JP6789705B2 - Gripping device - Google Patents

Description

The present invention relates to a gripping device that grips and moves a handling object.

Patent Document 1 describes a device for inserting and scooping up a thin plate under a transfer object installed on a predetermined mounting surface. In the apparatus of Patent Document 1, the transfer object is formed by two thin plates on which a film material is wound and arranged so as to be stacked with a gap, and a pressing member that presses the transfer object from above by its own weight. It is supposed to scoop up while maintaining the posture of. Further, when the object to be transferred is transferred to a predetermined position, the two thin plates are pulled out to place the object to be transferred, and then the scooping device is raised, so that the holding member is moved to the object to be transferred. It is configured to stay away from.

Japanese Patent No. 5567202

In the apparatus described in Patent Document 1, a flat plate-shaped pressing plate is used in order to keep the shape of the object to be transferred. Therefore, if the surface of the object is flat or the object is a material containing water or oil like food, the object may be adsorbed on the pressing plate when the pressing plate is pulled away from the object. There is sex. Therefore, when the holding plate is separated from the object, the object moves following the movement of the holding plate, and the object is placed at a position different from the expected position or the shape of the object is deformed. In addition, there is a risk that the posture may be out of order.

The present invention has been made by paying attention to the above technical problems, and an object of the present invention is to provide a gripping device capable of releasing gripping without causing a deviation in the position or posture of an object when releasing gripping. Is what you do.

In order to achieve the above object, the present invention grips an object by a first grip piece and a second grip piece, and the second grip piece is placed above the object while the object is placed. in the gripping device to release the grip pulled, the second gripping piece, the contact area with respect to the object surface when pulled from the object, a mechanism for decreasing gradually increases with the pulling, the mechanism is The pressing body includes a main body that moves in parallel with the object, and a pressing body that is provided on the surface of the main body facing the object and has elasticity that is convexly curved toward the object. Is formed by a plurality of long strips arranged in parallel, and the strips are oriented in a direction parallel to a fixed end fixed to the main body and a surface on which the object is placed. The strips having a movable free end and adjacent to each other among the plurality of strips are such that the fixed end and the free end alternate in a direction intersecting the elongated direction of the strip. It is characterized in that it is supported by the main body .

According to the present invention, when the second gripping piece is pulled up from the object, it is pulled up while gradually reducing the contact area with the object. Therefore, even if the object is attracted to the second grip piece, the object is prevented from moving following the second grip piece by gradually separating the second grip piece from the object. Therefore, the object can be placed in the desired position or posture.

It is a top view explaining the overall structure of the upper guide in FIG. It is a figure for demonstrating the transport mechanism to which the gripping apparatus which concerns on this invention is attached. It is sectional drawing which follows the line I-I in FIG. It is an enlarged view for demonstrating the structure of one end of the strip-shaped body in FIG. It is an enlarged view for demonstrating the structure of the other end of the band-shaped body in FIG.

The gripping device according to the present invention grips an object by a first grip piece and a second grip piece, and when the object is placed, the second grip piece is pulled upward from the object to release the grip. It can be applied to various gripping devices configured to. In the following embodiment, a gripping device for scooping up and gripping a mounted object, transferring the mounted object to a predetermined position, and mounting the mounted object will be described.

As shown in FIG. 2, the gripping device 1 in the embodiment of the present invention is attached to a transport mechanism 2 which is an articulated robot. The gripping device 1 is configured to grip the object 5 or release the grip of the object 5 by the scooping portion 3 arranged on the lower side and the upper guide 4 arranged on the upper side. The scooping portion 3 corresponds to the first gripping piece in the present invention, and the upper guide 4 corresponds to the second gripping piece in the present invention.

The holding member 3A that supports the object 5 in the scooping portion 3 is such that the object 5 can be placed on the upper surface of a thin plate or a film wound around the thin plate so that the object 5 can be transferred while maintaining the posture of the object 5. It is configured in. Further, the movable portion (not shown) of the scooping portion 3 operates in the direction of inserting or pulling out the holding member 3A between the object 5 mounted on the carry-in conveyor 6 and the carry-in conveyor 6 by a driving device or the like.

