constricted portion having a constricted portion in a gripping posture and loads the gripping object while reciprocating a plurality of gripping devices from a take-out position to a loading position. The gripping object has a shape having one or more gaps between other gripping objects arranged adjacent to each other when loaded, and each of the plurality of gripping devices includes the gripping object. A cavity for receiving the mouth side of the object is provided on the lower surface of the main body and on the outer periphery of the main body, and is slidable up and down at least at one position located in the gap corresponding portion of the object to be grasped. A rod having a tip formed in a wedge shape, and a sliding body provided below the tip of the rod and slidingly biased inward of the cavity by a wedge action accompanying the movement of the rod; Grasp each rod The plurality of gripping objects are arranged so as to be adjacent to each other and positioned adjacent to the gap corresponding to the object, and the gripping device main bodies are arranged adjacent to each of the plurality of gripping devices. Is lowered from above, the mouth side of the object to be grasped is inserted into the cavity, and in that state, the rod is lowered and the sliding body is slid inward of the cavity, The gripping state is realized by engaging with the constricted portion of the gripping object.

  According to this configuration, the loading device positions each rod in at least one position located in the gap corresponding portion of the size-clamp-type gripping object, and arranges the plurality of gripping devices adjacent to each other. And each sliding body will be located in the clearance gap formed when the several torso-type holding | grip object is arranged vertically and horizontally in the state which adjoined closely. Thereby, each holding | grip apparatus can hold | grip the holding object of each dimension cylinder type so that it can pack up without leaving the space | interval between the holding objects of each dimension cylinder type.

1. 1. First Embodiment 1.1 Outline of Loading Device 100 FIG. 1 shows that a case conveying conveyor 120 is disposed at a conveyance end position of a bottle conveying conveyor 110, and a loading device 100 is provided in the vicinity thereof. The configuration is shown. The loading device 100 suspends and holds a base plate 10 via an arm 102 at the upper end of a rod 101 that can rotate and move up and down, and a plurality of (in the illustrated example) twelve gripping devices 1.・ ・ Closely arranged.

  The lower side of the rod 101 of the loading device 100 is connected to the driving device 103. The driving device 103 raises and lowers the rod 101 at an appropriate timing, rotates 90 degrees to the right, rotates 90 degrees to the left, and to the hose 104. The supply and discharge of a fluid such as air is controlled, and the operation of gripping and removing 12 bottles B from the bottle conveyor 110 and packing them into cases 130, 131,.

  As the bottle B, a wide-mouthed bottle such as a dressing or a sauce is used here. Hereinafter, such a wide-mouthed bottle is referred to as a short-bottle type bottle or simply a bottle. In addition, a cap is attached to the mouth side of the bottle handled in this embodiment as shown by the phantom line in FIG. 4, and the diameter of the bottle body slightly below the lower end of the cap is slightly smaller. There is a constricted portion 50 that becomes.

FIG. 2 is a diagram illustrating a state in which the base plate 10 and each gripping device 1 are removed from the loading device 100. The base plate 10 is provided with a through hole 10 a for sending air sent through the hose 104 to each gripping device 1 under the control of the driving device 103 at a position located above each connected gripping device 1. .
Each of the gripping devices 1 is fastened to the base plate 10 by four bolts 12a, 12b, 12c, and 12d (see FIGS. 2, 3A, and 4).

Hereinafter, the gripping device 1 will be described.
1.2 Structure of Holding Device 1 FIG. 3A is a perspective view of the holding device 1. 3B is a bottom view of the gripping device 1, and FIG. 3C is a top view of the gripping device 1.
FIG. 4A shows a cross-sectional view (cross-sectional view taken along line xx in FIG. 3C) of the gripping device 1 in a state where the bottle is not gripped (opened state), and FIG. Sectional drawing (cross-sectional view of xx in FIG.3 (c)) of the holding | gripping apparatus 1 in the state (gripping state) which carried out is shown.

