JPH04354689A - Gripper - Google Patents

Abstract

PURPOSE:To grip a gripped object liable to be deformed or broken with the fixed gripping force and prevent the deformation or breakage of the gripped object in a gripper used for an automated facility. CONSTITUTION:A main body section 5 has a pair of fingers 5a, 5b opened or closed to grip a gripped object 8, a moving claw 6c slidable to the right and left in the direction of shafts 6a, compression springs 6d, and a shift adjustable block 6f with fixing bolts 6e are fitted to the shafts 6 fitted on the outside of one finger 5a in the same direction as the griping direction, and a fixing claw 7a is fitted to the other finger 5b. When the fixed gripping force or above is applied to the gripped object 8, the slidable moving claw 6c is slid, and the gripped object 8 can be gripped without being deformed or broken with the fixed gripping force by the compressing force of the compression springs 6d.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grasping device for grasping an object easily deformed or damaged with a constant grasping force.

0002

BACKGROUND OF THE INVENTION In recent years, grasping devices have been used for various purposes depending on market needs.

[0003] A conventional grasping device of this type will be explained below. FIG. 4 is a front view showing a conventional grasping device in a state before grasping, and FIG. 5 is a front view showing the state of the conventional grasping device.

In FIGS. 4 and 5, reference numeral 1 denotes a main body, which has a pair of fingers 1a, 1b at its ends.
The opening/closing operation is performed at b. and a pair of fingers 1a,
Pawls 2 and 3 are respectively attached to 1b so that an object 4 to be grasped can be grasped.

In the above configuration, when the grasping device grasps an object, first, the pair of fingers 1a, 1b of the main body 1 performs an opening/closing operation, and the claws 2 attached to the pair of fingers 1a, 1b open and close.
, 3, the object to be grasped 4 is grasped.

[0006]

[Problems to be Solved by the Invention] However, in the conventional configuration described above, the grasping force of the main body 1 is directly transmitted to the object to be grasped 4, so even if the object to be grasped 4 is easily deformed or damaged. For example, there is a problem that the grasped object 4 may be deformed or damaged.

The present invention solves the above problem, and aims to provide a grasping device that does not cause deformation or damage to the grasped object during grasping, even if the grasped object is deformed or damaged. There is.

[0008]

[Means for Solving the Problems] In order to achieve the above object, the grasping device of the present invention is composed of a pair of fingers provided on a main body, and a movable claw portion and a fixed claw portion attached to the pair of fingers. When an object to be grasped is gripped by both of the claws, if a grasping force of a certain level or more is applied to the object, the movable claw of the movable claw slides, and the movable claw of the movable claw slides. The object to be grasped is grasped by the compression force of a compression spring.

[0009]

[Operation] According to the above-described structure, when grasping an object that is easily deformed or damaged by the movable claw portion and fixed claw portion attached to a pair of fingers of the main body, the slidable claws are initially compressed. It is pressed against the finger on one side of the main body by a spring, and when the grasping device grasps the object and a grasping force of more than a certain level is applied to the object, the movable sliding pawl will release the grasping force. Slide in the direction of the grasping motion to avoid being grasped. Therefore, the compressive force of the spring is adjusted to be smaller than the original grasping force of the grasping device, so that the object to be grasped can be grasped with a constant grasping force without causing deformation or damage.

0010

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral 5 denotes a main body, which has a pair of fingers 5a, 5b at the end.
The opening and closing operations are performed using an actuator and a motor (both not shown) as a driving source. and finger 5 on one side
A has a movable claw part 6, and the other finger 5b has a fixed claw part 7.
have.

The movable pawl portion 6 has a shaft 6a provided upright on the outer surface of the finger 5a, a movable pawl 6c that slides left and right via an internally installed slide bearing 6b, and a movable pawl 6c attached to the shaft 6a.
A compression spring 6d is fitted into the movable claw 6c to bias the movable claw 6c toward the finger 5a, and the end of the compression spring 6d is received at the tip of the shaft 6a so that the biasing force to the movable claw 6c can be adjusted. Axis 6a
and a block 6f holding a fixing bolt 6e for variable fixation. Further, the fixing pawl portion 7 is constituted by a fixing pawl 7a that is attached to the finger 5b with a fixing screw.

The operation of the grasping device configured as described above will be explained with reference to FIGS. 2 and 3. First, when grasping the object 8 by the movable claw part 6 and the other fixed claw part 7, as shown in FIG. The finger 5a is pressed against the side surface of the finger 5a on one side of the main body 5 by the urging force of the finger 5a, and is in contact with the side surface of the finger 5a. Also, as shown in Figure 3,
In the state where the grasping device has grasped, a grasping force of a certain level or more is applied to the object to be grasped 8, and the movable pawl 6c slides in the direction of the grasping operation, thereby adjusting the grasping force to be smaller than the original grasping force of the grasping device. Due to the compression force of the compression spring 6d,
The object to be grasped 8 is grasped with a constant grasping force.

As described above, according to the present embodiment, the object to be grasped is not grasped by the opposing fixed claws as in the conventional grasping device, but by the movable claws 6c and the fixed claws facing each other. Since it is configured with a working pawl 7a, when a grasping force of a certain level or more is applied to the grasped object 8, the movable pawl 6c of the movable pawl portion 6 slides, and the movable pawl 6c built in the movable pawl portion 6 slides. The object to be grasped 8 is grasped by the compression force exerted by the compression spring 6d. Therefore, it is possible to grasp the grasped object 8, which is easily deformed and damaged, with a certain grasping force, and it is possible to prevent the grasped object 8 from being deformed or damaged.

[0015]

[Effects of the Invention] As described above, the present invention comprises a movable claw portion and a fixed claw portion attached to a pair of fingers of the main body,
When a grasping force exceeding a certain level is applied to the object to be grasped, the movable pawl of the movable claw portion slides, which prevents deformation and damage to the object during grasping. It is possible to realize an excellent grasping device that does not damage the

[Brief explanation of drawings]

FIG. 1: External perspective view of main parts of a grasping device according to an embodiment of the present invention.

[Figure 2] Front view of main parts showing the state of the grasping device before grasping

[
Figure 3: Front view of main parts showing the state of the grasping device after grasping

[Fig. 4] Front view of main parts showing the state before grasping of a conventional grasping device

[Fig. 5] Front view of main parts showing the state of the grasping device after grasping

[Explanation of symbols]

5 Main body 5a, 5b Finger 6 Movable claw part 6a axis 6c Movable pawl 6d compression spring 6e Fixing bolt 6f block 7 Fixed claw part 7a Fixed claw 8. Object to be grasped

Claims (2)

[Claims] [Claim 1] A main body part that uses an actuator or a motor as a driving source and has a pair of fingers that open and close for grasping an object to be grasped, and a body part that is provided on one side of the fingers in the same direction as the grasping movement direction and on the outside of the fingers. A movable pawl that can smoothly slide in the axial direction on the attached shaft, a compression spring for pressing the movable pawl against the finger on one side, and a fixing bolt for adjusting the pressing force of the compression spring. and a grasping device comprising a movable pawl portion provided with a block movable and adjustable on the shaft, and a fixed pawl portion having a fixing pawl attached to the other finger of the finger. [Claim 2] The movable claw and the fixed claw face each other,
2. The grasping device according to claim 1, wherein when a grasping force of a certain level or more is applied to the grasped object when grasping the grasped object, the movable pawl slides and grasps the grasped object with a constant force.