JPH05229650A - Handling device - Google Patents

Abstract

PURPOSE:To provide a handling device in which the interval among gripping members can readily be varied. CONSTITUTION:A handling device includes a plurality of movable blocks 9... each of which is freely slidably attached to a guide bar 8, a fixed block 10 provided at one end side of the plurality of movable blocks 9..., gripping members 11 attached to the fixed block 10 and each of the movable blocks 9... and capable of gripping work W, a freely collapsible and expandable constant pitch holding coupling link 12 which couples the fixed block 10 to each of the movable blocks 9... and varies the interval among the movable blocks 9... at equal pitch, and a screw shaft and nut mechanism K for moving one of the movable blocks 9....

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a handling device for simultaneously holding a large number of aligned works.

[0002]

2. Description of the Related Art Conventionally, as a handling device, there has been a handling device provided with a plurality of gripping members capable of simultaneously gripping a plurality of works such as a large number of bottles conveyed by a conveyor in a state of being aligned at equal intervals. there were.

[0003]

However, in the conventional handling device provided with the above-mentioned gripping member, when the mutual spacing of the workpieces changes depending on the shape or size of the workpieces, the respective mutual spacings of the workpieces are changed. In order to adjust the mutual spacing of the gripping members, the structure is such that each gripping member is manually moved one by one to change the position, so that the adjustment is troublesome and the workability is extremely poor.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to solve the above-mentioned conventional problems and to provide a handling device in which the mutual spacing between the holding members can be easily changed.

[0005]

In order to achieve the above object, the present invention provides a plurality of movable blocks slidably mounted on a guide bar and a fixed block provided on one end side of the plurality of movable blocks. A block, a gripping member attached to each of the fixed block and the movable block and capable of gripping a work, and the fixed block and the movable block are connected to each other so that the mutual intervals of the movable blocks can be varied at equal pitches. It is provided with a collapsible and expandable equal pitch holding interlocking link, and a screw shaft / nut mechanism for moving one of the movable blocks.

[0006]

[Operation] If one of the movable blocks is moved by the screw shaft / nut mechanism, all the movable blocks move along with the folding / unfolding movement of the equal-pitch holding interlocking link. The mutual spacing (i.e. of each gripping member) can be varied simultaneously with an equal pitch.

[0007]

The present invention will be described in detail below with reference to the drawings showing the embodiments.

FIG. 1 is a front view of a handling apparatus according to the present invention, and FIG. 2 is a side view thereof. This handling apparatus has a pair of handling units 1 and 1 which are symmetrically arranged side by side. ..

Reference numeral 2 is a support arm, and the handling units 1 and 1 are attached to the support arm 2 via a support plate 3 made of an angle material or the like. Also, the support arm 2
Can be horizontally moved, moved up and down, and rotated about the vertical axis by a drive device (not shown).

Therefore, for example, a plurality of columns (three columns in the illustrated example)
After being held by the handling units 1 and 1, a plurality of works W such as a large number of bottles and bottles conveyed by one of the conveyors 4 in a state of being aligned in the handling unit 1 via the support arm 2. , 1 can be moved to the other conveyor 5, and the works W can be stored in an aligned state in a case 6 for packing or the like that is conveyed by the conveyor 5.

The handling unit 1 includes three U-shaped frames 7b, 7a, 7b arranged in parallel in front and rear,
Guide bars 8 horizontally fixed to the left and right lower ends of the frames 7a, 7b, a plurality of movable blocks 9 ... Slidably attached to the guide bars 8, and provided on one end side of the movable blocks 9 ... And a fixed block 10 and a gripping member 11 attached to each of the blocks 9 and 10 and capable of gripping the work W.
And an equal pitch holding interlocking link 12 that connects each of the blocks 9 and 10, and a screw shaft / nut mechanism K that moves one of the movable blocks 9 ...

Reference numerals 13 and 13 denote a pair of left and right frame guide rods, which are supported and fixed to support pieces 15 ... A frame 7a is fixed to the center of each frame guide rod 13, and frames 7b, 7b are slidably attached to both ends of the frame guide rod 13 via ball bushes 16 and the like.

