JP5346511B2 - Work machine gripping device and work machine equipped with the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gripping device of a working machine achieving both gripping of an object to be processed by a large gripping force and fine adjustment of the gripping force, and to provide a working machine having the same. <P>SOLUTION: The gripping device 20 has a pair of gripping members 30A, 30B. At least one of them includes a gripping member body 32, a movable gripping part 34, and a spring member 36. The movable gripping part 34 is attached to the gripping member body 32 so that the movable gripping part can be relatively displaced backward by a predetermined quantity in a direction opposite to a turning direction thereof with respect to the gripping member body 32 by a reactive force received from the object P to be processed. A spring 36 is used for urging the movable gripping part 34 inward, and allows the backward displacement of the movable gripping part 34 by the elastic deformation thereof, and increases contact pressure of the movable gripping part 34 with respect to the object P to be processed by its elastic force. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention is provided at the tip of a work arm of a work machine such as a hydraulic excavator, and is provided with a gripping device used for gripping a processing object for the purpose of building demolition work, industrial waste demolition separation, and the like. Related to the working machine.

Conventionally, what was described in patent document 1 is known as a holding | grip apparatus provided in the front-end | tip of the working arm of a working machine. The gripping device includes a support bracket attached to the tip of the working arm, a pair of gripping arms that are rotatably attached to the main body, and a cylinder device that rotates the gripping arms. The cylinder device causes the gripping arms to perform a gripping operation by rotating the gripping arms in opposite directions.
Japanese Utility Model Publication 57-80554 Microfilm

  The gripping device may require a large gripping force. In particular, a device intended for crushing a robust work object requires a very large driving force, so that the cylinder device must have a high output. Moreover, a sharp blade is given to the front-end | tip part of a holding arm for the said crushing.

  On the other hand, it is difficult to grip a relatively small work object without destroying it with a large gripping device for the purpose of such powerful crushing. In such a powerful gripping device, the gripping force fluctuates greatly even with a slight operation by the operator, so it is difficult to finely adjust the gripping force by the steering.

  As means for solving such a problem, Patent Document 1 includes an auxiliary grip body that is detachably attached to the distal end portion of the grip arm, and a portion of the auxiliary grip body that is in contact with a processing target is provided. It is disclosed that the auxiliary gripping body is mounted only for gripping a relatively small object to be processed, which is made of an elastic body such as rubber. However, even if such an auxiliary gripping body is mounted, the driving force of the cylinder device is directly transmitted to the object to be processed, and it is difficult to finely adjust the gripping force. Further, there is a significant limit to increasing the thickness of the elastic body, and it is practically impossible to effectively absorb a sudden increase in gripping force only by elastic deformation of the elastic body. Accordingly, when the output of the hydraulic cylinder device is rapidly increased by a gripping operation when gripping a small processing target, it is difficult to avoid damage to the processing target due to this.

  In view of such circumstances, the present invention provides a gripping device for a work machine capable of both gripping an object to be processed with a large gripping force and adjusting a fine gripping force, and a work machine including the gripping device. With the goal.

  As means for solving the above-mentioned problems, the present invention is a gripping device for gripping a processing object, which is provided at the tip of the work arm of a work machine having a work arm whose tip is displaceable. A gripping member and a second gripping member rotatable relative to the first gripping member so as to grip the processing target with the first gripping member, and gripping the processing target Gripping drive means for relatively rotating the gripping members, and at least one of the first gripping member and the second gripping member is driven by the gripping drive means. The gripping member main body that rotates relative to the other gripping member, and the gripping member by the reaction force received from the processing target that comes into contact with the processing target by the rotation of the gripping member main body. Direction of rotation with respect to the member body A movable gripping part attached to the gripping member main body so that it can be moved backward by a predetermined amount in the opposite direction, and the movable gripping part projecting inwardly from the gripping member main body. A spring member for urging the movable gripping portion, the spring member allowing a backward displacement of the movable gripping portion by elastic deformation thereof, and the elastic force causes the backward displacement with the backward displacement. It is provided between the grip member main body and the movable gripper so as to increase the contact pressure of the movable gripper with respect to the processing object.

