JPH01139394A - Gripper for article - Google Patents

Abstract

PURPOSE: To grip a variety of articles of different shape without exchanging the components and without damaging the articles by comprising a grip arms comprising movable pieces rotating on a shaft of an arm body and forming the variable grip recessed portions. CONSTITUTION: To grip a bottle A, A' by an article gripper, the variable grip recessed portions 51, 51 of a pair of grip arms 4a, 4b are respectively adjusted to be fitted to the side shape of the bottle A, A' to be gripped. For the adjustment, an input shaft 64 is rotated in accordance with a set value by the rotation of a stepping driver 8, and a spindle 54 is slided by a specific distance in the direction of a movable piece 49' by the rotation of a gear 60. By this sliding of the spindle 54, the movable piece 49 is also rotated in the closing direction by a specific angle in synchronization with the rotation of the movable piece 49'. Then the rotary driving shafts 5, 5 are rotated in the directions opposite to each other, and a pair of grip arms 4a, 4b are respectively rotated from the positions indicated by a two-dot chain line to the positions indicated by a solid line, so that the bottle A, A' is gripped by the variable grip recessed portions 51, 51.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an article gripping device that can change the shape of a gripping recess for gripping an article depending on the shape of the article, and particularly to a capper. The present invention is effectively applied to a gripper 5 for an article (bottle), etc.

[Subordinate technology]

Conventional techniques related to article gripping devices include:

Special Publication No. 57-27002, Special Publication No. 59-4071
Publication No. 6, Utility Model Publication No. 58-24872, and Utility Model Publication No. 6
2-. The one described in Publication No. 366.24 is known.

To explain the conventional technology described in the above-mentioned publication, Japanese Patent Publication No. 57-27002 describes a bottle holding device that grips a bottle by opening and closing a clamp arm that has a concave portion shaped to match the shape of the bottle. ing.

In addition, in Tokuko No. 59-4.0716, there is
A capper equipped with a device similar to the holding device described in Japanese Patent No. 7-27002 is described.

Further, Japanese Utility Model Publication No. 58-24872 describes Turreso I, which is equipped with a holding plate having a diameter 10 to 1% smaller than the diameter of the container and having pocket holes extending from 180° to 240°. ing.

Further, in Japanese Utility Model Publication No. 62-36624, a pair of arms is provided so as to be openable and closable, and a clamp formed to match the shape of the article to be gripped is provided at the tip of each arm in a detachable manner. A gripping device is described in which the clamp can be replaced for each different type of article to be gripped.

[The problem that the invention attempts to solve]

However, the above-mentioned conventional technology had the following problems.

Namely, Japanese Patent Publication No. 57-27002, Japanese Patent Publication No. 59-4
The article gripping devices described in Japanese Utility Model Publication No. 0716 and Japanese Utility Model Publication No. 58-24872 both have pocket holes formed in the four parts of the arm or in the holding plate according to the shape of the article. When using these product gripping devices in manufacturing equipment that alternately produces different types of products, it is necessary to replace the arm or holding plate depending on the shape of each product, which takes time to replace. In addition, it takes a lot of time to adjust after replacement, and if the adjustment of the four parts or pocket holes is insufficient, there are problems such as damage to the article. Furthermore, since parts are required for each shape of the article, not only does the cost of parts increase, but there are also problems such as requiring a great deal of labor to manage the parts.

Therefore, an object of the present invention is to be able to change the shape of the arm according to the shape of the article, so that even when gripping multiple types of articles with different shapes, there is no need to replace parts and the article is not damaged. The object of the present invention is to provide a gripping device that can grip the article without causing any trouble.

Furthermore, the device described in Japanese Utility Model Publication No. 62-36624 is
Although the clamp can be attached and detached in one click, there are problems such as the inconvenience of having to replace the clamp.

[Means for solving problems]

The present invention provides an article gripping device that includes a pair of grippers that grip an article, in which at least one of the grippers is rotated around an arm body that rotates around a base and a support shaft provided on the arm body. The above object has been achieved by providing a gripping device for an article, characterized in that the gripping arm has a movable piece that forms a variable gripping recess.

〔Example〕

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The article gripping device of the present invention will be described below based on a preferred embodiment shown in the drawings, which is equipped with a pair of symmetrically configured gripping arms.

Fig. 1 is a front view showing a capper (capper) to which the article gripping device of the present invention is attached, Fig. 2 is a plan view showing a pair of grippers thereof, and Fig. 3 is a top view showing one of the grippers. This is a partially cutaway perspective view of the capper body (grip arm). In this capper, a capper body 1 is rotatably provided on a base 2''. A plurality of air chucks 3 for gripping the cap are provided around the upper member of the capper body 1 with their gripping heads facing downward in order to fit the cap onto the bottle A (tighten the lid). As shown in Fig. 1, a gripping body 4 consisting of a pair of gripping arms is provided at a lower position corresponding to the gripping head. A gripper 4 is shown. In the case of the embodiment, the pair of gripping bodies 4 (gripping arms 4a, 4b) are constructed symmetrically with respect to each other as shown in FIG.