As shown in FIG. 2, the upper guide 4 includes a guide portion 7 and a movable member 8 attached to the guide portion 7. The guide portion 7 is provided with a stopper (not shown), which prevents the movable member 8 from moving excessively downward in the vertical direction or falling off due to its own weight. One end of the movable member 8 on the side attached to the guide portion 7 is formed in a T-shaped cross section, and is attached to the guide portion 7 so as to be able to move in a direction parallel to the object 5, that is, in the vertical direction. There is. Further, as shown in FIG. 3, a frame 9 is attached to the other end of the movable member 8 on the opposite side to the guide portion 7. Further, as shown in FIG. 3, the movable member 8 and the frame 9 are joined by bolts 15.

The frame 9 corresponds to the main body in the embodiment of the present invention, and as shown in FIG. 1, the outer frame portion 9A formed in a rectangular frame shape and the opposite sides of the outer frame portion 9A are connected to each other. It is formed by the formed connecting portions 9B and 9C. A binding site 10 connected to the movable member 8 is provided at an intersection where the connecting portions 9B and 9C intersect in the orthogonal direction. Further, the outer frame portion 9A of the frame 9 is provided with rectangular through holes 11A, 11B, 11C, 11D, 11E, 11F through which both ends of the strip-shaped bodies 12, 13 and 14 described later are penetrated. The through holes 11A, 11B, 11C, 11D, 11E, and 11F face the four corners of the outer frame portion 9A and one of the intermediate points between the adjacent corners of the four corners and the respective corners. It is formed at a total of 6 locations including the position.

As shown in FIG. 1, three long strips 12, 13, 14 corresponding to the pressing body in the embodiment of the present invention are attached to the surface of the frame 9 facing the object 5. As shown in FIGS. 1 and 3, the three strips 12, 13 and 14 are arranged in parallel, and the central portion is convexly curved toward the object 5 side, and has elasticity such as a leaf spring. It is made of material. Both ends of the three strips 12, 13 and 14 in the elongated direction penetrate the above-mentioned through holes 11A, 11B, 11C, 11D, 11E and 11F and are held by the frame 9. Specifically, the first band-shaped body 12 is held by the first through holes 11A and 11D, the second band-shaped body 13 is held by the second through holes 11B and 11E, and the third band-shaped body 14 is held by the third through hole 11C. , 11F.

Of the three strips 12, 13, 14 so that one end in the elongated direction is fixed and the other end moves in a direction parallel to the carry-in conveyor 6, which is the surface on which the object 5 is placed. It is supported by the frame 9. The operation of the strips 12, 13 and 14 will be specifically described with reference to the second strip 13. As shown in FIG. 4, one end 13A of the second strip-shaped body 13 penetrates the second through hole 11E from the object 5 side, and its tip is bent toward the frame 9 side to be a surface of the frame 9 on the movable member 8 side. Is joined by spot welding. Further, as shown in FIG. 5, the other end 13B of the second strip-shaped body 13 penetrates the second through hole 11B from the object 5 side, and the tip thereof is bent toward the frame 9.

With this configuration, when the second strip 13 is pushed from the object 5 side centering on the central portion 13C, the other end 13B that is released is extended further outward of the outer frame portion 9A of the frame. The entire second strip 13 approaches a flat shape. Further, when the second strip 13 is released from the force pushed from the object 5 side, it returns to the original shape, that is, the central portion 13C curved toward the object 5 side in a convex shape. As shown in FIG. 1, the first and third band-shaped bodies 12 and 14 adjacent to the second band-shaped body 13 are the first and third band-shaped bodies 12 and 14 adjacent to the other end 13B of the second band-shaped body 13. The other ends 12B and 14B of 14 are joined by spot welding. That is, the adjacent ends of the adjacent strips are configured to be alternately fixed or released to the frame 9.