  In this gripping device, as the gripping member main body included in at least one gripping member of the first gripping member and the second gripping member rotates in the gripping direction with respect to the other gripping member, the gripping device The movable gripping part attached to the member main body comes into contact with the object to be processed, and is retracted and displaced to a predetermined amount while being elastically deformed by the reaction force received from the object to be processed. In the range in which the movable gripping part is displaced backward, the contact pressure of the movable gripping part on the object to be processed is a pressure corresponding to the elastic force of the spring member, regardless of the driving force by the gripping drive means. It is possible to finely adjust the contact pressure. On the other hand, since the gripping force applied to the gripping member main body acts on the processing object as it is after the backward displacement of the movable gripping part reaches a predetermined amount, it is possible to grip the processing target with a large gripping force. Is possible.

Specifically, the movable gripping part is the processing object of the gripping member body is attached to the gripping member body so as to be retreating to a position contacting directly to Runode, the movable gripping part From the point of time when the predetermined amount of retraction is displaced, the gripping member main body can directly contact and grip the object to be processed.

  As a specific aspect thereof, the gripping member main body has a concave portion in which the movable gripping portion enters with the backward displacement, and the concave portion is displaced backward until the movable gripping portion is immersed in the concave portion. It is preferable to have a depth that allows this.

  Further, if the gripping member main body has a displacement restricting portion that prevents the backward displacement exceeding the predetermined amount by contacting the movable gripping portion when the movable gripping portion is displaced backward by a predetermined amount, Since the movable gripping part and the gripping member main body are integrated to grip the object to be processed from the time when the movable gripping part is displaced backward by the predetermined amount, the grip driving means is large as in the conventional apparatus. The driving force can be directly applied to the object to be processed and gripped with a large gripping force.

  A structure in which the movable gripper is attached to the gripping member main body so as to be able to move backward is parallel to the central axis of relative rotation of the two gripping members on one of the gripping member main body and the movable gripping part. A shaft portion protruding in a certain direction is provided, and on the other side, a through-groove having a shape that allows the shaft portion to be inserted and allows the movable gripping portion to be retracted, or the movable gripping portion, The gripping member is attached to the gripping member main body so as to be pivotable about an axis parallel to the relative pivotal central axis of the gripping members, and the pivotal axis of the spring member is relative to the movable gripping portion. What is provided so that it may contact in the position which remove | deviated from is suitable.

  Further, the spring member may be, for example, a torsion coil spring disposed around the rotation center axis of the movable gripping portion, or interposed in a compressed state between the movable gripping portion and the gripping member main body. A compression coil spring may be used.

  In the present invention, it is more preferable that both the first gripping member and the second gripping member include the gripping member main body, the movable gripping portion, and the spring member. In this structure, compared to a structure in which only one gripping member includes the movable gripping part or the like, the stroke range in which the gripping force can be adjusted is doubled by the backward displacement of the movable gripping part.

  Further, the present invention is a work machine including the gripping device, a movable work machine main body, a work arm mounted on the work machine main body and operable to displace the tip with respect to the work machine, The gripping device is attached to the tip of the working arm.

  As described above, according to the present invention, the fine gripping force can be adjusted using the elastic backward displacement of the movable gripper relative to the gripping member main body, while the amount of the backward displacement becomes a predetermined amount. From the point of arrival, there is an effect that the processing object can be gripped with a large gripping force.

  A preferred embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram illustrating a gripping device 20 according to a first embodiment and a work machine including the gripping device 20. In this figure, a work machine using a hydraulic excavator is illustrated, but the work machine according to the present invention is not limited to this, and the present invention can be applied to various work machines having work arms whose tips can be displaced. Is possible.

  The hydraulic excavator includes a lower traveling body 1 and an upper revolving body 2 that is rotatably mounted on the lower traveling body 1. The upper turning body 2 has a turning table 4 on which a counterweight 6, a cabin 8, and a work arm 10 are mounted.

  The working arm 10 includes a boom 12 and an arm 14, and a boom cylinder 11 and an arm cylinder 13 for driving them. The boom 12 is mounted on the swivel table 4 so as to be able to undulate (that is, pivotable about a left-right axis of the swivel table 4), and is driven in the undulation direction by the expansion and contraction of the boom cylinder 11. The arm 14 is rotatably connected to the tip of the boom 12 and is driven in the rotation direction by the expansion and contraction of the arm cylinder 13. The tip of the arm 14 can be freely displaced by a combination of the turning operation of the boom 12 and the arm 14 and the turning operation of the turning table 4.

