JPH071373A - Material grasping device - Google Patents

Abstract

PURPOSE:To air at the promotion of simplification and inexpensiveness in eliminating any requirement to install each driving means of a material grasping tool and a material pushing tool separately by linking one driving means up with those of material grasping tool and pushing tool, and paralleling them in a specified state each. CONSTITUTION:A material grasping tool 41 being free of positional changing to a material grasping position (a) and a material separate position (b) in a material grasping equivalent space E, is installed in a frame 36 as a base frame being free in mobile operation. On the other hand, a shaping material pushing tool 42 being free in positional changing to a material pressing position (c) and a nonpressing position (d) in the material grasping equivalent space E is installed there. In this case, one driving means 43 is linked up with the material grasping tool 41 and the material pushing tool 42. In succession, a movement of the material grasping tool 41 to the material grasping position (a) and another movement of the material pushing tool 42 to the nonpressing position (d) both are paralleled together, while both movements of the material grasping tool 41 to the material separate position (b) and of the material pushing tool 42 to the material pressing position (c) are all paralleled.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article whose position is freely changeable between an article gripping position which is moved closer to an article gripping equivalent space and an article separating position which is moved away from the article gripping equivalent space on a movable base frame. A gripping tool and an orthopedic article pressing tool that can be repositioned between an article pushing action position that has moved closer to the upper portion of the article holding equivalent space and a non-pushing action position that has retracted above the article holding equivalent space are provided. And an article gripping device.

[0002]

2. Description of the Related Art Such an article gripping device is used, for example, to transfer an article conveyed on a conveyor to a pallet or to transfer an article on the pallet to a conveyor. Then, such an article gripping device, in a movable movable base frame, an article gripping tool that is positionally changeable between an article gripping position that has moved closer to the article gripping equivalent space and an article separating position that has moved away from the article gripping equivalent space, It is configured to include an orthopedic article pushing tool that can be repositioned between an article pushing action position that has moved closer to the upper portion of the article grasping equivalent space and a non-pushing action position that is retracted above the article grasping equivalent space. Then, drive means for changing the position of the article gripping tool between the article gripping position and the article separating position, and for changing the position of the article pushing tool between the article pushing action position and the non-pushing action position The driving means and the driving means are separately provided and individually controlled.

Incidentally, such an article gripping device is often used for gripping an easily deformable article such as a bag article. For example, when trying to transfer the bag-like articles in a stacked state, the transferred articles are easily deformed, so that the upper articles are stacked in an unstable state. In order to prevent this unstable stacking state, in such an article gripping device, the articles are placed by the article gripping tool and then the articles are shaped by the article pushing tool to perform stacking. . Further, for example, when trying to grip a bag-shaped article that is placed, if the article is deformed, it may not be possible to accurately grasp the article due to the deformation. Then, the article is shaped in advance by the article pushing tool, and the article is gripped by the article gripping tool.

[0004]

Therefore, in the conventional article gripping device, the driving means for changing the position of the article gripping tool and the driving means for changing the position of the article pushing tool are separately provided. Therefore, at least two driving means are required, and therefore, there is a disadvantage that the article gripping device becomes large and the cost becomes high. The present invention has been made in view of the above circumstances, and an object thereof is to achieve simplification and cost reduction of an article holding device.

[0005]

SUMMARY OF THE INVENTION An article gripping device of the present invention comprises an article gripping position that is moved closer to an article gripping equivalent space and an article separating position that is moved away from the article gripping equivalent space on a movable movable base frame. An article gripper whose position can be freely changed to
An article pressing tool for shaping, which can be repositioned, is provided between an article pushing action position that has moved closer to the upper portion of the article holding equivalent space and a non-pressing action position that has retracted above the article holding equivalent space. The characteristic configuration is such that the movement of the article gripper to the article gripping position and the movement of the article pusher to the non-pushing action position are performed in parallel, and the movement of the article gripper to the article separation position is performed. One driving means is linked to the article gripping tool and the article pushing tool so that the movement and the movement of the article pushing tool to the article working position are performed in parallel.

[0006]

According to the characterizing feature of the present invention, by activating one driving means, the article pushing tool moves to the non-pushing action position as the article holding tool moves to the article holding position,
Moreover, as the article gripping tool moves to the article separation position, the article pushing tool moves to the article working position. That is, it is possible to drive the article gripping tool and the article pushing tool with one driving means.

[0007]

As described above, according to the characterizing feature of the present invention, since the article gripping tool and the article pushing tool can be driven by one driving means, the driving means for moving the article gripping tool. Since it is not necessary to separately provide the driving means for moving the article pushing tool and the driving means for moving the article pushing tool, the article gripping device can be simplified and the cost can be reduced.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the bag-shaped article supplied from the supply conveyor 1 is transferred onto the pallet 2 at a predetermined position by the article transfer device C. The article carrier C is shown in FIG.
As shown in FIG. 2, a swivel frame 4 pivotally supported about a vertical axis θ with respect to the base frame 3, and a swivel frame 4 at the upper part of the swivel frame 4 around a horizontal axis φ _1. A pivotally supported first arm 5 and a second arm 6 pivotally supported at the tip of the first arm 5 so as to be swingable around a horizontal axis φ _2.
And an article gripping device H that is rotatably suspended around the longitudinal axis β of the tip of the second arm 6.
The turning frame 4 is driven to turn by a turning motor M ₁ .