The operation in which the gripping device 1 having the above-described configuration grips or releases the gripping object 5 will be described with reference to FIG. On the lower side of the gripping device 1, a carry-in conveyor 6 for feeding the object 5 in a mounted state is arranged. A camera (not shown) for determining the position of the object 5 sent by the carry-in conveyor 6 is arranged above the carry-in conveyor 6. The image obtained by the camera is analyzed, the data is transmitted to the above-mentioned transport mechanism 2, and the scooping unit 3 attached to the transport mechanism 2 is configured to scoop up according to the position and posture of the object 5. There is. At this time, the transport mechanism 2 operates based on the image data obtained by analyzing the image obtained by the above camera, and by scooping up and stacking the objects 5, the objects 5 are scooped up in the same posture or orientation. Can be grasped. The camera described above does not have to be a camera as long as it has a mechanism capable of determining the position and posture of the object 5 as described above.

The gripping device 1 is moved to the upper part near the object 5 by the transport mechanism 2, and is gradually lowered. At this time, as the gripping device 1 is lowered, the central portions of the strips 12, 13 and 14 of the upper guide 4 come into contact with the upper surface of the object 5. When the gripping device 1 is further lowered, the strips 12, 13 and 14 of the upper guide 4 are pushed upward by the weight of the upper guide 4 and the force that the object 5 pushes back. When the strips 12, 13 and 14 are pushed upward, the above-mentioned deformation occurs, so that the strips 12, 13 and 14 gradually approach the flat shape. Along with this, the contact area on the contact surface between the strips 12, 13, 14 and the object 5 also gradually increases. When the contact area is such that the posture of the object 5 can be maintained and the object 5 can be gripped, the deformation of the strips 12, 13 and 14 stops. Then, when the strips 12, 13 and 14 are further pushed by the object 5, the frame 9 and the strips 12, 13 and 14 are moved upward by the movable member 8 and the guide portion 7.

When the gripping device 1 is lowered to a predetermined position by the transport mechanism 2 and the operation as described above occurs in the upper guide 4, the lowering of the gripping device 1 is stopped. When the lowering of the gripping device 1 is stopped, the movable portion of the scooping portion 3 is operated and the holding member 3A is inserted between the object 5 and the carry-in conveyor 6. When the holding member 3A is inserted to such an extent that it comes into contact with the entire lower surface of the object 5, the gripping device 1 is lifted upward by the transport mechanism 2. The object 5 that has been placed and moved by the carry-in conveyor 6 in this way is gripped and scooped up by the scooping portion 3 that supports the lower surface of the object 5 and the upper guide 4 that supports the upper surface of the object 5. Has been done.

The object 5 scooped up in this way is sent to the next process by the transport mechanism 2 or placed in a predetermined position. When the object 5 is placed at a predetermined position, the lower surface of the scooping portion 3 comes into contact with the predetermined position while the scooped object 5 is gripped by the gripping device 1. Then, the holding member 3A is pulled out by the moving portion operating in the direction of being pulled out from between the object 5 and the predetermined position by the transport mechanism 2. By this operation, the object 5 can be transferred from the carry-in conveyor 6 to a predetermined position and placed.

Further, when the holding member 3A is pulled out, the upper guide 4 is in contact with the upper surface of the object 5. The upper guide 4 is separated from the object 5 by the gripping device 1 being operated upward by the transport mechanism 2.

Specifically, when the gripping device 1 starts to rise, the frame 9 and the strips 12, 13 and 14 are moved downward while pressing the object 5 by the movable member 8 and the guide portion 7. When the gripping device 1 is further raised, the movement of the frame 9 and the strips 12, 13 and 14 downward is stopped by the stopper. Then, the force with which the strips 12, 13 and 14 are pushed from the object 5 gradually decreases, and the strips 12, 13 and 14 are separated from the upper surface of the object 5. At this time, since the strips 12, 13 and 14 are elastic members that are convexly curved toward the object 5, they gradually try to return from the flat shape to the original bow shape. Therefore, it gradually separates from the object 5 from the part far from the most convex part, that is, the part near the through holes 11A, 11B, 11C, 11D, 11E, and 11F of the strips 12, 13, and 14. Along with this, the contact area on the contact surface between the strips 12, 13, 14 and the object 5 also gradually decreases. Then, as the gripping device 1 further rises, the central portion 13C finally separates from the object 5 in the portion where the strips 12, 13 and 14 are most convex, that is, in the case of the second strip 13. By this operation, the upper guide 4 is separated from the object 5, and the pulling of the upper guide 4 is completed, so that the transfer and the placement of the object 5 are completed.

