JPH07229012A - Device for grasping lightweight article - Google Patents

Abstract

PURPOSE:To provide a lightweight article-grasping device capable of automatically and surely grasping a lightweight article and further capable of surely grasping each lightweight article, even when the desired number of the lightweight articles are superposed on each other. CONSTITUTION:A lightweight article-grasping device comprises a pair of side walls, a pair of arms 4a, 4b formed in approximately dog-legged shapes, respectively, a pair of sliding members 5a, 5b, and a cylinder 6 for pressing the arms. The arms are rotatably disposed in a mutually faced state, and a pair of the sliding members are movably disposed in a state superposed on each other between the side walls. An engaging projection 12b is vertically disposed at the end of the sliding member 5a, and a grasping part 13a is vertically disposed at the other end of the sliding member 5a. Another engaging projection 12a is vertically disposed at the end of the other sliding member 5b, the end being faced to the engaging projection 12b, and another grasping part 13b is vertically disposed at the other end of the sliding member 5b. An elastic member 14 is tensively disposed between the grasping parts, and work members 15 are disposed at the lower parts of the grasping parts, respectively, and covered with an elastic substance gel having physical properties comprising an elongation of >=1300%, a compression permanent set of <=12% and a hardness of >=4 degree.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for gripping a lightweight object, and its object is to be able to automatically and securely grip a lightweight object, and when the required number of the lightweight objects are superposed. (EN) Provided is a lightweight object gripping device capable of reliably gripping each lightweight object one by one.

[0002]

2. Description of the Related Art Conventionally, as a device capable of automatically gripping a cloth which is generally difficult to grip, for example, Japanese Utility Model 5-12.
There is a technique disclosed in Japanese Patent No. 258. This disclosed technology is shown in FIG.
And, as shown in FIG. 7, has a pair of left and right side walls (B),
Pivot part (C ₁ ) provided on one side wall of one side wall (B)
One song ends of the curved Naruzai (D ₁₎ and pivotally supported, the other side wall the one curved pivot portion provided in the other side wall (not shown) (C ₂₎ Naruzai to (D ₁₎ The curved end portion of the other curved member (D ₂ ) bent oppositely to the curved member (D ₂ ) is pivoted to
₁ ) The cloth gripping members (E) and (E) are attached to the lower ends of (D ₂ ) with the elastic body (F) interposed therebetween, while each curved component (D ₁ )
Each curved Naruzai upwardly of these _{(D 2) (D 1)} (D 2) is constructed from a cylinder (G) for pressing to close the cloth gripping member (E) (E) each other. Needle members (H) and (H) for biting into the cloth slightly protruding to the lower surface are detachably attached to predetermined positions of the cloth gripping members (E) and (E).

The operating state of the gripping device (A) thus constructed will be described. First, when the gripping device (A) is arranged on the upper side of the cloth (I) and the cylinder (G) is operated, The cloth gripping members (E) and (E) move in the proximity direction by the action of the curved components (D ₁ ) and (D ₂ ) to grip a predetermined portion of the cloth (I). At this time, since the needle members (H) and (H) are protruding from the cloth gripping members (E) and (E), the needle members (H) and (H) are inserted into the cloth (I) and the cloth (I) is inserted. It is grasped in a state where it is sandwiched (see FIG. 7).

[0004]

The above-mentioned gripping device is an excellent idea that the cloth can be securely gripped without being detached when the cloth is gripped or when the cloth is moved in the gripped state. However, there are the following problems. A needle member is provided on the lower surface of the cloth gripping member, and the needle member is inserted into the cloth and the cloth is gripped by the cloth gripping member. There was a possibility of grasping the fabrics at the same time, and it was not possible to reliably grasp the fabrics one by one. Further, when the cloth is gripped, as shown in FIG. 7, the two cloth gripping members form a substantially inverted C-shape, that is, each cloth gripping member is inclined and the cloth is gripped at the tip of the cloth gripping member. It has a structure to hold. Therefore, since the locus of the tip of each cloth gripping member draws an arc, the height position of the tip of each cloth gripping member differs between when the cloth is not gripped and when the cloth is gripped. .
In other words, when the fabric is grasped, the position is lower than the height position when the fabric is not grasped, which may require pressing the fabric more than necessary, and when grasping the required number of overlapping fabrics. Further, there is a possibility that a plurality of cloths may be grasped at the same time, so that it is impossible to surely grasp each cloth one by one.