The pair of gripping arms 4. a and 4b each include an arm body 41 and a pair of movable pieces 49 and 49', and the arm body 41 and its base 42 are integrally connected to the rotation drive shaft 5 provided on the gear buckle body 1. It is fixed and rotated by the rotation drive of the rotation drive shaft 5. Further, an externally driven robot 6, which is a driving source for the pair of movable pieces 49, 49', is provided at a position adjacent to the writing table 2. The externally driven robot 6 is equipped with a bendable arm 7, and a stepping driver 8 that is driven based on setting data (rotation direction, rotation angle) is attached to the tip of the arm 7. In addition, in FIG. 1, numeral 9 indicates a cap feeder that sequentially supplies the caps to the gripping head portion of the air chuck 3, and numeral 10 indicates a feed screw that sequentially supplies the bottles A.

Next, the gripping arm 4a will be explained in detail. Note that, since the pair of gripping arms 4a and 4b are configured symmetrically, only one gripping arm 4a will be mainly described below.

A mounting hole 44 having a notch 43 is bored in the base 42 of the arm main body 41, and the arm main body 41 is fixed to the rotation drive shaft 5 through the mounting hole 44. It is integrally fixed to the rotating drive shaft 5 by tightening the bolt 45.

In addition, numeral 11 in FIG. 2 is a reinforcing plate installed between both rotation drive shafts 5, 5.

A groove 47 is formed in the tip 46 of the arm body 41, and the groove 47 includes a pair of movable pieces 49.4 each having a gripping surface 48, 48' with a concave curved inner surface.
9' are rotatably mounted on a support shaft 50.50° with their gripping surfaces 48° and 48° facing each other. A variable gripping recess 51 is formed by the pair of movable pieces 49, both gripping surfaces 48, 48' of 49°. The base ends of the pair of movable pieces 49.49° are connected by teeth 52.52° that mesh with each other, and by rotating one movable piece 49'', the other movable piece 49 is rotated in the opposite direction. By rotating the movable pieces 49 and 49 in opposite directions, the variable grip recess 51
There is no possibility to change the shape.

The movable piece 49' also has a spring 53 installed between the tip of the movable piece 49' and the base 42 of the arm body 41.
The pair of movable pieces 49, 49'' are biased in a direction in which the distance between their tips is widened, and the surface opposite to the gripping surface 48'' of the movable pieces 49'' is attached to the spindle 5 provided on the arm body 41.
4 so that it abuts on one end. The spindle 54 is slidably inserted into a through hole 55 bored in the arm body 41, and a pin 56 is fixed to the other end of the spindle 54 by protruding from both sides of the other end. The pin 56 is slidably engaged with grooves 57 formed on both the right and left sides of the through hole 55, and is designed to prevent rotation of the spindle 54. In addition, the spindle 5
A male thread 58 is formed on the outer peripheral surface of 4.
As shown in FIG. 3, the gear 60 is engaged with a female thread 61 formed at the rotation center of a gear 60 rotatably housed in a housing 59 formed in the arm body 41.

The rotation of the gear 60 allows the spindle 54 to move forward and backward toward the movable piece 49.
It is not possible to open and close between the ends of the spring 53 against the elastic return force of the spring 53 or against it.

The gear 60 is meshed with the gear 62, and the gear 62 is meshed with the gear 62.
is fixed to one end of an input shaft 64 rotatably provided on a bearing 63 formed on the upper surface of the arm main body 41.

Further, a groove-shaped engaging portion 65 is formed at the other end of the input shaft 64, and the retaining portion 65 is removably engaged with the tip of the stepping driver 8 provided on the external drive robot 6. None as shown.

The spindle 54, gears 60, 62, and input shaft 64 constitute a drive transmission mechanism 66 that symmetrically rotates the pair of movable pieces 49, 49'. 49 and 49' can be rotated symmetrically to change the shape (opening degree) of the variable grip recess 51 according to the shape of the bottle A (article).

Next, based on the flow sheet of FIGS. 1 to 3 and FIG. 4 showing an example of the operation of the article gripping device of the present invention, the gripping operation of the bottle A by one embodiment of the article gripping device described above will be explained. Explain.

In order to grip the bottles A and A' with the article gripping device of the present invention, first, a pair of gripping arms 4a is used.

4b each variable grip recess 51. ．． 5] are adjusted to fit the side shapes of the bottles A, A' to be gripped by them. Therefore, first of all, regarding this adjustment operation, let us first consider the case where the shape of the variable grip recess 5L51 is changed from a shape shown by a solid line in FIG. explain.

As shown in FIG. 4, when the two-part adjustment operation is started (step 70), the position of one gripping arm 4a is designated to be adjacent to the external drive lever 6 (step 71). In order to move the gripping arm 4a to the position specified in step 71, the gear buckle main body 1 is rotated (step 72), and it is confirmed whether or not the gripping arm 4a has been moved to the specified position (step 73). )
.

