JPH036564Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] The present invention is a table that searches for an article such as a storage shelf and takes the article in and out by grasping its grip in an automatic article search device such as a folder search device. Regarding the mechanism.

[Conventional technology]

In an automatic search device, when a sensor is used to search for a gripping portion of an article and the gripping portion is to be gripped, the gripping means of the table mechanism must move beyond the position of the sensor and approach the gripping portion of the article, and then perform a gripping operation. be. Conventionally, these two operations have been performed by separate drive means, such that the gripping means first approaches the gripping part of the article by a driving means, and then grips the gripping part by another driving means. I was in control.

[Problem that the invention attempts to solve]

The gripping means of the conventional table mechanism described above uses two driving means to grip the gripping part of the article, so the mechanism is complicated and expensive, and it has the disadvantage that it cannot be made smaller. It was unsuitable for gripping large objects.

In the field of automatic assembly or automatic processing systems, a workpiece gripping device has been disclosed that can open and close fingers that grip a workpiece and move the fingers forward or backward using a single cylinder (Utility Model Application No. 52-144573). However, in this conventional device, when the piston rod is advanced by the cylinder and the fingers are closed to grip the workpiece, it is not equipped with an opening/closing mechanism that can hold the workpiece at a predetermined clamping pressure, so an unreasonable force is applied to the load. There was an additional drawback.

The present invention is intended to solve the above-mentioned drawbacks and problems, and has a simple structure in which one operation of one drive means approaches the gripping part of the article and grips the gripping part at the same time. It is an object of the present invention to provide a table mechanism for an automatic article retrieval device that can reduce costs and always capture articles with a predetermined clamping pressure.

[Means for solving problems]

As a specific means for achieving the above object, the present invention uses two arms that operate to open and close using a cam mechanism to grip the gripping part of the automatically searched article, and to move the article in and out of the warehouse. In the table mechanism of the automatic article retrieval device, the movable opening/closing means of the two arms is restricted to a fixed side and moves back and forth, and has a swing plate having a horizontally elongated hole in the direction of movement;
and a cam mechanism consisting of an eccentric cam that is eccentrically fixed to the rotating shaft and converts rotational motion into forward and backward motion in relation to the horizontally elongated hole of the rocking plate, and a cam mechanism whose rear end is pivotally fixed to the rocking plate and whose tip end is connected to the rocking plate. Two arms biased by a biasing member in a direction that closes each other, a roller pivotally attached to an intermediate portion of these two arms, and a roller that is loosely fitted and cooperates with the back and forth movement by the cam mechanism. The present invention proposes a table mechanism for an automatic article retrieval device, characterized in that the table mechanism includes an opening/closing mechanism consisting of a substantially doglegged guide groove formed on the fixed side for opening and closing the two arms. The back and forth movement of the rocking plate is confirmed by a position confirmation sensor. Examples of automatic article retrieval devices include folder retrieval devices, and when the article is a folder, the gripping portion is a claw portion attached to the front and rear of the folder.

[Effect]

The cam mechanism moves the swing plate forward and backward based on the relationship between the rotation of the eccentric cam and the horizontally elongated hole of the swing plate. Further, the opening/closing mechanism is pivoted between a substantially dogleg-shaped guide groove formed on the stationary side and an intermediate portion of two arms for holding the gripping portion of the article, and a roller loosely fitted in the guide groove. , the two arms are opened and closed in cooperation with the back and forth movement by the cam mechanism.

〔Example〕

Embodiments of the present invention will be described in detail below with reference to the drawings.

First, the overall configuration of the table mechanism implementing the present invention will be described. FIG. 4 is a perspective view of the entire table mechanism. The first frame 1a of the table mechanism 1 is supported by the column 2 so as to be movable up and down (in the _X1 direction).
This vertical movement is performed by a timing belt 3 fixed to the first frame 1a and a driving means on a column 2 (not shown) that drives the timing belt 3. The above column 2 maintains its vertical position and moves horizontally (in the Y direction),
By this horizontal movement and the vertical movement of the first frame 1a, the table mechanism 1 is positioned at a predetermined position on an article storage shelf (not shown). A horizontal first rotation shaft 5 rotated by a first motor 4 and a guide shaft 5a parallel thereto are pivotally supported on the first frame 1a.
A second frame 1b is supported on both shafts 5, 5a so as to be movable in a direction orthogonal to the Y direction (Z direction). For this driving and positioning in the Z direction, the rotational motion of the rotary shaft 5 is converted into linear motion by a linear drive nut or ball nut, the stop position is detected by a position detection sensor (not shown), and the first motor 4
This is done by controlling the on/off of the Second frame 1
A second motor 6 rotated by the second motor 6 is provided in b.
A rotation shaft 7 is vertically supported, and a gripper 8, which is an article gripping means, is supported on this shaft 7 via a linear drive nut or the like so as to be movable up and down (in the _X2 direction). In order to position this vertical movement to any arbitrary position, the start and end points are detected by position detection sensors (not shown) placed above and below the second frame 1b, and the amount of rotation of the second motor 6 from the start point is controlled. It is done as follows. Therefore the second motor 6
For example, a pulse motor is suitable. By moving in the Z direction, the article gripped by the gripper 8 is supported by the article guide 1c and placed on the article mounting table 1d.