  The work machine according to the present invention is not limited to one that can be turned. Further, the working arm may have only one joint or a plurality of joints.

  A bucket (not shown) is normally attached to the tip of the arm 14 via a bucket pin 18 so as to be rotatable, and is driven in the rotation direction by a bucket cylinder 15. Specifically, an idler link 16 is rotatably attached to the arm 14, the link 16 is connected to the bucket cylinder 15, and the bucket is connected to the idler link 16. The link 16 and the bucket (not shown) are driven by the expansion and contraction of the bucket cylinder 15. In this embodiment, the gripping device 20 is detachably attached as a work attachment instead of the bucket.

  As shown in FIGS. 2A and 2B, the gripping device 20 includes a gripping device body 22, a first gripping member 30A and a second gripping member 30B that are paired with each other, and these gripping members 30A. , 30B for driving the gripping drive cylinder 26. A mounting portion 28 as shown in FIG. 1 is provided at the rear portion of the gripping device main body 22, and the mounting portion 28 is detachably connected to the arm 14 and the idler link 16.

  The gripping members 30A and 30B are for gripping the processing object P shown in FIGS. 2 and 3B from both sides. The gripping member main body 32, the movable gripping portion 34, and the compression coil, respectively. A spring 36.

  The both gripping member main bodies 32 are driven to rotate simultaneously by the gripping drive cylinder 26, and include a front end portion 32 a for sandwiching the processing object P from both sides, and a rear end connected to the gripping drive cylinder 26. And an appropriate intermediate portion between the tip end portion 32a and the rear end portion 32b is connected to the gripping device main body 22 so as to be rotatable about the pin 24, respectively. These gripping member main bodies 32 are rotationally driven in opposite directions by the gripping drive cylinder 26, thereby opening their tip portions 32a apart from each other in the rotational direction (FIG. 2 (a)), The position is switched to the closed position where the tip portions 32a abut against each other ((b) in the figure).

  The gripping drive cylinder 26 is a hydraulic cylinder and is held by the gripping device body 22 at a position interposed between the rear end portions 32b of the gripping member bodies 32. Specifically, the grip driving cylinder 26 includes a cylinder body 26a, a piston 26b accommodated in the cylinder body 26a, and a rod 26c extending from the piston 26b to one side along the cylinder axial direction. The tip of the rod 26c is pivotally connected to the rear end 32b of the gripping member main body 32 of the first gripping member 30A, and the head side end of the cylinder main body 26a is the second gripping member. It is rotatably connected to the rear end portion 32b of the grip member main body 32 at 30B. Therefore, both the gripping member main bodies 32 are driven in the opening and closing direction by the expansion and contraction of the gripping drive cylinder 26.

  The grip driving means according to the present invention is not limited to a hydraulic cylinder, and may be, for example, a hydraulic motor or an electric motor. Further, the grip driving means may be provided individually for each grip member, or may be provided for only one grip member. For example, the second gripping member 30B may be a fixed gripping member integrated with the gripping device main body 22, and only the first gripping member 30A may be a movable gripping member driven in the gripping direction.

  Each movable gripping portion 34 is attached to the tip end portion 32a of each gripping member main body 32 so as to be relatively displaceable. Specifically, the rotation direction of the gripping member main body 32 makes contact with the processing object P, and the direction of the rotation with respect to the gripping member main body 32 by the reaction force received from the processing target object P that comes into contact. It is attached so that it can be displaced by a predetermined amount in the opposite direction (that is, it can be displaced backward).

  Specifically, as shown in FIGS. 3A and 3B, the movable gripping portion 34 includes a main body portion 34a extending in a direction parallel to the front-rear direction of the gripping member main body 32, and a rear end of the main body portion 34a. The gripping member main body 32 is integrally provided with an attached portion 34b extending outward in the rotation direction. A through-groove 34d is formed in the attached portion 34b, penetrating in the thickness direction (direction parallel to the rotation center axis of the gripping member main body 32; depth direction in FIGS. 3A and 3B). The through groove 34d extends in a direction substantially parallel to the moving direction of the tip portion 32a.

