JPH07101413A - Holder of bar-like item - Google Patents

Abstract

PURPOSE:To obtain a holder of a bar-like item, which can always be gripped on a specified position on the side of the bar-like item even when the bar-like item slips out of position or leans within a given area. CONSTITUTION:A bar-like item holder 1 grips a bar-like item B with a pair of grip members 8 and 10 that move relatively. At least one of the grip members has a grip side face that is gradually recessed toward almost the middle part and at least one of the grip members is formed into a shape having two or more fingers between which the other grip member is inserted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rod-shaped object holding device, and more particularly to a rod-shaped object holding device capable of holding a rod-shaped object which is inclined irregularly at a specific position of a holding member.

[0002]

2. Description of the Related Art Skewered food such as hot dogs and oden is put into a predetermined storage box, and sticks, that is, skewers are stored almost vertically, and they are individually taken out for cooking such as frying and packaging. To do. A conventional device for gripping such a rod-shaped object is disclosed in Japanese Patent Publication No. 60-6164, and a device for gripping and releasing the rod-shaped object by opening and closing a pair of fingers is known. Has been.

[0003]

In the above-mentioned prior art, unless the bar-shaped object is accurately set in a predetermined position in a predetermined direction and is not erected vertically, for example, when the fingers are brought close to each other to start gripping, the bar-shaped object is There is a risk that the grip side may slip and fail to grip. Even if a stick-shaped object can be gripped, it is gripped in the direction in which it is placed or is not gripped at a predetermined position. It becomes difficult to store it, and in order to solve this problem, a complicated position detection device and position adjustment device had to be provided.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the conventional rod-shaped object gripping device, and always maintains the rod-shaped object even if it is displaced or tilted within a certain area. An object of the present invention is to provide a rod-shaped object gripping device that can be gripped at a predetermined position on the grip side.

[0005]

According to the present invention, in a rod-shaped object holding device for holding a bar-shaped object by a pair of relatively moving holding members, at least one of the holding members has a gripping side portion gradually recessed toward a substantially central portion thereof. In addition, the rod-shaped object gripping device is characterized in that at least one gripping member is formed in a plurality of steps, and the other gripping member is inserted between the plurality of steps.

[0006]

According to the present invention having the above structure, the rod-shaped object can be adjusted to a predetermined position and direction even if the rod-shaped object is displaced or tilted within a certain range, and the rod-shaped object gripped by the gripping member is always gripped. It is moved to a predetermined position such as the center of the side part.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A rod-shaped object gripping device according to an embodiment of the present invention will be described below with reference to the drawings. Rod-shaped object gripping device 1 of the first embodiment
Is attached to the tip of the robot hand 2 as shown in FIG. As shown in FIGS. 1 and 2, the rod-shaped object gripping device 1 includes two linear portions 4 and 6 which intersect at right angles in a dogleg shape.
A pair of gripping members 8 and 10 are attached to the grip drive unit 14 so as to face each other. The gripping side portion of one gripping member 8 has two upper and lower gripping pieces 8a and 8b having the same shape.
The gripping side portion of the other gripping member 10 has a gripping piece 10c having the same shape as the gripping pieces 8a and 8b, and is arranged so that the gripping piece 10c is inserted between the gripping pieces 8a and 8b when gripping. It The grip driving unit 14 operates so as to bring the facing gripping members 8 and 10 closer to or farther from each other. That is, in the open state in which the grip drive unit 14 moves away from the grip members 8 and 10, a rectangular grip region capable of gripping the rod-shaped object B is formed between the grip members 8 and 10. In the open state in which the gripping drive unit 14 brings the gripping members 8 and 10 close to each other, the central portions of the three gripping pieces 8a, 8b, and 10c of the gripping members 8 and 10, that is, the corners 8d, 8e, and 10f contact the rod-shaped object B. As a result, the rod-shaped material B is gripped in the central portion of the gripping members 8 and 10 in a direction orthogonal to the plane formed by the gripping pieces 8a, 8b, and 10c.

In the rod-shaped object gripping device of the first embodiment,
Although both gripping members 8 and 10 are configured to move in opposite directions, it is also possible to configure to move only one of the gripping members 8 and 10. Furthermore, one gripping side portion of the gripping members 8 and 10 is linearly aligned with the other gripping member 8,
Two straight parts 4 that intersect only 10 in a V shape,
It can also be configured to have 6. The rod-shaped object gripping device 100 of the second embodiment is, as shown in FIGS. 3 and 4,
The gripping sides of the gripping members 108, 110 are shaped like the lower half of a heart shape. Also in this configuration, in the open state in which the gripping drive unit 110 brings the gripping members 108, 110 close to each other, the three gripping pieces 108a of the gripping members 108, 110,
108b, 110c central portions 108d, 108e, 1
10f comes into contact with the rod-shaped object B, and as a result, the rod-shaped object B is held by the gripping pieces 108a, 1 at the center of the gripping members 108, 110.
It is held in a direction orthogonal to the plane formed by 08b and 110c. Also in the rod-shaped object gripping device 100 of the second embodiment, it is possible to move only one of the gripping members 108 and 110. Further, it is also possible to configure one gripping side portion of the gripping members 108 and 110 to be a straight line and only the other gripping member 108 and 110 to have a shape like a lower half of a heart shape.

[0009]

According to the present invention, in a rod-shaped object holding device for holding a bar-shaped object by a pair of relatively moving gripping members, at least one of the holding members has a gripping side portion directed substantially toward the center thereof. A rod-shaped object gripping device characterized by being gradually recessed is configured, and therefore, the rod-shaped object is adjusted and gripped at a predetermined position and in a predetermined direction, that is, a bar-shaped object that is displaced or tilted within a certain region. Also has the effect of always being able to grip the bar at a predetermined position on the grip side.

[Brief description of drawings]

FIG. 1 is a perspective view of a rod-shaped object gripping device according to a first embodiment of the present invention.

FIG. 2 is a plan view of the rod-shaped object gripping device according to the first embodiment of the present invention.

FIG. 3 is a plan view of a rod-shaped object gripping device according to a second embodiment of the present invention in an open state.

FIG. 4 is a plan view of a gripping state of a rod-shaped material gripping device according to a second embodiment of the present invention.

[Explanation of symbols]

 B bar-shaped object 1 bar-shaped object gripping device 2 robot hand 4, 6 linear part 8, 10 gripping members 8a, 8b, 10c gripping pieces 8d, 8e, 10f corner part 14 gripping driving part 100 bar-shaped object gripping device 108, 110 gripping member 108a , 108b, 110c gripping pieces 108d, 108e, 110f corner 114 gripping drive section

Claims (5)

[Claims] 1. A stick-shaped object gripping device for gripping a stick-shaped object by a pair of gripping members that move relative to each other, wherein a gripping side portion of at least one gripping member is gradually recessed toward a substantially central portion thereof, and A rod-shaped object gripping device, wherein at least one gripping member is formed in a plurality of stages, and the other gripping member is inserted between the plurality of stages. 2. The rod-shaped object gripping device according to claim 1, wherein the shape of the gripping side portion is a substantially straight line that intersects at a substantially central portion thereof in plan view. 3. The rod-shaped object gripping device according to claim 1, wherein the shape of the gripping side part is a substantially arcuate shape in which the substantially central part is deepest when seen in a plan view. 4. The rod-shaped object gripping device according to claim 1, wherein the gripping members reciprocate in mutually opposite directions. 5. The rod-shaped object gripping device according to claim 1, wherein only one of the gripping members reciprocates.