In view of the above-mentioned circumstances, the inventor of the present invention is capable of automatically and surely gripping a lightweight object, and even if the required number of the lightweight objects are overlapped with each other, the lightweight object can be reliably removed. I continued my earnest research on a gripping device for lightweight objects that can be gripped one by one.

[0006]

That is, the present invention is directed to a pair of side walls, a pair of substantially V-shaped arm portions provided between the side walls, and a pair of slide members engaging with the arm portions. And a cylinder that is provided above the arm portions and presses the arm portions. The arm portions are oppositely opposed to each other and are rotatably provided via pivots provided at bent portions of the arm portions, and Rotatable rollers are provided at both ends of these arms, respectively, and a pair of slide members are provided so as to overlap each other between the side walls, and one end of one of the slide members is provided. One engaging protrusion that engages with the roller provided at the lower end of the one arm is erected on the above-mentioned part, and one gripping part is erected on the other end, and the other slide is provided. The lower end of the other arm is provided at one end facing the one engagement protrusion of the member. Another engaging protrusion that engages with the provided roller is erected and another gripping portion is vertically provided at the other end, and an elastic body is stretched between these gripping portions. Work pieces are provided below the gripping portions, and the work pieces have an elongation of 1300% or more and a compression set of 12 or more.
% Of the elastic substance gel having a physical property of 4% or more and a hardness of 4 ° or more.

It is preferable that a work portion is provided below the gripping portion via a slide rod and an elastic member.

[0008]

Function: The work part which moves close by the action of the cylinder is coated with an elastic substance gel having physical properties such as an elongation rate of 1300% or more, a compression set rate of 12% or less, and a hardness of 4 ° or more.
Therefore, even when a required number of lightweight objects are held, a plurality of lightweight objects are not held at the same time. By the action of the cylinder, the arms rotate via the pivots, respectively, and the distance between the arms widens, and the two engaging projections that engage with the rollers provided on the lower portion of the arms move in opposite directions. Along with this movement, the two slide members also move in opposite directions, and the gripping portion provided at the lower portion of the slide members moves in the proximity direction. Therefore, the loci of the work parts when these gripping parts move are in a straight line, that is, the height position of each work part does not change when gripping the lightweight object and when not gripping the lightweight object.

Further, if the grip portion and the work portion are connected via the slide rod and the elastic member, the pressing force at the time of gripping the lightweight object can be buffered.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a lightweight object gripping device according to the present invention will be described below with reference to the drawings. 1 is a schematic configuration diagram showing a gripping device for a lightweight object according to an embodiment of the present invention, FIG. 2 is a schematic side view of the gripping device shown in FIG. 1, and FIG. 3 is a schematic view showing a state in which a cloth is gripped. Explanatory drawing, FIG. 4 is a schematic configuration diagram showing a state in which a long work portion is provided in the grip portion, and FIG. It is a schematic explanatory drawing which shows the state used.

(1) is a lightweight material such as paper, cloth, rubber film, synthetic resin film, leather, etc., which is generally difficult to grasp.
(2) is a gripping device for automatically gripping, and as shown in FIGS. 1 to 3, the gripping device (1) includes a pair of side walls (3) (3) and a pair of side walls (3) (3). Arm parts (4a) (4b) of
It is composed of a pair of slide members (5a) (5b) and a cylinder (6). The arm portions (4a) (4b) are formed in a substantially V shape, and the arm portions (4a) (4
A rotatable pivot (8) is provided on the bent portion (7) (7) of b).
(8) is provided. The arms (4a) (4b) are provided opposite to each other between the side walls (3) (3) via the pivots (8) (8). In addition, these arm portions (4a) (4
Rotatable rollers (9a) (9b) are provided at the upper end of b), and rotatable rollers (9b) (9b) are also provided at the lower end.

The pair of slide members (5a) and (5b) are provided so as to overlap each other between the side walls (3) and (3), and are movably provided between the side walls (3) and (3). . In order to support the slide members (5a) and (5b) so that the slide members (5a) and (5b) are movably provided, for example, as shown in FIGS. 1 and 3, a side wall (3) is provided.
Bars (10) and (10) are provided between (3), and long holes (11) and (11) are provided in the slide members (5a) and (5b), respectively. By slidingly fitting the elongated holes (11) and (11) into the rods (10) and (10), the slide members (5a) and (5b) can be movably supported. It should be noted that it is preferable that two long holes (11) (11) are formed in order to maintain the balance of the slide members (5a) (5b) as shown in FIGS. 1 and 3, respectively. (5a) and (5b) have long holes (1
1) may be provided one by one. In this case, of course, one bar (10) is provided between the side walls (3) (3).