  On the other hand, a concave portion 35 that opens inward is formed at the distal end portion 32 a of the grip member main body 32. The concave portion 35 has a shape that can be fully immersed as the movable gripping portion 34 is displaced backward. That is, it has the 1st recessed part 35a in which the said main-body part 34a can be immersed, and the 2nd recessed part 35b in which the said to-be-attached part 34b can be immersed.

  Further, the grip member main body 32 is provided with a shaft portion 33 for holding the movable grip portion 34. The shaft portion 33 passes through the through groove 34d of the mounted portion 34b in the second recess 35b, thereby allowing the movable gripping portion 34 to be moved as shown in FIG. Displacement is allowed between a position where the outer end of the through groove 34d is reached and a position where the shaft portion 33 reaches the vicinity of the inner end of the through groove 34d as shown in FIG. To hold.

  In the position shown in FIG. 3A, the main body 34a of the movable gripping portion 34 greatly protrudes inwardly from the inner side surface 32c of the distal end portion 32a of the gripping member main body 32 (that is, toward the processing object P). This position is determined by the contact between the shaft portion 33 and the gripping member main body 32 at the outer end of the through groove 34d. On the other hand, the position shown in FIG. 5B is a position where the entire movable gripping portion 34 is immersed in the recess 35, and the outer surface of the main body 34a and the back end surface 32d of the first recess 35a. Determined by contact. That is, this contact prevents further backward displacement of the movable gripping portion 34. The shape of the main body 34a is set so that the gripping surface 34c, which is the inner surface of the main body 34a, is aligned with the inner surface 32c of the gripping member main body 32 at this position.

  That is, the rear end surface 32d of the first recess 35 is brought into contact with the movable gripping portion 34 when the movable gripping portion 34 is retracted by a predetermined amount from the protruding position shown in FIG. A displacement restricting portion that prevents the backward displacement (that is, the backward displacement exceeding the predetermined amount) is configured.

  The compression coil spring 36 is provided so as to urge the movable gripping portion 34 inward so that the main body 34 a protrudes from the gripping member main body 32. Specifically, a spring accommodating recess 37 that extends further outward from the rear end of the first recess 35 a is formed at the distal end 32 a of the gripping member main body 32, and the compression coil spring 36 is fitted into the spring accommodating recess 37. Therefore, it is interposed between the terminal end of the spring accommodating recess 37 and the outer surface of the main body 34 a of the movable gripping portion 34.

  That is, the compression coil spring 36 allows the movable gripping portion 34 to move backward due to its elastic compressive deformation, and due to its elastic force, the movable gripping portion 34 with respect to the processing object P with the backward displacement. Is provided between the gripping member main body 32 and the movable gripping portion 34 so as to increase the contact pressure.

  Next, the operation of the gripping device 20 will be described.

  In this gripping device 20, both gripping members 30 </ b> A and 30 </ b> B are driven in the opening and closing direction by the expansion and contraction of the gripping drive cylinder 26, and the gripping operation of the processing object P is performed. First, as shown in FIG. 2A, in a state where both the gripping members 30A and 30B are opened, the leading end portions 32a of the gripping member main bodies 32 of the gripping members 30A and 30B are positioned on both outer sides of the processing object P. In addition, the work arm 10 is operated. At this position, the gripping drive cylinder 26 operates in the extending direction, whereby both gripping members 30A and 30B are closed and the processing object P is gripped.

  On the other hand, at the distal end portion 32 a of the gripping member main body 32, the main body portion 34 a of the movable gripping portion 34 is located at a position where the main body portion 34 a of the movable gripping member main body 32 protrudes inward from the elastic force of the compression coil spring 36. Since the movable holding portion 34 is held, the gripping surface 34c, which is the inner surface of the main body portion 34a, first comes into contact with the processing object P with the gripping operation. Then, after the contact is started, the movable gripping portion 34 is displaced backward in the direction opposite to the rotation direction of the gripping member main body 32, thereby enabling both fine adjustment of the gripping force and gripping with a large gripping force. .