On the upper surface of the mounting plate 14, a slide body 17 ...
Is fixed to the support plate 3, and a holding piece 18 is provided on the lower surface side of the support plate 3.
A pair of front and rear unit guide rods 19, 19 are attached via the ... And become parallel to the guide bar 8. This unit guide rod
Slide bodies 17 ... Are slidably attached to 19, 19.

Reference numeral 20 denotes a space adjusting shaft which is disposed in parallel between the unit guide rods 19 and 19, and is a detailed view with a part of the handling device omitted, as shown in FIG. 3 and FIG. Is rotatably attached to pivot support pieces 39 ...

The space adjusting shaft 20 is formed with male screw portions 20a and 20b having a predetermined length with a portion corresponding to the center of the support plate 3 on the left and right as boundaries, and the male screw 20a and the male screw 20 are formed.
b has mutually opposite screws.

The male screw 20a and the male screw 20b are connected to the upper surface of the mounting plate 14 by connecting pieces 21a and 21b with screw holes.
Are respectively screwed, and by turning the gap adjusting shaft 20,
The connecting pieces 21a and 21b with screw holes are screwed back and forth in opposite directions.

That is, by rotating the gap adjusting shaft 20, the gap A between the handling units 1 and 1 can be adjusted to a desired size.

A pitch adjusting shaft 22 disposed in parallel between the frame guide rods 13 and 13 is pivotally mounted on the frame 7a so as to be rotatable, and both pitch adjusting shaft 22 males (which are screws opposite to each other). Frames 7b and 7b having screw holes are screwed into the screw portions 22a and 22b symmetrically with respect to the frame 7a.

Therefore, when the pitch adjusting shaft 22 is rotated, the frames 7b, 7b are screwed back and forth in opposite directions, so that the mutual intervals B of the frames 7b, 7a, 7b (ie, the gripping members 11 ...) Are equal. Can be adjusted by pitch.

Reference numeral 23 denotes a guide rail provided on the frame 7a in parallel with the guide bar 8, and an attachment piece 25 fixed to the fluid cylinder 24 is slidably attached to the guide rail 23 by means of a dovetail groove or the like.

One end of a screw shaft 27 having a male screw portion 26 is rotatably connected to one end of the mounting piece 25, and the male screw portion 26 of the screw shaft 27 is fixed to the frame 7a by a nut member 28. Screwed on.

The nut member 28 and the screw shaft 27 screwed onto the nut member 28 so as to be able to move forward and backward constitute a screw shaft-nut mechanism K.

A substantially T-shaped block guide rail 29 is fixed to the rod of the fluid cylinder 24 in parallel with the frame guide rod 13, and a slide piece 30 is slidably attached to the block guide rail 29 by means of a dovetail groove or the like.

The lower end of the slide piece 30 is fixed to a link pivot piece 31 attached to the movable block 9 at the end opposite to the fixed block 10. Thus, one end of the screw shaft 27 and the movable block 9 are connected via the fluid cylinder 24 and the like.

The guide bar 8 has a spline shape having three longitudinal ridges, and the cross sections of the through holes 32 formed in the movable block 9 and the fixed block 10 are
It has a shape that is slidably fitted to the spline shape.

Therefore, both blocks 9 and 10 do not rotate,
It is movable along the guide bar 8.

A plurality of ball bearings and the like are provided between the inner surface of the through hole 32 of the movable block 9 and the outer peripheral surface of the guide bar 8 in order to improve sliding. Also, fixed block 10
Is fixed to the frames 7a, 7b or the guide bar 8.

The gripping member 11 is provided with a ring-shaped hollow body 34 made of rubber or the like, which is housed in the ring portion 33, and is expanded by an air source (not shown) or the like so that the hollow body 34, such as a bottle, can be expanded. The outer peripheral surface of the work W can be pressed and gripped.

Although not shown, the gripping member 11 is not limited to the one shown in the drawing, but has a structure in which the inner peripheral surface of a cylindrical work W such as a cup is held by press-contacting by expanding a hollow body. , Various structures such as a vacuum chuck can be freely used.

The equal pitch holding interlocking link 12 is a flat link 35.
The end portions of ..., 36 ... are pivotally linked by a pivot pin 37, etc. so as to be foldable and deployable, and the fixed block 10 and the movable block 9 are connected by this equal pitch holding interlocking link 12. It

That is, the equal pitch holding interlocking links 12 are pivotally attached to the link pivoting pieces 31 attached to the upper surfaces of the blocks 9 and 10 by pivoting pins 38. The pivot pin 38
Are arranged such that the respective gripping members 11 have equal intervals.