FIG. 5 is a perspective view of the gripping device 1 showing the structure of the rod mechanism unit 3 by cutting only the holding main body 2 of the gripping device 1 in the gripping state at xx in FIG. .
As shown in FIGS. 2 and 4, the upper end portion of the gripping device 1 is fastened to the base plate 10 by bolts 12a, 12b, 12c, and 12d.
The holding device 1 is roughly divided into a holding main body 2 that covers the upper part of the bottle, balls 40a, 40b, 40c, and 40d as sliding bodies that hold the bottle B covered by the holding main body 2, and balls 40a and 40b. , 40c and 40d (see FIGS. 3A, 3B, and 5). Hereinafter, the ball mechanism is simply referred to as a ball.

  As shown in FIGS. 4 and 5, the holding main body 2 has a configuration in which a skirt portion 21 extends from the lower peripheral edge of the cylindrical portion 20. As shown in FIG. 4, the cylindrical portion 20 has a cylinder chamber 41 formed therein. A piston body 42 is closely inserted into the cylinder chamber 41 and is configured to move downward by a fluid such as air supplied through the through hole 10 a of the base plate 10. A compression coil spring 43 is inserted between the piston body 42 and the bottom of the cylinder chamber 41. When the supply of fluid is stopped, the piston body 42 is returned to the upper end by the elastic restoring force of the spring. .

The lower end of the piston body 42 penetrates the cylindrical portion 20 and is exposed inside the skirt portion 21. Then, two joint bars 44a and 44b and a cap guide 45, which are formed in a cross shape by combining the exposed ends as seen in FIG.
The joint bars 44a and 44b extend horizontally, and the extending end penetrates the side wall of the skirt portion 21 and reaches the outside. The side walls of the skirt portion 21 are formed with permissible holes 23a, 23b, 23c, and 23d that allow the joint bars 44a and 44b to pass through. The permissible holes 23a, 23b, 23c, and 23d are formed on the piston body 42. It is a long hole that is longer than the vertical stroke. As a result, the joint bars 44a and 44b also move up and down following the vertical movement of the piston body 42. Although the allowable holes 23c and 23d are not shown in FIG. 4, the allowable holes 23c and 23d allow the joint bar 44b to pass through, and the allowable holes 23c are positions where the bolts 31c exist on the side wall of the skirt portion 21. The allowable hole 23d is formed at a position where the bolt 31d is present on the side wall of the skirt portion 21 (see FIG. 3C).

  The cap guide 45 is a cylindrical body having an outer diameter that can be accommodated in the skirt portion 21, and a conical recess 45 a is formed at the bottom as shown in FIG. 4. The cap guide 45 is for positioning the bottle B. That is, when the bottle body B is accommodated in the skirt portion 21 and the piston body 42 is lowered and the cap guide 45 is lowered, the conical inclined surface of the recess 45a becomes as shown in FIG. Position the bottle so that the center of the cap coincides with the center of the cone, in contact with the top edge of the cap.

  Next, in the outer shape of the skirt portion 21, the upper half 21a has a cylindrical shape and the lower half 21b has a rectangular tube shape. As can be understood from FIG. 3, the diameter of the upper half 21a is substantially equal to the length of one side of the lower half 21b. Accordingly, only the corner portions C1 to C4 protrude from the upper half 21a in the lower half 21b as seen in FIGS. 3 (a) and 3 (c). Ball housing holes 22a, 22b, 22c, and 22d that open toward the center of the skirt portion are formed in the middle of the projecting corner portions C1 to C4. Balls 40a, 40b, 40c, and 40d are accommodated in the ball accommodation holes 22a, 22b, 22c, and 22d. In addition, drop prevention portions 24a, 24b, 24c, 24d, 25a, 25b, 25c, and 25d are formed on the inner peripheral surface side of the skirt of the ball receiving holes 22a, 22b, 22c, and 22d so as to be slightly smaller in diameter. Thus, the balls 40a, 40b, 40c, and 40d are prevented from falling out inward of the skirt (see FIGS. 6A and 6B). Although the ball housing holes 22c and 22d are not shown, the ball housing hole 22c is opened in the middle of the corner portion C3 shown in FIG. 3C, and the ball housing hole 22d is formed in FIG. It is established in the middle of the downward direction of the corner portion C4 indicated by. The ball 40c is accommodated in the ball accommodation hole 22c, and the ball 40d is accommodated in the ball accommodation hole 22d.