  Specifically, for a while after the main body portion 34a of the movable gripping portion 34 comes into contact with the processing object P, the movable gripping portion is moved along with the rotation of the gripping member main bodies 32 in the gripping direction (closing direction). Due to the reaction force that the gripping surface 34c receives from the processing object P, 34 is retracted and displaced so as to be immersed in the recess 35 while being accompanied by elastic compression deformation of the compression coil spring 36. In a range in which this backward displacement is allowed, the contact pressure between the movable gripping portion 34 and the processing object P is substantially equivalent to the elastic force of the compression coil spring 36 regardless of the driving force of the gripping drive cylinder 26. It becomes pressure. Therefore, in this range, it is possible to finely adjust the contact pressure by using the change in the elastic force of the compression coil spring 36 accompanying the backward displacement. For example, the small processing object P can be destroyed. It is possible to grip without touching.

  On the other hand, when the retraction displacement of the movable gripping portion 34 reaches a predetermined amount, the outer surface of the main body portion 34 comes into contact with the back end surface 32d of the first recess 35a, so that the movable gripping portion 34 is further retracted. Since the displacement is prevented (that is, the movable gripping portion 34 and the gripping member main body 32 are integrated), the driving force applied from the gripping drive cylinder 26 to each gripping member main body 32 is directly used as the gripping force as a processing target. Added to P. Therefore, it is possible to grip the processing object P with a large gripping force in this state, and it is also possible to perform gripping for the purpose of crushing the processing object P, for example.

  In particular, in this embodiment, since the entire movable gripping portion 34 is immersed in the recess 35, the inner surface 32c of the gripping member main body 32 is allowed to come into direct contact with the processing object P. It is possible to hold the processing object P with sufficient strength.

  Next, a second embodiment will be described with reference to FIG.

  The gripping device according to this embodiment also includes a first gripping member and a second gripping member (only one gripping member 40 is shown in FIG. 4). The gripping member 40 includes a gripping member main body 42 and the gripping member main body 42. The gripping member main body 42 includes a movable gripping portion 44 attached to the distal end portion 42a and a compression coil spring 46 for urging the movable gripping portion 44 inward. The movable grip 44 has a shape that is fitted to the grip member main body 42 so as to cover the inner surface 42c thereof.

  The movable gripping portion 44 includes a main body wall 44a that covers the inner side surface 42c of the gripping member main body 42, and outwards in the rotation direction of the gripping member main body 42 from the left and right edges of the main body wall 44a (upward in FIG. 4). A side wall 44 s extending in the direction of the rotation direction and a mounted portion 44 b extending further outward in the rotational direction from the rear end of the side wall 44 s are integrated, and the mounted portion 44 b is the same as in the first embodiment. A through-groove 44d is formed to penetrate this in the thickness direction (direction parallel to the rotation center axis of the gripping member main body 42; depth direction in FIG. 4). The through groove 44d also extends in a direction substantially parallel to the moving direction of the tip end portion 42a.

  A shaft portion 43 for holding the movable grip portion 44 is provided at the distal end portion 42 a of the grip member main body 42. The shaft portion 43 protrudes outward from both side surfaces of the tip end portion 42a, and the protruding portion penetrates the through groove 44d of the attached portion 44b, whereby the movable gripping portion 44 is indicated by a solid line in FIG. As shown, between the position where the main body wall 44a abuts on the inner side surface 42c of the gripping member main body 42 and the position where the main body wall 44a protrudes inward from this position as shown by a two-dot chain line in FIG. To allow the displacement.

  That is, in this embodiment, the inner side surface 42c of the gripping member main body 42 contacts the movable gripping portion 44 when the movable gripping portion 44 is displaced backward by a predetermined amount from the position indicated by the two-dot chain line in FIG. A displacement restricting portion that prevents a backward displacement exceeding the predetermined amount by contacting is configured.

  The compression coil spring 46 is fitted in the through groove 44d in a compressed state so as to be interposed between the shaft portion 43 and the inner end of the through groove 44d. Accordingly, the compression coil spring 46 holds the movable gripping portion 44 at the protruding position indicated by the two-dot chain line by its elastic force.