Next, the configuration of the gripper 8, which is the main part of the present invention, will be described. FIG. 1 is a cross-sectional plan view of the gripper when searching for an article, FIG. 2 is a cross-sectional plan view of the gripper when gripping an article, and FIG. 3 is a vertical cross-sectional side view taken along FIG. 1-'. The swing plate 9 is restricted to the fixed side 10,
An arm 13 to be described later that is slidable in the front-rear direction A
Along with a and 13b, the upper plate 10a and the lower plate 1 on the fixed side
0b (Fig. 3). This rocking plate 9
is provided with a horizontally elongated hole 9a in the front-rear direction A,
An eccentric cam 11, which is an eccentric member, is loosely fitted therein with a slight gap in the front-rear direction A, thereby forming a cam mechanism 30. This eccentric cam 11 is rotated by a rotation shaft 12a that is decelerated by a motor 12 fixed to the upper plate 10a. Due to this rotation, the eccentric cam 11 presses the horizontally long hole 9a and moves back and forth,
The stop position of this forward and backward movement, for example, the backward position, is determined by detecting the shielding plate 20 with the position confirmation sensor 21 and then moving the motor 1.
Control by turning off 2. Stopping in the forward position is similarly controlled. The two arms 13a and 13b, which grip an article by closing their tips, have their rear ends pivoted to the swing plate 9. two arms 1
3a and 13b are provided with rollers 1 at the upper and lower intermediate parts.
4a and 14b are pivoted, and the upper roll 14a
The lower roller 14 is placed in the guide groove 10c of the upper plate 10a.
b is loosely fitted into the guide groove 10d of the lower plate, and constitutes an opening/closing mechanism 50. Upper and lower rollers 14
A contraction spring 16 is elastically mounted between a and 14a and between 14b and 14b for biasing the tips of the two arms 13a and 13b in a direction to close each other. The guide grooves 10c and 10d can be used when searching for articles.
When the arms 13a, 13b are in the retracted position, the tips of the arms 13a, 13 are opened to expose the photoelectric switch 15 for searching for articles against the biasing force of the contraction spring (FIG. 1). When grasping an object,
As the arms 13a and 13b move forward, their tips approach each other, and are formed into a substantially dogleg shape so as to clamp the article by the biasing force of the contraction spring 16 (FIG. 2). This article is, for example, a folder in a folder search device, and in this case, the gripping part for the article is a folder 17 as shown in FIG.
There is a claw portion 18 attached to the hole 17a on the front surface of the holder. Preferably, the claw portion 18 and the tips of the arms 13a, 13b are provided with anti-slip grooves such as serrated grooves for easy gripping. Photoelectric switch 15 above
is used to detect the tip of the claw portion 18, and other sensors such as a proximity switch may also be used.

The operation of the table mechanism configured as above will be explained. First, the action of the gripper 8 will be described. Since the arms 13a and 13b are pivoted to the swing plate 9, they move back and forth together with the swing plate 9. This back-and-forth movement is performed by the contact point of the eccentric cam 11 with the horizontally elongated hole 9a of the rocking plate being swung in the forward and backward direction A by rotation of the rotation shaft 12a by the motor 12, and pressing the horizontally long hole 9a. The arms 13a and 13b are biased in the direction in which the ends of the arms 13a and 13b are closed by the contraction springs 16, but when searching for an article, the swing plate 9 is in the retracted position, the ends are fully opened, and the photoelectric switch in the center is activated. The rollers 14a and 14b are inserted into the guide grooves 10c and 15 so that the rollers 14a and 14b are exposed.
The position is restricted to the rear end side of 10d. When the arms 13a and 13b move forward to grip the article and reach the position where the photoelectric switch 15 is contained, the rollers 14a and 14b move toward the tips of the guide grooves 10c and 10d so as to close the tips of the arms 13a and 13b. Move the position to . At the gripping position, the article is loosely fitted so that the article can be clamped only by the biasing force of the contraction spring 16. As a result, in this embodiment, no load is applied to the motor 5 or excessive force is applied to the load when clamping the article. Further, the forward movement and gripping movement of the arm can be performed by turning the motor on and off only once, which simplifies the mechanism and makes it possible to reduce the size and weight.

