JPH01317989A - Transport apparatus - Google Patents

Abstract

PURPOSE:To obtain effective holding force for a receptacle by connecting one end of each arm and each slider by one pair of the first levers, connecting the middle portion of each arm and an actuator by one pair of the second levers, and holding an article by one pair of fingers retained on the sliders. CONSTITUTION:When an actuator 5 is operated to move backward a plunger 10, the plunger 10 causes the free end of each arm 7 to turn on a supporting point 11 in the direction of the actuator 5, and the respective sliders are moved in the direction of approaching each other through the first levers 8 to hold a receptacle. Thus, the sliders are moved along a groove 2, and forces confronting with each other are applied on the same line to the receptacle by both pieces 9 of fingers 4, so that there is no loss in output of the fingers 4 for holding the receptacle so as to surely hold the receptacle. Furthermore, regardless of the size of the receptacle, the receptacle can be held with the substantially same force.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a conveying device for grasping and moving objects such as containers.

(Prior art) In factories that require work to pack food, drink, cosmetics, etc. into containers such as bottles made of glass, plastic, or metal, containers are used to clean, fill, and close the containers. Requires a conveyance device to grasp and move.

This conveyance device has a pair of compass-like arcuate arms to grasp and release the container, and the tips of both arms are opened and closed in an arc centered on the base. Performs tasks such as grasping and releasing containers.

Container gripping and conveying devices move the containers to predetermined positions while making predetermined rotational, linear or curved movements, and perform cleaning, filling, capping, or boxing of the containers.

(Problems to be Solved by the Present Invention) In the above-mentioned conveying device, although it is necessary to process containers of various sizes, the same arm grips the containers, so the arm that grips the containers is Different arc points. This is because the force with which the arm grips the container decreases as the container becomes larger, causing the container to fall from the arm during work, and an improvement is desired. Furthermore, if you try to use an arm according to the size of the container,
It is not easy to replace the arm, which causes poor work efficiency.

For example, in a workplace that handles cosmetics, it is necessary to replace the arm every time several thousand containers are processed, and the ratio of arm replacement time to container processing time becomes large, which is extremely uneconomical.

Therefore, it is an object of the present invention to solve the above-mentioned problems of the prior art.

(Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention introduces the basic technical idea of making a slider reciprocally movable in a linear direction and making fingers detachable from the slider.

More specifically, the present invention provides a pair of sliders slidably supported on one end of the bracket, an actuator fixed on the other end of the bracket, a pair of arms whose ends are pivotally supported on the bracket, A pair of first levers that connect the other end of each arm and the slider, a pair of second levers that connect the middle part of each arm and the actuator, and a pair of fingers that are held by the slider and grip an object. Provided is a conveyance device having the following.

Furthermore, the present invention includes a pair of reciprocating sliders, a pair of rails fixed to each slider, each rail having a groove provided on both sides of the substrate, and the groove is cut out at the center thereof, Each finger has a pawl that can be freely engaged with a groove in the rail, and the pawl is cut out in the longitudinal center of the rail, and each finger is attached to the cut out part of the longitudinal center of the groove of the rail and the end of the groove. Provided is a conveyance device characterized in that a pawl is engaged with the groove by disposing the nail and sliding the nail into the groove.

(Function) The actuator is operated to advance its plunger and rotate the arm 19. As a result, the first levers move away from each other and the sliders also move away from each other at the same time, so that the fingers are in the state before gripping a container (not shown) or when they are released from the container, as shown in FIG. The state will be as follows. When the actuator is operated again from the state shown in FIG. 2 to the state shown in FIG. 1, the fingers can firmly grip the container. The conveying device that grips the container is moved or rotated along a predetermined straight or curved axis trace. The fingers move in a straight line,
Furthermore, since the lever and arm amplify the force from the actuator, the gripping force can be increased and the center of the container can be gripped from both sides at the same time.

Furthermore, in the present invention, the grooves on both sides of the rail of the slider are cut out at the center, and the center part of the claw of the finger is cut out, so that one end of the claw is the end of the groove and the other end of the claw is cut out. Place it on the cutout in the center of the groove, and then slide the nail on it to engage the groove and the nail.

The procedure for disengaging the groove and the pawl is the reverse, but since the movement of the pawl for engaging and disengaging the groove and the pawl is small, the engagement and disengagement work can be done in a short time.

(Example) Refer to Figures 1-3. Grooves 2 facing each other are provided at one ends of the brackets 1 that face each other and create a space therebetween, and a portion of each of the pair of sliders 3 is fitted into the grooves, so that the sliders 3 can freely reciprocate with respect to the bracket l. let A finger 4 is detachably fixed to each slider 3.

A pair of second levers 6 are pivotally supported at both ends of an arm 10' fixed to a plunger 10 of an actuator 5 supported at the other end of the bracket 1.