  In the gripping apparatus according to this embodiment, at the initial stage, the main body wall 44a of the movable gripping portion 44 is held at a position spaced inward from the inner side surface 42c of the gripping member main body 42, and first contacts the processing object. . Then, for a while after the contact, the movable gripping portion 44 is displaced backward with respect to the gripping member main body 42 with the compression elastic deformation of the compression coil spring 46 due to the reaction force received from the processing object (in FIG. Therefore, the gripping force can be finely adjusted using the elastic force. On the other hand, from the time when the main body wall 44a abuts against the inner side surface 42c and the subsequent backward displacement is prevented, a large gripping force is applied to the processing object from the gripping member main body 42 via the movable gripping portion 44. Can be added.

  Further, in this embodiment, since it is not necessary to form a recess or the like in the gripping member main body 42, the gripping device according to the present invention can be constructed using the gripping member in the existing gripping device as it is as the gripping member main body. There is.

  In the first and second embodiments, the shaft members 33 and 43 are provided on the gripping member main bodies 32 and 42 side, and the through grooves 34d and 44d are formed on the movable gripping portions 34 and 44 side. Conversely, even if a shaft portion is provided on the movable gripping portions 34 and 44 side and a through groove through which the shaft portion can penetrate is formed on the gripping member main body 32 or 42 side, the gripping member main bodies 32 and 42 are provided. It is possible to hold the movable gripping portions 34, 44 so as to be able to move backward.

  A third embodiment of the present invention will be described with reference to FIGS.

  The gripping device according to this embodiment also includes a first gripping member and a second gripping member (only one gripping member 50 is shown). The gripping member 50 includes a gripping member main body 52 and the gripping member main body. 52 includes a movable gripping portion 54 attached to the tip 52a of the 52 and a compression coil spring 56 for urging the movable gripping portion 54 inward. The movable gripping portion 54 is attached to the gripping member main body 52. It is attached so as to be rotatable about a support shaft 53 parallel to the rotation center axis, and the retreat displacement is possible by the rotation.

  Specifically, as shown in FIGS. 5A and 5B, the movable gripper 54 includes a main body 54a extending in a direction parallel to the front-rear direction of the gripping member main body 52, and the main body 54a. An attached portion 54b formed at the rear end of the main body 54a and a blade portion 54c formed at the front end of the main body 54a are integrally provided. The support shaft 53 passes through the attached portion 54b, and both ends of the support shaft 53 are fixed to the gripping member main body 52, so that the support shaft 53 can be rotated. In addition, the movable gripping portion 54 is attached to the gripping member main body 52.

  A crushing blade for crushing the object to be processed is formed on the inner portion of the blade portion 54c. The blade portion 54c has a width larger than the width of the main body portion 54a, and both end portions in the width direction protrude beyond both side surfaces of the main body portion 54a.

  A concave portion 55 is formed in the grip member main body 52. The concave portion 55 has a shape capable of accommodating the main body portion 54a and the attached portion 54b so as to allow the rotational displacement (reverse displacement) of the movable grip portion 54, and the concave portion 55 The front end opens inward to form an opening 55a. The opening 55a allows the front end of the main body 54a (that is, a portion located outside the blade 54c) to protrude from the recess 55.

  In this structure, as shown in FIG. 5 (a), the movable gripper 54 has a protruding position where the front end of the main body 54a and the blade 54c protrude inward from the opening 55a. As shown, the outer surface of the main body portion 54a can be rotated between a retracted position where the outer surface of the main body portion 54a abuts against the back end surface 52d of the concave portion 55. That is, the back end surface 52d has a displacement restricting portion that prevents a backward displacement exceeding the predetermined amount by contacting the movable gripping portion 54 when the movable gripping portion 54 is retracted by a predetermined amount from the protruding position. It is composed.

  The prevention of the backward displacement may be performed by contacting both end portions in the width direction of the blade portion 54c with the peripheral edge portion of the opening portion 55a in the gripping member main body 52. In this case, the peripheral edge portion constitutes the displacement restricting portion.

