JPH0144314Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a contact piece of a gripping tool that can reliably grip an object to be gripped with a low gripping force without damaging the contact surface of the object.

When molding products that are integrally molded with rubber and synthetic resin products or fabrics using continuous injection molding, cast molding, transfer molding, press molding, etc., after molding, the mold of the molding machine must be After opening, the product or the product still fitted in the medium mold must be quickly grabbed out of the mold. As a gripping tool for this purpose, it can be attached to a product take-out device that is linked to the opening and closing of the mold of a molding machine, or it can be activated by determining the movement and opening/closing of a mold placed on a conveyor. Used in the hands of so-called industrial robots. The operation of taking out the product using this gripping tool is linked to the molding machine and a series of devices, and must be operated in seconds, and failure to take out the product is unacceptable because it will cause the entire device to stop. Various improvements have been made to the contact piece of this gripping tool, and the shape of the object to be gripped,
A product that is compatible with the material has been devised. If the product itself has steps, protrusions, holes, etc. that can be hooked, forming the contact piece of the gripper to engage with them will ensure that the contact piece and the product are engaged and gripped. Although it will not damage the product, if the product has parallel or inclined surfaces and has a mold release agent attached to it to make it easier to remove the mold, there is no place for it to lock onto the product, so please avoid contact with it. Even if you use a contact piece with various unevenness on the surface and try to grab it from the left and right sides, you will often slip and fail to grasp it, or fall off it, or even damage the surface of the product. I couldn't take it out.

The present invention solves the above problems by:
In a gripping device in which fixing plates to which contact pieces directly in contact with the object are fixed are removably fixed to opposing gripping end surfaces in order to grasp the object from the left and right sides, the contact pieces are attached to the fixing plates. It is an object of the present invention to provide a gripping device characterized in that a large number of pin-like protrusions planted on a surface are connected and held together by an elastic body such as rubber.

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a gripping tool 1 configured to be able to open and close by operating in left and right directions when facing each other has a bolt hole or the like for fixing a contact piece 2 on the inner end surface of its tip. The contact piece 2 is removably fixed via a fixing plate 3. The contact piece 2 is shown in Figures 1 and 2.
As shown in the figure, it has a fixing plate 3 at its base, and a bolt or the like for fixing it to the inner end surface of the tip of the grip 1 is attached to the back surface of this fixing plate 3. A strong base cloth 5 in which a large number of pin-like protrusions 4 are implanted is fixed to the upper surface of the fixing plate 3. The protrusions 4 are individually implanted in the base fabric 5 like, for example, insect pins, or are implanted in the base fabric 5 as U-shaped pins, and are locked so that they do not easily come off. A large number of long protrusions 4 are integrally molded so as to be connected and held together by an elastic body 6 such as rubber. In this case, the elastic body 6 such as rubber is suitably made of soft rubber, polyurethane foam, etc., and is integrally molded to the extent that the tips of the protrusions 4 are slightly hidden to the extent that the tips protrude by approximately 30 m/m. The shape of the tip of the protrusion 4 is selected depending on the surface on which the object is gripped, and a sharp one can be used for materials that do not leave puncture marks on the surface, such as cloth, but For materials that not only leave puncture marks but also damage, such as resin films, use materials that have a small contact area.
The protrusion 4 is almost entirely held by an elastic body 6 such as rubber, and its tip, which is formed to slightly protrude from the rubber elastic body 6, is prevented from breaking or deforming. If the material is difficult to leave puncture marks on the surface, such as cloth, the tips of the protrusions 4 may protrude slightly from the surface of the elastic body 6, such as rubber, but if the material does not leave puncture marks, such as leather or synthetic resin membranes, If the protrusion 4 not only remains but is damaged, it is better to form it so that the tip of the protrusion 4 does not protrude too much. Of course, even if the tip of the protrusion 4 is embedded in an elastic body 6 such as rubber, when the contact piece 2 grips the object and further gripping force is applied, the protrusion 4
An elastic body 6 such as rubber covering the tip of the object is compressed, and the tip comes into contact with the surface of the object, allowing the object to be gripped softly and reliably. As for the hardness of the elastic body 6 such as rubber, JIS hardness of about 50 to 85 is good.
Low hardness is used for objects with soft surfaces, and high hardness is used for objects with hard surfaces.