Next, the operation of the entire table mechanism will be described. FIG. 6A is an explanatory view showing the operation of the table mechanism on a plane when taking out articles. This will be explained using a folder search device as an example. When the table mechanism 1 is positioned at one end of the folder storage shelf 19 by the horizontal movement (Y direction) and vertical movement (X ₁ direction) by the column 2, the photoelectric switch 15 moves the claw part 18 of the stored folder 17. In order to detect _the
position in the direction and then horizontally moved by the column 2 as in fine feed. When the claw portion 18 is detected, the arm 13 moves forward as shown in the figure to detect the claw portion 18.
is gripped and moved together with the second frame body in the Z direction as shown in FIG. FIG. 6B is an explanatory diagram showing the operation of the table mechanism on a plane when goods are stored. In this case, the table mechanism 1 is positioned at a predetermined position on the storage shelf 19 while holding and placing the folder 17 thereon. Subsequently, the folder 17 is moved horizontally to the storage position by the column 2, and the second frame 1b moves forward in the Z direction as shown in FIG. Finally, the arm 13 retreats and the grip on the folder 17 is released, completing the storage.

[Effect of idea]

As described above, according to the present invention, the cam mechanism and the opening/closing mechanism are provided as the means for moving and opening the two arms that clamp the gripping part of the article, and the gripping means is advanced by one driving means. Since we can provide a table mechanism for an automatic article search device that can move and grip objects, the table mechanism can be made smaller and lighter, and costs can be reduced, making it suitable for handling lightweight articles such as folder search devices. Become something.

In addition, the opening/closing mechanism is such that when an object is gripped, the roller provided at the intermediate part of the two arms moves toward the tip of the guide groove on the fixed side, the tips of the arms approach, and at the final forward position, it contracts. Since the article is gripped by the urging force of the spring, the article can always be gripped with a predetermined gripping pressure. Therefore, since no load is applied to the drive means (motor) and no excessive force is applied to the article, it is suitable even when handling articles that are easily deformed or fragile.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional plan view of the gripper when searching for an article, FIG. 2 is a cross-sectional view of the gripper when gripping an article, and FIG. 3 is a longitudinal cross-sectional side view along FIG. 1-'.
Figure 4 is a perspective view of the entire table mechanism, Figure 5 A,
Figure 6B is a plan view and side view showing the claw part of the folder, Figure 6A is an explanatory diagram showing the operation of the table mechanism on a flat surface when goods are taken out, and Figure 6B is a diagram showing the table on a flat surface when goods are put into storage. It is an explanatory diagram showing operation of a mechanism. 1...Table mechanism, 8...Gritzper, 9...
...Swivel plate, 9a...Horizontal long hole, 10...Fixed side, 1
0c, 10d...Guide groove, 11...Eccentric cam,
12a... Rotating shaft, 13, 13a, 13b... Arm, 14a, 14b... Roller, 15... Photoelectric switch, 16... Contraction spring, 17... Folder, 18... Claw portion, 19... Storage Shelf, 30... cam mechanism, 50... opening/closing mechanism.

Claims (1)

[Claims for Utility Model Registration] Two arms that open and close using a cam mechanism grip the gripping part of the automatically searched article,
In the table mechanism of the automatic article retrieval device for loading and unloading articles, the movable opening/closing means of the two arms are regulated by a fixed side and move back and forth, and include a swing plate having a horizontally elongated hole in the direction of movement, and a rotating plate. a cam mechanism consisting of an eccentric cam that is eccentrically fixed to the shaft and converts rotational motion into forward and backward motion in relation to the horizontally elongated hole of the rocking plate, and a cam mechanism whose respective rear ends are pivoted to the rocking plate and whose tips close together; two arms that are biased in the direction by a biasing member, a roller that is pivotally attached to the intermediate portion of these two arms, and a roller that is loosely fitted and cooperates with the back and forth movement of the cam mechanism to move the 1. A table mechanism for an automatic article retrieval device, comprising an opening/closing mechanism consisting of a substantially doglegged guide groove formed on a fixed side that opens and closes two arms.