  The compression coil spring 56 is provided so as to bias the movable gripping portion 54 toward the protruding position (that is, inward). Specifically, a spring accommodating recess 57 that is further recessed outward from the recess 55 of the gripping member main body 52 is formed, and the compression coil spring 56 is fitted into the spring accommodating recess 57 so that the end of the spring accommodating recess 57 It is interposed between the outer surface of the intermediate part of the main body part 54 a of the movable grip part 54.

  That is, the movable gripping portion 54 according to this embodiment is attached to the gripping member main body 52 so as to be rotatable around a support shaft 53 parallel to the central axis of rotation of the gripping member main body 52. The compression coil spring 56 is provided so as to come into contact with the movable gripping portion 54 at a position deviating from the central axis of rotation and give a resilient force thereto. Then, the movable gripping portion 54 is held at the protruding position shown in FIG.

  Also in the gripping apparatus according to this embodiment, at the initial stage of gripping, the blade portion 54c of the movable gripping portion 54 at the protruding position first contacts the processing object. For a while after the contact, the movable gripping portion 54 is relatively opposite to the rotation direction of the gripping member main body 52 while the compressive elastic deformation of the compression coil spring 56 is caused by the reaction force received from the processing object. By rotating, the blade portion 54c is displaced backward with respect to the gripping member main body 52 (displaced upward in FIG. 4), so that the gripping force can be finely adjusted using the elastic force. It is. On the other hand, as shown in FIG. 5B, the main body portion 54a abuts on the back end surface 52d of the concave portion 55 (or both end portions in the width direction of the blade portion 54c are peripheral edges of the opening portion 55a of the gripping member main body 52. From the time point when the subsequent backward displacement is prevented (in contact with the portion), a large gripping force can be applied to the object to be processed from the gripping member main body 52 via the movable gripping portion 54. For example, the blade portion The processing object can be crushed with sufficient force using the blade 54c.

  In addition, although all the spring members according to the above embodiments are compression coil springs, for example, a torsion coil spring can be used instead.

  For example, as in the fourth embodiment shown in FIGS. 8 and 9, the gripping member main body so that the movable gripping portion 44 according to the second embodiment can rotate around the support shaft 47. The torsion coil spring 48 may be provided around the support shaft 47. In this case, one end of the torsion coil spring 48 is locked at an appropriate position of the gripping member main body 42 and the other end is locked at an appropriate position of the movable gripping portion 44, so that the torsion coil spring 48 is moved to the movable gripping position. The portion 44 can be in a state of giving a suitable elasticity.

  Similarly, as in the fifth embodiment shown in FIGS. 10A and 10B, a torsion coil spring 58 is provided around the support shaft 53 of the movable gripping portion 54 according to the third embodiment. May be. Also in this case, the one end 58a of the torsion coil spring 58 is in contact with, for example, the inner wall surface of the grip member main body 52, and the other end 58b is locked at an appropriate position of the movable grip portion 54. 58 can give a suitable elastic force to the movable gripping portion 54.

  In the present invention, only one of the first gripping member and the second gripping member includes a gripping member main body, a movable gripping portion, and a spring member, and the other gripping member is It may be configured only by the gripping member main body as in the past. However, if both gripping members include the movable gripping part and the spring member as in the above embodiments, the stroke range in which the gripping force can be adjusted can be doubled by the backward displacement of the movable gripping part. There are advantages you can do.

1 is an overall view of a work machine according to a first embodiment of the present invention. (A) is a front view which shows the state in which the holding | gripping apparatus with which the said working machine is equipped is in an open position, (b) is a partial cross section front view which shows the state in which the said holding apparatus exists in a closed position. (A) is a partial cross-sectional front view showing a state in which the movable gripping portion of the gripping device protrudes from the inner surface of the gripping member main body, and (b) shows a state in which the movable gripping portion is immersed in the gripping member main body. (C) is the IIIC-IIIC sectional view taken on the line of (b). It is a perspective view which shows the principal part of the holding | gripping apparatus which concerns on the 2nd Embodiment of this invention. (A) is a cross-sectional front view showing a state in which the movable gripping portion of the gripping device according to the third embodiment of the present invention protrudes from the inner surface of the gripping member main body, and (b) is the movable gripping portion of the gripping member. It is a cross-sectional front view which shows the state almost immersed in the main body. It is a perspective view of the holding member main body shown in FIG. It is a perspective view of the movable holding part shown in FIG. It is a front view which shows the state which has the holding | grip apparatus which concerns on the 4th Embodiment of this invention in an open position. It is a perspective view which shows the principal part of the holding | gripping apparatus shown by FIG. (A) is a sectional front view showing the state where the movable gripping part protrudes from the inner surface of the gripping member main body in the gripping apparatus according to the fifth embodiment of the present invention, and (b) is the movable gripping part being the gripping member. It is a cross-sectional front view which shows the state almost immersed in the main body.