  In the middle of the ball receiving holes 22a, 22b, 22c, 22d, a shaft hole opened upward is formed, and a push rod having an upper end coupled to the joint bars 44a, 44b is formed in the hole. 30a, 30b, 30c, and 30d are slidably inserted. Here, the push rods 30a and 30b are coupled to the joint bar 44a by bolts 31a and 31b, and the push rods 30c and 30d are coupled to the joint bar 44b by bolts 31c and 31d (see FIG. 3C and FIG. 4). ). Although the push rod 30c is not shown, the push rod 30c exists on the diagonal line of the push rod 30d.

  The tip 30au, 30bu, 30cu, 30du of the push rods 30a, 30b, 30c, 30d is formed in a conical shape as understood from FIG. This is because, as the push rods 30a, 30b, 30c, 30d are lowered, the tips 30au, 30bu, 30cu, 30du perform a wedge action on the balls 40a, 40b, 40c, 40d, and the balls 40a, 40b, This is because 40c and 40d are gradually pushed along the ball receiving holes 22a, 22b, 22c and 22d in the axial direction of the skirt portion (see FIGS. 6A and 6B). Thereby, ball | bowl 40a, 40b, 40c, 40d fits into the constriction part 50 of the bottle B, and can hold | maintain a bottle (refer FIG.4 (b)).

The ball receiving holes 22a, 22b, 22c, and 22d are formed in a state where the bottle body B is positioned by the cap guide 45 while the piston body 42 is lowered, and the constricted portion 50 of the bottle B is in the ball receiving hole. Positions corresponding to the positions corresponding to 22a, 22b, 22c, and 22d are selected.
(Grip device array)
The outer shape of the gripping device 1 is defined by the shape of the holding main body 2. Therefore, how closely the gripping devices 1 can be arranged depends on the shape of the holding main body. As described above, the holding main body 2 includes the cylindrical portion 20 and the skirt portion 21, and the skirt portion 21 includes a cylindrical upper half 21 a and a rectangular tubular lower half 21 b. As understood from FIGS. 3A and 3C, one side of the lower half 21b is substantially equal to the diameter of the upper half 21a.

Therefore, it can be said that the gripping device 1 can be arranged at the last interval where the sides of the lower half 21b of the skirt portion 21 of the adjacent gripping devices 1 are in contact with each other. FIG. 2 is assembled to the base plate 10 at such intervals.
≪Boxing action≫
Next, the boxing operation of the bottle by the loading device 100 having the above configuration will be described.

  Now, as shown in FIG. 1, it is assumed that the loading device 100 is present above the boxing stage Pr with the arms 102 facing the case conveying conveyor 120 with the bottles B held by the holding devices 1. At this time, the empty case 130 waits at the boxing stage Pr just below the gripping device 1... By the timing control of the driving device 103. Then, the rod 101 starts to descend, and bottles B ... gripped by the gripping devices 1 ... are packed into an empty case 130. FIG. 7 shows the packed state.

  When the bottles B are accommodated in the case, the loading device 100 causes the fluid in the cylinder chambers 41 of the gripping devices 1. Then, the piston body 42 is raised by the restoring force of the compression coil spring 43, and the push rods 30a, 30b, 30c, 30d are also raised following that. When the push rods 30a, 30b, 30c, and 30d are lifted, the wedge action on the balls 40a, 40b, 40c, and 40d by their tips is released, so that the balls 40a, 40b, 40c, and 40d have ball receiving holes 22a, 22b, It moves backward in the direction away from the bottle in 22c and 22d (refer Fig.4 (a) and FIG.6 (a)). As a result, the bottles B ... are released from gripping. Thereafter, the rod 101 of the loading device 100 moves upward, and each gripping device 1... Rises with the bottle B.