The structure for swinging the first arm 5 will be described. The first driving arm 10 extends laterally from the lateral side portion of the first arm 5. A first top member 11 which will be described later is connected to an intermediate portion of the arm 10, and a first balance weight 12 is attached to a tip end portion thereof. In addition, a first support bracket 13 is provided, the lower end portion of which is pivotally supported about an axis φ ₃ parallel to the axis φ ₁ of swing of the first arm 5 so as to be swingable.
A first screw shaft 14 is pivotally supported on the support bracket 13 so as to be rotatable around the screw shaft core. The first top member 11 is screwed onto the first screw shaft 14, and the first swing motor M ₂ is interlockingly connected. That is, as the motor M ₂ is rotated, the first top member 11 moves up and down, so that the first arm 5 can be swung.

The structure for swinging the second arm 6 will be described. One end of the second driving arm 20 is pivoted on the swivel frame 4 so as to swing about the swing axis φ ₁ of the first arm 5. The second balance weight 22 is attached to the other end of the second top member 2, and an intermediate portion of the second balance weight 22 is described later.
Will be linked to 1. The lower end portion of the second screw shaft 2 is attached to a second support bracket 23 pivotally supported around an axis φ ₃ parallel to the axis φ ₂ of the second arm 6.
4 is rotatably supported around the screw shaft center.

A second top member 21 is screwed onto the second screw shaft 24, and a second swinging motor M ₃ is interlockingly connected. The second driving member 20 is attached to the second top member 21.
The intermediate portion and the lower end of the elevating rod 25 are rotatably attached to each other. The upper end of the lifting rod 25 is the second
It is pin-connected to the rear end of the arm 6. That is, as the motor M ₃ is rotated, the second top member 21 moves up and down, and the lifting rod 25 moves up and down to swing the second arm 6. The swing motions of the first arm 5 and the second arm 6 are smoothly performed by the dampers 26 and 27.

The article gripping device H will be described below.
As shown in FIGS. 1 and 2, a support shaft 30 is pivotally supported at the tip of the second arm 6 so as to be swingable around a horizontal axis φ ₄ , and the support shaft 30 supports the support frame 31 of the article gripping device H. Is stuck. The support shaft 30 includes a swing link 32, a first rod 33, a relay link 34, and a second link.
It is connected to the revolving frame 4 via a rod 35.
That is, the article gripping device H can be maintained horizontally regardless of the swing of the first arm 5 and the second arm 6. Therefore, by swinging the first arm 5 and the second arm 6, the article gripping device H can be moved up and down and moved freely in the horizontal direction.

Further, the structure of the article gripping device H will be described. As shown in FIGS. 1 and 2, a frame 36 as a base frame that can be moved and operated is pivotally attached to the support frame 31 so as to be rotatable around the vertical axis β. Then, it is interlocked with the motor M ₄ for rotating the supporting portion, and thus the article gripping device H can be swung around the vertical axis β. As shown in FIG. 3, the frame 36 includes an article gripper 41 that is positionally changeable between an article gripping position a that has moved closer to the article gripping equivalent space E and an article separating position b that has moved away from the article gripping equivalent space E. An article pushing tool 42 for shaping that is positionally changeable between an article pushing action position c that has moved closer to the upper portion of the article holding equivalent space E and a non-pressing action position d that has retracted above the article holding equivalent space E is provided. ing. still,
As the article gripping tool 41, a rake shape is used as shown in the figure, but a plate shape may be used.

[0014] proximal end portion of the article gripper 41 is pivotally supported on the horizontal axis phi ₆ around the rotatably frame 36, the base end portion of the article gripper 41, the horizontal axis phi ₆ around Article gripping tool 4
A gear 44 that rotates with 1 is fixed. And
At the tip of the piston rod of the hydraulic cylinder 43, a rod body 45 having teeth on both sides so as to mesh with the pair of gears 44 is fixed, and at the tip of the rod body 45, an article pushing tool 42. Is stuck. Therefore, by operating the hydraulic cylinder 43 to move the piston rod up and down, the article pusher 42 is moved to the non-pressing action position d and the article pushing action position c, and the hydraulic cylinder 43 is activated to move the piston rod. By moving up and down, the article gripping tool 41 is rotated about the horizontal axis φ ₆ to change the position between the article gripping position a and the article separating position b.

That is, the article gripping position a of the article gripping tool 41
To the non-pushing action position d of the article pushing tool 42 and the article separating position b of the article gripping tool 41.
A hydraulic cylinder 43 as one driving means is linked to the article gripper 41 and the article pusher 42 so that the movement to the position and the movement of the article pusher 42 to the article action position c are performed in parallel.