Then, when it is confirmed in step 73 that the gripping arm 4a has been moved to the specified position, the arm 7 of the externally driven robot 6 is advanced (step 74), and the arm 7 is advanced to the specified position. When this is confirmed (step 75), the tip of the stepping driver 8 is docked to the engaging portion 65 of the input shaft 64 (step 76). In step 76, when the tip of the stepping dryer 8 is docked to the engaging portion 65 provided at the tip of the input shaft 64 provided on the gripping arm 4a, the stepping dryer 8
are predetermined setting values (rotation direction and rotation angle)
As the stepping driver 8 rotates, the input shaft 64 is rotated according to the set value.

The rotation of the input shaft 64 rotates the gear 62 and the gear 60 by a predetermined amount, and the rotation of the gear 60 causes the spindle 54 to rotate.
is slid a predetermined distance along the through hole 55 in the direction of the movable piece 49'. As the spindle 54 slides in the direction of the movable piece 49', the movable piece 49° is turned by a predetermined angle in the closing direction against the elastic return force of the spring 53.
Simultaneously with the rotation of 9', the movable piece 49 is also rotated by a predetermined angle in the closing direction via the teeth 52" and 52. In this way, both the rotating pieces 49 and 49' are rotated by a predetermined angle in the closing direction, respectively. As a result, the variable grip recess 51 is adjusted to follow the shape of the side surface of the ball A'.

'' When the predetermined adjustment of the variable grip recess 51 is made in step 77, the motor for the stepping dryer 8 is stopped (step 78), and the engagement part 65 between the tip of the stepping dryer 8 and the input shaft 64 is stopped (step 78). The tosogging with the externally driven robot 6 is released (step 79), and the externally driven robot 6
is released (step 80), and the adjustment of the movable grip recess 51 of one grip arm 4a is completed.

After the adjustment of the variable grip recess 51 of one grip arm 4a is completed as described above, the variable grip recess 51 of the other grip arm 4b is similarly adjusted by repeating the above steps shown in FIG. .

Next, as shown in -, the pair of gripping arms 4a, 4
b After the adjustment of each variable gripping recess 51 is completed, the rotation drive shafts 5, 5 are rotated in opposite directions to move the pair of gripping arms 4a24b from the positions indicated by the two-dot chain lines in the second M. By rotating the ball A' (two-dot chain line) to the position indicated by the solid line in the figure and grasping the ball A' (two-dot chain line) with the variable grip recesses 51, 51 (two-dot chain line), the・The gripping operation of the lever A is completed.

Although an embodiment of the article gripping device of the present invention has been described above, the article gripping device of the present invention is not limited to the above-mentioned embodiment. At least one of the gripping bodies 4 may be a gripping arm, and the other gripping body 4 may be a fixed guide or the like, and the movable pieces 49 do not need to be a pair; one side may be fixed; The means for rotating the pair of movable pieces 49, 49' does not necessarily include the externally driven robot 6.
It is not necessary to use the pair of movable pieces 49. by other means.
49' may be rotated.

〔Effect of the invention〕

The article gripping device of the present invention includes an arm body that rotates around a base, a gripping arm that includes a movable piece that rotates around a support shaft provided on the body and forms a variable gripping recess. By rotating the movable piece, the shape of the variable grip recess can be changed according to the shape of the object, so even when gripping multiple types of objects with different shapes, there is no need to replace parts. This has the effect that the article can be gripped without causing any damage to the article.

[Brief explanation of the drawing]

FIG. 1 is a front view of the capper equipped with the article gripping device of the present invention, FIG. 2 is a plan view showing a pair of gripping bodies, and FIG. 3 is a top view showing one gripping body (gripping arm). FIG. 4 is a flow sheet showing an example of the operation of the apparatus for holding the article 1 of the present invention. 4.4a, 4b...Gripping body (gripping arm) 41...
Arm body 42...Base 49.49'...Movable piece 50.50'...Spindle 51...Variable grip recess 66...Drive transmission mechanism Patent applicant Kao Co., Ltd. Engraving of drawings ( No change in content) Procedural amendment (method) Patent Application No. 1982-295763 2, title of invention Article gripping device 3, relationship with the person making the amendment Case Patent applicant (091) Kao Co., Ltd. 4, agent No. 601 Nogizaka, Pacifisoku, 6-29 Akasaka 9-chome, Minato-ku, Tokyo February 23, 1988 (Delivery port) 6. Drawings subject to amendment. 7. Contents of amendments Figures 2 and 3 have been revised as attached (for the engraving of the drawings,
(no change in content). 8. Supplementary explanation

Claims (5)

[Claims] (1) In an article gripping device that includes a pair of grippers that grip an article, at least one gripper rotates around an arm body that rotates around a base and a support shaft provided on the arm body. 1. A gripping device for an article, characterized in that the gripping arm has a movable piece that forms a variable gripping recess. (2) The article gripping device according to claim (1), wherein the pair of gripping bodies are a pair of symmetrically configured gripping arms. (3) The article gripping device according to claim (2), wherein the arm body is integrally connected to a rotational drive shaft provided at the base thereof. (4) The article gripping device according to claim (1) or (2), wherein the gripping arm includes a drive transmission mechanism that rotates the pair of movable pieces symmetrically. (5) The article gripping device according to claim (4), wherein the drive transmission mechanism includes an input shaft.