  When the rod 101 reaches the ascending end, this time it is rotated 90 degrees counterclockwise, the arm 102 is turned to the bottle transport conveyor 110 side, and the gripping devices 1... Are positioned above the bottle take-out stage Pc. In this embodiment, the bottle take-out stage Pc is an area where there are a number of bottles to be taken out at one time by the gripping device 1.

When the gripping device 1... Reaches the bottle take-out stage Pc, the rod 101 of the loading device 100 is lowered (see FIG. 7). The descending amount is about the same as that in the boxing stage Pr.
By this lowering operation, the holding body portion 2 of each gripping device 1..., More precisely, the cap of the bottle B... In which the skirt portion 21 is arranged on the bottle take-out stage Pc. At this time, since the push rods 30a, 30b, 30c, and 30d are raised, each gripping device 1 is in an open state as shown in FIG. For this reason, the cap of the bottle B enters the skirt portion 21 without being obstructed by the balls 40a, 40b, 40c, and 40d.

  Further, the bottles B ... on the take-out stage are pushed by the succeeding bottles B ... sent one after another from the upstream side, and are lined up in a tightly packed state without any gaps. As described above, the length of one side of the lower half 21b is substantially equal to the diameter of the upper half 21a. Therefore, the gripping devices 1 are arranged on the base plate 10 in close proximity. The skirt portion 21 of the gripping device 1... Moves smoothly between the bottles without interfering with the adjacent bottles and pushing the bottles apart.

  When the skirt portion 21 enters a predetermined amount, the fluid is fed from the hose 104, the piston body 42 is lowered, and the push rods 30a, 30b, 30c, 30d are followed and lowered, and the balls 40a, 40b, 40c, 40d. Is pushed out, and the bottle B... Is held as shown in FIG. Thereafter, the loading device 100 raises the rod 101 and takes out the bottles B ... from the stage Pc. Then, the rod 101 is rotated 90 clockwise to transport the bottles B ... taken out above the boxing stage Pc shown in FIG. After this, as described above, it descends and performs the boxing process. Thereafter, each process of taking out the bottle, transporting and boxing is repeated, and new bottles B are successively boxed in an empty case.

1.3 Summary According to the present invention, the lower half 21b of the skirt portion 21 of the gripping device 1 is a solid body having a substantially rectangular bottom surface, and the length of one side of the generally rectangular shape is equal to the diameter of the bottle. Since they are the same or substantially the same, when the gripping devices 1 are arranged as shown in FIG. 2, the portions corresponding to the four corners of the main body are gaps formed when arranged vertically and horizontally so as to contact a plurality of circles. Located in. In other words, by placing the push rods 30a, 30b, 30c, 30d at the four corners of the holding main body 2, when packing a plurality of bottles of the size cylinder type, the adjacent bottles are packed closely. Can do.

Further, if the balls 40a, 40b, 40c, and 40d are formed of a soft resin, when the balls 40a, 40b, 40c, and 40d are pressed against the constricted portion of the bottle, they slightly elastically deform according to the shape of the constricted portion, and the radius of curvature with the constricted portion 50 Therefore, the bottle can be gripped more reliably.
As can be understood from FIGS. 2 and 3, the cylindrical portion 20 includes curved concave surfaces 20 a and 20 b at the portion corresponding to the four corners of the skirt portion 21 from the lower vicinity where the joint bars 44 a and 44 b are located to the upper end portion. , 20c, 20d, it is easy to use a tool used when connecting the joint bars 44a, 44b and the push rods 30a, 30b, 30c, 30d with bolts 31a, 31b, 31c, 31d. It becomes. Here, the concave surfaces 20a, 20b, 20c, and 20d are curved, but the present invention is not limited to this. In short, the concave surfaces 20a, 20b, 20c, and 20d may have any shape that facilitates the use of a tool used for coupling.