Of course, the protrusions 4 planted on the base fabric 5 are
There is no problem in using it even if it is planted perpendicular to the surface, but as shown in Figure 3, the direction in which the object is grabbed is the X axis of the arrow, and the direction in which the object is grabbed is the Y axis of the arrow. The protrusions 4 planted on the five faces of the base fabric, which are perpendicular to the X-axis direction, are placed at an angle greater than 90 degrees clockwise with respect to the Y-axis direction at the base portion, from the base portion to the tip. Even better results will be obtained if it is planted at an angle smaller than 90 degrees clockwise with respect to the Y-axis direction. That is, as shown in FIG. 4a, which is an enlarged explanatory diagram of the protrusion 4 shown in FIG. ) When the grip is bent, the elongation d ₁ in the X-axis direction occurs, albeit slightly, and the object can be gripped even more strongly by that amount. Moreover, the growth d ₁
Since the amount is minute, there is no risk of damaging the surface of the object. The protrusion 4 shown in b is installed as a straight pin from the base to the tip on the base fabric 5 at an angle smaller than 90 degrees clockwise with respect to the Y-axis direction, and by a distance D ( When the tip m is bent (rotated to m' around the base point k), an elongation in the X-axis direction corresponding to the bending occurs by d ₂ . Elongation d ₂ is d ₁
(d ₂ > d ₁ ), but it should be used for objects such as cloth that do not leave puncture marks on the surface or those that do not cause any problem even if marks remain.

The protrusion 4 has a suitable length and is held together by an elastic body 6 such as rubber, so that the protrusion itself remains intact even if the surface shape of the object is curved. While being held by an elastic body 6 such as rubber, it conforms to the curved surface of the object while being bent, that is, the contact surface is enlarged and the entire surface is gripped by the protrusions 4, so the object is held securely and further Since the contact surface is large and there are a large number of protrusions 4 that act on the surface, the gripping force for each one is extremely small, so breakage and bending are reduced, and the service life is extended.

If only the protrusions of the contact piece are fixed at their bases and each one stands alone, the protrusions bend from the base when grasping and lifting an object, weakening the gripping force by the amount of deflection, and causing the protrusions to slide over the surface of the object. Scratches or failure to hold the contact piece often occur, and since the protrusions act independently, they can break or bend, significantly shortening the service life. However, as mentioned above, the protrusions 4 are not connected and connected together by the elastic body 6 such as rubber and each of the protrusions 4 acts independently, but all the protrusions planted in the contacting surfaces act as one body. Since it acts as a surface, when grasping and lifting an object, all the protrusions in the action surface act, so the deflection is small, and the deflection is caused by the elastic body such as rubber that holds the protrusions. Also supported by 6,
In addition, shocks and the like are absorbed, allowing the object to be gripped softly without being directly penetrated into the surface of the object.Furthermore, since the protrusions 4 are planted in the base fabric 5 with an upward slope to the right, the object can be easily gripped. When trying to grasp the object, the tip of the protrusion 4 automatically bites into the surface of the object and acts on it, and the gripping force of the contact piece is forced by itself, significantly reducing the pressing force applied to the gripping tool. This makes it possible to reduce the weight of grip-related equipment, improve work efficiency by eliminating the possibility of slipping and damaging the surface of the object, or temporarily interrupting the continuous molding of the product due to failure to lift it. It has features such as being able to significantly extend the service life of the contact piece 2 itself.

[Brief explanation of the drawing]

Figure 1 is a perspective view showing the installation state of the present invention;
The figure is a perspective view of the contact piece, FIG. 3 is a sectional view taken along line AA in FIG. 1, and FIG. 4 is an enlarged view of one protrusion. DESCRIPTION OF SYMBOLS 1...Gripper, 2...Contact piece, 3...Fixing plate, 4...Protrusion, 5...Base fabric, 6...Elastic body such as rubber.

Claims (1)

[Scope of utility model registration request] In a gripping device in which fixing plates to which contact pieces directly in contact with the object are fixed are removably fixed to opposing gripping end surfaces in order to grasp the object from the left and right sides, the contact pieces are attached to the fixing plates. A gripping tool characterized in that a large number of pin-like protrusions planted on a surface are connected and held together by an elastic body such as rubber.