Also, a pair of arms 7 whose one ends are pivotally supported on the bracket 1
Each end of the second lever 6 is pivotally supported at the center of the lever. One end of the pair of first levers 8 is pivoted to each free end of the pair of arms 7, and the other end of the pair of first levers 8 is pivoted to the slider 3.

The finger 4 has a piece 9 on its opposite side that can securely grip a container (not shown) without causing it to slip.

In the state shown in FIG. 1, the container is gripped by the pieces 9, and the pieces 9 of the fingers 4 are close to each other. In this state, when the actuator 5 is operated pneumatically or hydraulically to move the plunger 10 forward, the second levers 6 are rotated around the fulcrum 1), and the first lever is rotated, as shown in FIG. 8
moves each finger 3 along the groove 2 in a direction away from each other. Thus, the pieces 9 of the fingers 4 are separated from each other,
The container can be separated from the device.

To change the state shown in FIG. 2 from the state shown in FIG. 2 to the state shown in FIG. To move the plunger 10 backward, the free end of each arm 7 is rotated about the fulcrum 1) in the direction of the actuator 5, and the sliders 3 are moved toward each other via the first lever 8, thereby moving the container. Grab it.

In this example, the slider 3 moves along the groove 2, the pieces 9 of the fingers 4 approach each other in a linear axis, and both pieces 9 apply mutually opposing forces to the container in the same line. Therefore, there is no loss in the output of the finger 4 for gripping the container, and the container is reliably gripped. Also, regardless of the size of the container,
Explain using a container with the same power. The rail 12 fixed to each slider 3 has grooves 13 facing each other on both sides, and a cutout 14 is provided in the center of the groove. On the other hand, a pair of claws 15 that can fit into the groove 13 are provided at the base of the finger 4.
are provided, and a cutout portion 16 is provided at the center portion of each claw 15 in the longitudinal direction. A slot pawl 17 is provided at one end of the rail 12 to prevent the claw 15 from coming off from the groove 13.

When the finger 4 engages with the rail 12, the claw 15
Place the A part of the groove 13 in the central cutout 14, and place the B part of the pawl 15 at the end of the rail 12 opposite the stop 17. Then slide the pawl 15 into the groove 13, and the final for,
The end of the claw 15 is brought into contact with the stopper 17, and a ball (not shown) on the rail 12 side is bitten into the notch 18 of the claw 15 to fix the finger 4 to the rail 12.

To remove the finger 4 from the rail 12, move the claw 15 so that part A of the claw 15 comes to the cutout 14 of the groove 13,
Next, bring it to the front.

Since the stroke of the pawl 15 within the groove 13 is small, the fingers 4 can be replaced quickly. In addition, since the finger 4 can be quickly replaced with a piece 9 having a shape according to the type and size of the container, processing of a wide variety of containers in small quantities can be carried out in a short time. That is, since the fingers 4 are replaced while keeping the reciprocating stroke of each slider 3 constant, the necessary gripping force is always guaranteed to be applied to various containers.

(Effects) In the present invention, since the fingers are reciprocated linearly, opposing forces can be applied to the container on the same line, and the force for gripping the container can be used effectively.

Furthermore, since the fingers can be replaced very easily, the present invention is suitable for processing a wide variety of containers in small quantities.

[Brief explanation of the drawing]

FIG. 1 is a side view of an example of the present example, FIG. 2 is a side view showing a state in which the fingers are separated from each other, and FIG. 3 is a cross-sectional view seen from arrow I[[-I[1] in FIG. FIG. 4 is a perspective view of a portion of the finger. In the diagram: 1-bracket, 2-groove, 3-slider, 4-finger, 5-actuator,
6.8-Lever, 7-Arm, 1
)--Fully point 12-Rail, 13-Groove, 14
．． 16 - Resection part, 15 - Claw, 17 - Stopper.

Claims (3)

[Claims] (1) A pair of sliders slidably supported on one end of the bracket, an actuator fixed on the other end of the bracket, a pair of arms with one end pivotally supported on the bracket, and the other end of each arm and the slider A conveyance device having a pair of first levers that connect the actuators, a pair of second levers that connect the intermediate portions of each arm and the actuator, and a pair of fingers that are held on a slider and grip an object. (2) When the second lever of the pair is moved forward by the actuator, the sliders of the pair move in the direction of separation, and the fingers release the object, and when the second lever of the pair is moved back by the actuator, the sliders of the pair move in the direction of approaching each other. move,
Claim (1) characterized in that the fingers grip objects.
conveyance device. (3) A pair of reciprocating sliders, a pair of rails fixed to each slider, each rail having grooves provided on both sides of the board, the grooves being cut out in the center, and each finger It has a claw that can freely engage with the groove of the rail, the claw is cut out at the center in the longitudinal direction, and each claw is arranged at the cut out part of the center in the longitudinal direction of the rail groove and at the end of the groove. 1. A conveyance device characterized in that a claw is engaged with the groove by sliding it into the groove.