1.6 Modifications Although the present invention has been described based on the above embodiments, the present invention is of course not limited to the above embodiments. The following cases are also included in the present invention.
(1) In the above-described embodiment, the balls 40a, 40b, 40c, and 40d are used as members that engage with the constricted portion 50 of the bottle B. However, the present invention is not limited to this.

In short, if it can be pushed and engaged with the constricted part 50 of the bottle B by moving inward by the wedge action accompanying the movement of the tip part of the push rod, its shape is It doesn't matter.
For example, instead of a ball, a substantially pin-shaped engagement member may be used as a sliding body that holds the bottle B. In this case as well, it is desirable to form with a soft resin.

Hereinafter, the engaging member 300a formed in a generally pin shape will be described with reference to FIG.
The outer surfaces of the outer end portion 301a and the inner end portion 302b of the engaging member 300a are substantially spherical. When the push rod 30a descends, the engagement member 300a moves inward due to the wedge action accompanying the movement of the tip 30au of the push rod 30a. At this time, a part of the inner end 302b of the engaging member 300a is pressed against and engaged with the constricted portion 50 of the bottle B, whereby the bottle B is gripped.

(2) In the above-described embodiment, the gripping device 1 is provided with a vertically slidable push rod at each of the four corners of the holding main body 2. However, the present invention is not limited to this.
A push rod that is slidable up and down may be erected at least at one of the four corners of the main body.
At this time, in the place where the push rod is not erected, the outer surface is formed in a substantially spherical shape by the resin at the position where it comes into contact with the constricted portion of the bottle when gripping the bottle in the cavity provided in the main body. Protruding protrusions may be provided. Thereby, when gripping the bottle, a part of the protrusion is pressed against the constricted part of the bottle and engaged.

(3) The holding main body 2 of the gripping device 1 is not limited to the shape shown in FIG. The push rods 30a... May be provided so as to be vertically slidable at the four corners of the holding main body 2 so that the bottle can be gripped.
(4) The shape of the joint bars 44a and 44b shown in the above embodiment is an example.
The point is that the piston body 42 and the holding main body 2 are fastened to the push rods 30a, 30b, 30c, 30d at the portions corresponding to the four corners, and can be slid up and down in conjunction with the vertical movement of the piston body 42. The shape is not limited.

(5) In the present invention, it is not necessary that the tip of the push rod has a pointed shape as in the embodiment, and it may be any as long as it has a slope or a hypotenuse and thereby exhibits a wedge action. In the present invention, a shape having a wedge action is called a wedge shape.
(6) In the above embodiment, the object to be grasped by the grasping device 1 is a bottle of a cylindrical shape, but is not limited to this. The gripping object is a small three-dimensional solid body and may have any shape as long as one or more gaps are formed between adjacent objects when a plurality of gripping objects are closely arranged and arranged vertically and horizontally.

(7) In the above-described embodiment, the mechanism in which the piston moves up and down by applying or releasing fluid pressure is not limited to this.
In short, any mechanism can be used as long as the piston can move up and down.
(8) Although the loading apparatus 100 includes twelve gripping apparatuses, the present invention is not limited to this.

  The number of gripping devices arranged vertically and horizontally in the loading device 100 may be the same as the number of bottles that can be packed in one box.

  The present invention can be used for management, that is, repetitively and continuously in the manufacturing industry for manufacturing the gripping device. In addition, the present invention can be used for management, that is, repetitively and continuously in a manufacturing industry or a sales industry in which a plurality of cylindrical containers are boxed using a gripping system and shipped to a retailer or the like.

