JPH0322893Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a gripping hand using an electromagnet, and particularly to a hand for gripping and transporting a lightweight object such as a cassette in a so-called video deck.

[Conventional technology and its problems]

Conventionally, in general electric mechanical hands used in robots, etc., the rotation of the shaft that makes up the hand is performed by a stepping motor and a gear train, and the pushing force in the axial direction is applied to the moving piece by an electromagnet against a spring force. The structure is such that changes in the pressing force can be obtained by changing the current applied to the electromagnet.

However, such electric mechanical hands
In order to produce the desired gripping force, the weight of the electromagnet becomes large, especially when maintaining the gripping state while resisting the spring force. In order to transfer, especially if the hand itself is to be moved in a zigzag manner, the movement cannot be made quickly.

[Means for solving problems]

Therefore, the present invention was devised in an attempt to eliminate such inconveniences, and is a gripping and transferring hand with an electromagnet that attempts to reduce the weight of an electromechanical hand as much as possible and to quickly grasp and transfer the hand itself. It provides:

Hereinafter, the structure of the present invention will be explained in detail with reference to embodiments shown in the accompanying drawings. Figure 1 is a plan view of the main skeleton of the embodiment of the present invention, with the fingers in a closed state;
FIG. 2 shows a state in which the fingers of FIG. 1 are open, and FIG. 3 shows an overall operating state of the embodiment of the present invention.

1a, 1b are L-shaped fingers in plan view consisting of short rods 2a, 2b and long rods 3a, 3b facing each other, and the fingers 1a, 1b are attached to the substrate 5 by pivot pins 4a, 4b at the corners thereof. It is rotatably supported on. These fingers 1a, 1
A tension spring 6 that urges the short rods 2a, 2b to approach each other is always locked at the tips of the short rods 2a, 2b facing each other. In addition, these long rods 3a and 3b partially overlap each other, and one long rod 3a is configured to be longer than the other long rod 3b, and a long hole 7 is provided in the middle of the long rod 3a in the longitudinal direction. An engagement pin 8 is implanted at the distal end of the long rod 3b. The engagement pin 8 is inserted into the long hole 7 and is slidable in the longitudinal direction of the long rod 3a. A roller 9 is protruded from the end of the long rod 3a, and a rod-shaped first armature 11 is attached to the roller 9, which is operated by a first solenoid 10, which is a linear solenoid.
The tips of the two are in contact with each other. As a locking member for self-holding of the armature, a roller 1 is installed in a direction perpendicular to the axial direction of the first armature 11 and so as to be able to intersect.
A rod-shaped second armature 1 with 2 protruding from its tip.
3, and the second armature 13 has a compression spring 14.
It is operated by the second solenoid 15 through winding. And these members 10, 11, 13, 15
Both are placed on the substrate 5. In addition,
Reference numeral 16 indicates a soft contact member attached to the fingers 1a and 1b, and 17 indicates an object to be gripped, that is, a workpiece.

Since the skeletal structure of this embodiment is as described above, the substrate 5 is stopped at a desired position by an appropriate transfer means (FIG. 1). Therefore, in order to grip the workpiece 17, the first solenoid 10 is energized for a short time (0.1 to 0.3 seconds).

In addition, the solenoid used here is, for example, when the armature stroke is 40 mm,
It generates a suction force (0.5Kg) that maintains the armature in a suction state by continuously applying the rated voltage, but the rated voltage is instantaneously (the solenoid will burn out if the current is applied for a long time). From the voltage, for example, 4
If the current is doubled, the suction force can be increased 5 to 7 times (3.5 kg). Therefore,
In this embodiment, the magnitude of the instantaneous increased suction force is used to extend the tension spring 6 and enlarge the fingers 1a and 1b, so the solenoids and armatures need only be small and lightweight. (For example, weight 900g).

Now, the first amateur 11 moves to the right in FIG. Due to this movement, the tip of the first armature 11 presses the roller 12, causing the finger 1a to rotate around the pivot pin 4a. As a result, since the engagement pin 8 is also rotated, the other fingers 1b are also rotated, and therefore these fingers 1a, 1b are rotated against the elasticity of the tension spring 6. That is, fingers 1a and 1b are expanded to the maximum.

When the first armature 11 moves as described above, the second armature 13, which is always urged by the compression spring 14 and is about to pop out, crosses the first armature 11, and the roller 12 moves the first armature 11.
The ends of the first armature 11 are brought into contact with each other to prevent the first armature 11 from returning by the tension spring 6. In other words, maintain yourself.