Next, the operation of each part when the bag-shaped article is transferred from the conveyor 1 to the pallet 2 by the article gripping device H having the above-mentioned configuration will be described. First, the operation of the revolving frame 4, the first arm 5 and the second arm 6 causes the article gripper 41 to open outward (the hydraulic cylinder 43 moves the article gripper 41 to the article separation position b). After moving the article holding device H of the above-mentioned article holding apparatus H directly above the article to be transferred, the hydraulic cylinder 43 is operated to move the article pushing device 4
2 is moved to the article pushing action position c, and the upper surface of the article is pushed and shaped. After that, the piston rod of the hydraulic cylinder 43 is retracted to move the article pushing tool 42 to the non-pushing action position d and the article gripping tool 41 to the article gripping position a to grip the article. Then, after moving the article to a position just above a predetermined position on the pallet, the hydraulic cylinder 43
Is operated to move the article gripper 41 to the article separation position b to place the article at a predetermined position, and to move the article pusher 42 to the article pushing position c to press and shape the upper surface of the article. .

[Other Embodiment] In the article gripping device H of the above embodiment, the hydraulic cylinder 4 is used.
Although the positions of the article pushing tool 42 and the article gripping tool 41 are changed by operating 3 to move the rod 45 up and down, the position changing method can be variously changed. For example, instead of moving the rod 45 up and down with the hydraulic cylinder 43, an electric motor is provided in one gear 44, and the gear 44 is rotated by the electric motor to move the rod 45 up and down. Therefore, the other gear 44 may be rotated.

Further, for example, as shown in FIG.
The rack 46 that meshes with the article gripper 41 ′ that rotates about the horizontal axis φ ₇ is connected, and the rod body 45 is connected by the hydraulic cylinder 43.
The rack 4 by rotating the gear 44 up and down.
6 may be moved in the lateral direction so that the article gripping tool 41 ′ is moved to the article gripping position a and the article separating position b. Incidentally, reference numeral 47 in the figure denotes a support portion for supporting the rack 46 in mesh with the gear 44.

Further, for example, as shown in FIG. 5, a long hole 48 provided at one end of an article gripping tool 41 ″ that rotates about a horizontal axis φ ₈ is connected to the tip of the piston rod of the hydraulic cylinder 43. , The piston rod is moved up and down by the hydraulic cylinder 43 so that one end (the long hole 48 side) of the article gripper 41 ″ is a horizontal axis φ.
_The article gripping tool 41 ″ may be repositioned between the article gripping position a and the article separating position b by rotating around _{8. The} article gripping tool 41 ″ is provided on the base frame 36. Movable frame 50 that can move along the guardrail 49
In addition, since it is pivotally supported around a horizontal axis φ ₈ ,
By moving the movable frame 50 along the guard rail 49, the distance between the pair of article grippers 41 ″ can be changed and adjusted.

The guard rail 49 and the movable frame 50 shown in FIG. 5 may be provided in the article holding device H of FIG. 4 to change and adjust the distance between the pair of article holding tools 41 '. That is, when changing and adjusting the distance between the article grippers 41 ′,
The support portion 47 is once removed to separate the rack 46 from the gear 44, and then the movable frame is moved to move the pair of article grippers 4
The interval 1 ′ may be changed and adjusted, and the rack 46 may be engaged with the gear 44 again. The article gripping device H of the above embodiment is configured to shape a bag-shaped article, but the article is not limited to a bag-shaped article. For example, in the case of a box-shaped article, if the box lid is open, the article pusher 42 may shape the article to close the box lid.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a side view of an article conveying device according to an embodiment of the present invention.

FIG. 2 is a front view of the article transport device according to the embodiment of the present invention.

FIG. 3 is a side sectional view of an article gripping device according to an embodiment of the present invention.

FIG. 4 is a side sectional view of an article gripping device according to another embodiment.

FIG. 5 is a side sectional view of an article gripping device according to another embodiment.

[Explanation of symbols]

 36 base frame 41 article gripping tool 42 article pushing tool 43 drive means E article gripping equivalent space

Claims (1)

[Claims] 1. A position change is performed on a movable movable base frame (36) between an article gripping position that has moved closer to the article gripping equivalent space (E) and an article separating position that has moved away from the article gripping equivalent space (E). Flexible article gripping tool (41), position change to an article pushing action position that has moved closer to the upper part of the article grasping equivalent space (E), and a non-pushing action position retracted above the article grasping equivalent space (E) Flexible orthotic article pusher (4
2) is provided with the article gripping device, wherein movement of the article gripping tool (41) to the article gripping position and movement of the article pressing tool (42) to the non-pushing action position are performed in parallel. Further, one driving means (43) is provided so that the movement of the article gripper (41) to the article separation position and the movement of the article pusher (42) to the article working position are performed in parallel. An article gripping device linked to the gripping tool (41) and the article pressing tool (42).