2 is a diagram illustrating an example of a configuration of a loading device 100. FIG. 1 is a diagram showing an outline of a loading device 100. FIG. (A) is a perspective view of the gripping device 1, (b) is a bottom view of the gripping device 1, and (c) is a top view of the gripping device 1. (A) is sectional drawing at the time of the open state of the holding apparatus 1, (b) is sectional drawing at the time of the holding state of the holding apparatus 1. FIG. 2 is a perspective view of the gripping device 1 showing a structure of a rod mechanism section 3 by cutting only the holding main body portion 2 of the gripping device 1 in a gripping state. FIG. (A) is sectional drawing which shows the structure of the vicinity of ball accommodation hole 22a, 22b, 22c, 22d in an open state, (b) is the structure of the vicinity of ball accommodation hole 22a, 22b, 22c, 22d in a holding state. It is sectional drawing shown. 3 is a schematic front view showing the operation of the loading device 100. FIG. It is sectional drawing which shows the structure of the vicinity of the front-end | tip 30au of the rod 30a at the time of using a substantially pin-shaped engagement member as a sliding body which grips the bottle B instead of a ball | bowl.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Grasping apparatus 2 Holding | maintenance main-body part 3 Rod mechanism part 10 Base plate 20 Cylindrical part 21 Skirt part 22a, 22b, 22c, 22d Ball accommodation hole 23a 23b, 23c, 23d Permissible hole 30a, 30b, 30c, 30d Push rod 40a, 40b, 40c, 40d Ball 41 Cylinder chamber 42 Piston body 43 Compression coil springs 44a, 44b Joint bar 45 Cap guide 100 Loading device

Claims (4)

A loading device that transports a gripping object having a constricted portion in a gripping posture while reciprocating a plurality of gripping devices from a take-out position to a loading position, and loads the gripping object,
The gripping object consists of a shape having two or more gaps between other gripping objects arranged adjacent to each other at the time of loading,
Each of the plurality of gripping devices is
A body part having a hollow part for receiving the mouth side of the grasped object formed in the lower surface;
A rod on the outer periphery of the main body portion, standing upright and slidable in at least one position located in a gap corresponding portion of the object to be grasped, and having a tip formed in a wedge shape;
A sliding body provided below the tip of the rod and slidably biased inward of the cavity by a wedge action accompanying the movement of the rod;
A cap guide formed with a conical recess so as to move up and down together with the rod inside the main body and to come into contact with the upper edge of the object to be grasped when lowered.
Each rod is positioned at a portion corresponding to the gap of the gripping object, and the plurality of gripping devices are arranged so as to be adjacent to each other,
For each of the plurality of gripping devices, the gripping device body is lowered from above the plurality of gripping objects arranged so as to be adjacent to each other, and the mouth side of the gripping target object to be gripped in the hollow portion In this state, the rod is lowered, the sliding body is slid inwardly into the cavity, and is engaged with the constricted portion of the object to be grasped, and the cap guide is lowered as the rod is lowered. And the gripping state is realized by bringing the upper edge of the gripping object into contact with the conical recess.
A loading device characterized by that. The gripping object has a cylindrical shape,
There are four parts corresponding to the gap with respect to the gripping object,
Each of the gap portions is located at a portion corresponding to the four corners of the main body,
A rod is erected at each of the four corners,
The main body is
A cross-shaped bar that has a cross-shaped shape, and each of the cross-shaped tip portions is located at the portion corresponding to the four corners;
In each of the four corners corresponding portions, it has a permissible hole that allows the crossbar to move up and down,
Each of the rods is slidable in the vertical direction by connecting the other end portion different from the wedge-shaped tip portion of the rod and the tip portion located in the portion. The loading device described. The upper part of the main body has a cylindrical solid shape that is generally cylindrical.
The permissible hole is provided in the cylindrical solid,
The loading device according to claim 2, wherein a concave surface is formed in each of the cylindrical solid bodies from each of the permissive holes in the upward direction of the rod . The lower part of the main body is a rectangular tube solid having a rectangular tube shape,
One side of the rectangular solid is substantially the same as the diameter of the cylindrical solid,
The loading device according to claim 3, wherein each of the rods is erected at each of the four corners of the rectangular solid .

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