Explanation of symbols

P processing object 10 working arm 20 gripping device 22 gripping device main body 26 gripping drive cylinder 30A first gripping member 30B second gripping member 32, 42, 52 gripping member main body 32a, 42a tip end of gripping member main body 32d, 52d Recessed end face (displacement restricting part)
33, 43 Shaft portion 34, 44, 54 Movable gripping portion 34d, 44d Through groove 35, 55 Recess 36, 46, 56 Compression coil spring (spring member)
40, 50 Holding member 47, 53 Support shaft 48, 58 Torsion coil spring (spring member)

Claims (7)

A gripping device is provided at the tip of the work arm of a work machine having a work arm whose tip is displaceable, and grips a processing object,
A first gripping member;
A second gripping member rotatable relative to the first gripping member so as to grip the processing object with the first gripping member;
Gripping drive means for relatively rotating the gripping members so as to grip the processing object,
At least one of the first gripping member and the second gripping member includes a gripping member main body that rotates relative to the gripping member of the other party by driving the gripping drive means, and the gripping member. The member main body is brought into contact with the object to be processed by the rotation of the member main body, and the reaction force received from the object to be processed is retracted by a predetermined amount relative to the gripping member main body in the direction opposite to the direction of the rotation. A movable gripping part attached to the gripping member main body so as to be displaceable, and a spring member for biasing the movable gripping part so as to project the movable gripping part inwardly from the gripping member main body Including
The spring member allows the movable gripping portion to move backward due to its elastic deformation, and increases the contact pressure of the movable gripping portion with respect to the object to be processed along with the backward displacement due to the elastic force. Are provided between the gripping member main body and the movable gripping part ,
The gripping device for a working machine, wherein the movable gripping part is attached to the gripping member main body so as to be retractable to a position where the gripping member main body is brought into direct contact with the object to be processed . The gripping device for a work machine according to claim 1 ,
The gripping member main body has a concave portion into which the movable gripping portion enters in accordance with the backward displacement, and the concave portion has a depth that allows the movable gripping portion to be retracted and displaced until the movable gripping portion is immersed in the concave portion. A gripping device for a working machine. The work machine gripping device according to claim 1 or 2 ,
The gripping member main body includes a displacement restricting portion that prevents a backward displacement exceeding the predetermined amount by coming into contact with the movable gripping portion when the movable gripping portion is displaced backward by a predetermined amount. Gripping device. In the holding | grip apparatus of the working machine in any one of Claims 1-3 ,
One of the gripping member main body and the movable gripping portion is provided with a shaft portion that protrudes in a direction parallel to the central axis of relative rotation of the gripping members, and the other can be inserted with the shaft portion. And the through-groove which has a shape which accept | permits the back displacement of the said movable holding part is formed, The holding | grip apparatus of the working machine characterized by the above-mentioned. In the holding | grip apparatus of the working machine in any one of Claims 1-3 ,
The movable gripping portion is attached to the gripping member main body so as to be rotatable about an axis parallel to a central axis of relative rotation of the gripping members, and the spring member is attached to the movable gripping portion. A gripping device for a work machine, wherein the gripping device is provided so as to come into contact with a position deviating from the pivot center axis. In the holding device of the working machine according to any one of claims 1 to 5 ,
A gripping device for a working machine, wherein both the first gripping member and the second gripping member include the gripping member main body, the movable gripping portion, and the spring member. A work machine including the gripping device for a work machine according to any one of claims 1 to 6 ,
A movable work machine main body and a work arm mounted on the work machine main body and operable to displace the tip with respect to the work machine, the gripping device being attached to the tip of the work arm A working machine characterized by

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