Then, the substrate 2 is slightly advanced toward the workpiece 17 and stopped with the fingers 1a and 1b sandwiching the workpiece 17. Next, the second solenoid 15
Excite for a short time. As a result, the second amateur 1
3 is attracted against the elasticity of the compression spring 14, and the roller 12 is removed from the end of the first armature 11.
As a result, the fingers 1a and 1b grip the workpiece 17 due to the elasticity of the tension spring 6. Next, by moving the substrate 5 to a desired position, the workpiece 17 is reliably transported.

Note that when the fingers 1a, 1b release the workpiece 17 at a desired position, the first solenoid 10 may be energized in the same manner as described above.

Next, a case where such fingers 1a and 1b are applied to a video deck device will be explained with reference to FIG.
In FIG. 3, only the fingers 1a and 1b are shown, and the others are covered with a cover body 18. 19,1
Reference numeral 9 denotes a rail, which is installed on the conveyor plate 20, on which the substrate 5 is placed so as to be movable. Therefore, the figure shows a state in which the conveying plate 20 is stopped at a desired position and the fingers 1a and 1b are opened.
In the figure, fingers 1a and 1b are open,
The board 5 moves on the rails 19, 19 to the workpiece 17 (300
Move forward toward the cassette (g) and press the fingers 1a,
1b shows a state in which the workpiece 17 is gripped, and the figure shows a state in which the substrate 5 is retreated on the rails 19, 19 while the fingers 1a, 1b grip the workpiece 17. As is clear from the illustration in the figure, work 1
7 is surrounded by the conveyor plate 20 and the rails 19, 19, so even if the conveyor plate 20 suddenly starts and stops, the workpiece 17 will not come off.

In this embodiment, the first armature 11 is temporarily locked by the second solenoid 15, the second armature 13, and the compression spring 14.
The present invention is not limited to this, and an appropriate portion of the finger 1a may be locked in conjunction with the movement of the first armature 11, for example, by a claw.

In summary, the present invention adopts the structure described in the claims for utility model registration, and therefore has the following effects.

[Effect of idea]

A tension spring with the force to grip the workpiece, a linear solenoid that expands the fingers,
Because it is combined with a locking part that temporarily maintains the finger at its maximum expansion, the linear solenoid is momentarily energized with a voltage higher than the rated voltage, which instantly increases the force that attracts the armature. Since it is configured to generate a tension spring and extend the tension spring, the linear solenoid can be made smaller and lighter while generating a large suction force. As a result, the hand itself becomes smaller and lighter, and the hand itself can move more quickly, especially in a zigzag motion. For example, if the amateur stroke is 40mm, 900
If a linear solenoid with a rated voltage of 2 kg is used to instantaneously increase the suction force, the linear solenoid with the rated voltage that produces the increased suction force would weigh as much as 2 kg, so the mechanism of this invention was added. For those with a straight line solenoid of approximately 1/2 or less size.

Furthermore, since the workpiece is not gripped by the suction force of a solenoid, but is always gripped by a spring, the fingers will not release the workpiece even in the event of a power outage, making it safer.

Moreover, since the solenoid is only momentarily energized, durability can be maintained.

[Brief explanation of the drawing]

Figure 1 is a plan view of the main skeleton of an embodiment of the present invention.
FIG. 2 is a diagram showing the finger in a closed state, FIG. 2 is a diagram showing the finger in FIG. 1 in an open state, and FIG. 3 is a diagram showing the overall operation state of the embodiment of the present invention. 1a, 1b...finger, 4a, 4b...pivot pin, 6...tension spring, 10...first
Solenoid, 11...1st amateur, 13...
2nd armature, 15... 2nd solenoid, 17
……work.

Claims (1)

[Scope of utility model registration request] In a hand in which two opposing fingers are pivoted horizontally so that they can be opened and closed, and these fingers close to grip a workpiece, a tension force that grips the workpiece is applied to the inside of both tips of these fingers. When the solenoid is energized, the armature locks the spring, and when the solenoid is energized, the base end side of at least one of the fingers is
A locking member is provided that moves and presses against the elasticity of the tension spring to enlarge the workpiece larger than the size of the workpiece, and also temporarily maintains the fingers at the maximum enlargement state in conjunction with the movement of the armature. A hand for gripping and transferring a lightweight object using an electromagnet, which is provided separately from the solenoid.