With this configuration, when the strips 12, 13 and 14 of the upper guide 4 are pulled up from the object 5, they move in parallel with the object 5, that is, move to the upper side of the object 5 and with the object 5. It is being pulled up while gradually reducing the contact area. Therefore, even if the object 5 is adsorbed on the strips 12, 13, 14, the strips 12, 13, 14 gradually separate from the target 5, so that the object 5 follows the strips 12, 13, 14. It suppresses the movement. Therefore, the object 5 can be placed in the desired position or posture.

Further, when the object 5 is gripped, the strips 12, 13, 14 approach the flat shape, so that the contact area between the strips 12, 13, 14 and the upper surface of the object 5 increases, and the object 5 It can be transported while maintaining its posture. At this time, the strips 12, 13 and 14 have a flat shape due to their own weight. Therefore, even if the object 5 is a easily deformable member such as a sandwich, it can be transferred without losing its shape.

Further, the three strips 12, 13 and 14 are configured so that the strips 12, 13 and 14 adjacent to each other are alternately fixed or released from the frame 9 at the adjacent ends. Therefore, on the upper surface of the object 5, when the strips 12, 13, 14 try to approach the flat shape, the object 5 is dragged in the open end side, that is, in the direction parallel to the upper surface of the object 5. Even if a force such as a frictional force acts, the force is canceled out, so that the object 5 can be gripped without losing its posture or position.

The upper guide 4 is not limited to the mechanism composed of the frame 9 and the strips 12, 13 and 14 as described above, and the contact area with respect to the surface (upper surface) of the object 5 when it is pulled up from the object 5. However, it suffices to provide a mechanism that gradually decreases as the upper guide 4 is pulled up. For example, the portion of the upper guide 4 that comes into contact with the upper surface of the object 5 may be formed of a thin plate-shaped flat plate member. In this case, the upper guide 4 may be formed so as to be separated from the upper surface of the object 5 upward so as to be gradually peeled off from the end portion of the flat plate. With this configuration, the contact area between the object 5 and the upper guide 4 can be gradually reduced, and an effect similar to the above-mentioned effect can be obtained. Further, the strip-shaped bodies 12, 13 and 14 are not limited to the three, and the structure is such that the posture of the object 5 can be maintained and gripped, and the contact area with the upper surface of the object 5 can be gradually reduced. If there is, any number may be attached.

In the above-described configuration, the strips 12, 13 and 14 are configured to approach a flat shape due to the weight of the upper guide 4, but this configuration is provided as long as the object 5 can be gripped while maintaining its posture. It does not have to be. For example, the upper guide 4 may be provided with a mechanism such that the strips 12, 13 and 14 press against the object 5.

1 ... Gripping device, 2 ... Conveying mechanism, 3 ... Scooping part, 4 ... Upper guide, 5 ... Object, 9 ... Frame, 9A ... Outer frame part, 9B, 9C ... Connecting part, 11A, 11B, 11C, 11D, 11E, 11F ... Through holes, 12, 13, 14 ... Strips.

Claims (1)

In a gripping device in which an object is gripped by a first grip piece and a second grip piece, and the second grip piece is pulled upward from the object to release the grip while the object is placed.
The second gripping piece includes a mechanism that , when pulled up from the object, the contact area with respect to the surface of the object gradually decreases with the pulling .
The mechanism includes a main body that translates with respect to the object, and a pressing body that is provided on the surface of the main body that faces the object and has elasticity that is convexly curved toward the object.
The pressing body is formed by a plurality of long strips arranged in parallel.
The strip has a fixed end fixed to the body and a free end that moves in a direction parallel to the surface on which the object is placed.
The strips adjacent to each other among the plurality of strips are supported by the main body so as to alternate between the fixed end and the free end in the direction intersecting the elongated direction of the strip. A featured gripping device.

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