As shown in FIG. 5, the pins 37,
The lengths L between 38 are equal, and the line C connecting the pivot pins 38 ... Is set parallel to the axis of the guide bar 8, and the movable blocks 9 ... Interlock.

Therefore, if one end of the movable block 9 is moved by rotating the other end of the screw shaft 27 with a handle or the like, the folding / unfolding movement of the equal-pitch holding interlocking link 12 causes all of the movement. The movable blocks 9 move, and the mutual distance P between the movable blocks 9 and the fixed block 10 (that is, the mutual distance between the gripping members 11 ...) Is simultaneously changed with an equal pitch.

As a result, as shown in the simplified diagram of FIG.
Even if the mutual interval T of the works W corresponding to the left-right direction of the handling unit 1 (longitudinal direction of the guide bar 8) changes depending on the shape and size of the works W, the screw shaft 27 is rotated and the gripping member 11 is rotated. The mutual interval P of ... Can be changed and adjusted at a time to match the mutual interval T of the works W.

Further, as shown in FIGS. 6 and 7, the mutual interval T between the works W carried by one conveyor 4 and the pitch Y of each work storage portion 6a of the case 6 carried by the other conveyor 5 are different. In this case, for example, the following is done.

First, as described above, the screw shaft
After the workpiece W on the conveyor 4 is gripped by the nut mechanism K while the mutual spacing P of the gripping members 11 is changed and adjusted to the mutual spacing T of the work W, before being stored in the case 6, the fluid cylinder 24 is used. The rods can be moved back and forth to readjust the mutual spacing P of the gripping members 11 so as to match the pitch Y of each work accommodating portion 6a.

As shown in FIG. 2, when the mutual spacing S of the works W corresponding to the front-back direction of the handling unit 1 (longitudinal direction of the frame guide rod 13) is changed, as shown in FIG.
Rotate the pitch adjustment shaft 22 as shown in
It is sufficient to adjust the mutual interval B of 11 ...

The present invention is not limited to the above-described embodiment, and the design can be freely changed without departing from the gist of the present invention. For example, the handling units 1 and 1 are a left and right pair, but only one may be used. The work W is not limited to bottles, bottles, and the like, but can be applied to a wide variety of works.

Further, in FIG. 3, a nut member is attached to the frame 7a.
28 is provided, but it is also free to provide a nut member on the mounting piece 25 and pivotally connect the screw shaft 27 to the frame 7a, and the screw shaft / nut mechanism K can be directly moved without using the fluid cylinder 24 or the like. It is also preferable that the block 9 is movably provided.

Further, any movable block 9 may be moved by the screw shaft / nut mechanism K. The blocks 9 and 10 only need to be slidably attached to the guide bar 8 without rotating, and the design can be freely changed to various shapes and structures such as a dovetail groove.

[0041]

Since the present invention is constructed as described above, it has the following great effects.

Depending on the shape and size of the work W, the work W
If the mutual distance between the gripping members 11 changes, the screw shaft / nut mechanism K can easily and quickly change and adjust the mutual distance between the gripping members 11 so as to match the mutual distance between the workpieces W, thereby further improving the work efficiency. ..

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of the present invention.

FIG. 2 is a side view.

FIG. 3 is a front view of a main part.

FIG. 4 is a side view of a main part.

FIG. 5 is a diagram for explaining the operation of the equal pitch holding interlocking link.

FIG. 6 is a simplified explanatory diagram.

FIG. 7 is a simplified explanatory diagram.

[Explanation of symbols]

 8 Guide bar 9 Movable block 10 Fixed block 11 Gripping member 12 Equal pitch holding interlocking link W Work K Screw shaft / nut mechanism

Claims (1)

[Claims] 1. A plurality of movable blocks slidably attached to a guide bar, a fixed block provided on one end side of the plurality of movable blocks, and a fixed block and a movable block attached to each of the movable blocks. A gripping member capable of gripping a work, a foldable / expandable equal pitch holding interlocking link that connects the fixed block and the movable block and variably interlocks the mutual intervals of the movable blocks at equal pitches, A handling device comprising a screw shaft / nut mechanism for moving one of the movable blocks.