Of the slide members (5a) (5b), one end of one slide member (5a) is engaged with a roller (9b) provided at the lower end of the one arm (4a). An engaging protrusion (12a) is provided, and a gripping portion (13a) is provided at the other end of the engaging protrusion (12a). An engaging protrusion (1) that engages with a roller (9b) provided at the lower end of the other arm (4b) is provided at one end of the other slide member (5b).
2b) is provided, and the gripping part (13
b) is installed vertically.

An elastic body (14) is stretched between the grip portions (13a) and (13b). Examples of the elastic body (14) include a coil spring, a leaf spring, a bamboo shoot spring, an air cylinder, a hydraulic cylinder, a liquid pressure cylinder, and a fluid pressure cylinder. Work parts (15) and (15) are provided below the grip parts (13a) and (13b), and the work parts (15) and (15) are covered with an elastic substance gel. This elastic substance gel is a synthetic resin such as polyethylene, polystyrene, silicone resin, epoxy resin, phenol resin, polyurethane resin or polyester, or natural rubber or synthetic rubber having an unsaturated double bond in the molecule, for example, isoprene rubber, Butadiene rubber, SBR
Etc. The elastic substance gel formed from the above-mentioned material has an elongation rate of 1300% or more (however, JIS K 6
301), compression set of 12% or less (however, J
IS K6301), hardness 4 ° or more (SRIS
0101 (according to Japan Rubber Association)).

Further, as shown in FIG. 2, the gripping parts (13a) (13b) and the work parts (15) (15) are connected via slide rods (16) (16) and elastic members (17). Good to connect. This elastic member (17) also has a coil spring, a leaf spring, a bamboo shoot spring, like the elastic body (14).
Examples include air cylinders, hydraulic cylinders, liquid pressure cylinders, fluid pressure cylinders, and the like. In this way, the holding part (13a)
By connecting (13b) and the work parts (15) and (15) via the slide rods (16) and (16) and the elastic member (17), the pressing force at the time of gripping the lightweight object (2) is buffered. can do.

The cylinder (6) has the arms (4a) (4).
It is provided above b) and presses the arms (4a) and (4b). For this cylinder (6),
A hydraulic cylinder, a liquid pressure cylinder, a fluid pressure cylinder, etc. are mentioned. A pressing plate (18) for simultaneously pressing the arms (4a) (4b) is provided at the tip of the cylinder (6).

The operating state of the gripping device (1) thus constructed will be described. First, when the cylinder (6) is operated, the pressing plate (18) descends. Then, this pressing plate (1
8) Rollers (9a) (9a) roll on the lower surface,
The arms (4a) and (4b) rotate via the pivots (8) and (8), respectively, and the rotation of the arms (4a) and (4b) increases the distance between the arms (4a) and (4b) ( (See FIG. 3). When the distance between the arms (4a) (4b) is increased, the slide members (5a) (5) are moved by the rollers (9b) (9b) provided at the lower ends of the arms (4a) (4b).
The engaging projections (12a) (12b) provided on the slide member (b) move in opposite directions, and the slide member (5)
a) and (5b) also move in opposite directions. By moving the slide members (5a) (5b) in mutually opposite directions, the gripping parts (13a) (13b) provided on the slide members (5a) (5b) move in the proximity direction, and a lightweight object ( 2) (2) ... Is gripped by the work parts (15) and (15).

In the present embodiment, lightweight materials such as paper, cloth, synthetic resin sheet, synthetic resin film, etc. (2)
(2) Holds a tube, but is a tubular object such as a test tube (1
You can also grab 9). At this time, the work parts (15) and (15) are formed in a long shape as shown in FIG.
It is advisable to coat the work parts (15) and (15) with an elastic substance gel having physical properties such as an elongation of 1300% or more, a compression set of 12% or less, and a hardness of 4 ° or more.

Next, a method of using the gripping device (1) will be described with reference to FIG. First, the lightweight object transfer device (3
A pair of gripping devices (1) and (1) having the above-described configuration are provided on the left and right sides of the rod member (20) of (0). A grip attachment part (25) is attached to the bar member (20) at a substantially central portion thereof, and a support rod (24) is hung from the tip of the support arm part (23) on the grip attachment part (25). The lower end of is attached. The support arm portion (23) is rotatably attached to the base (21) via a pivot shaft (22).

Further, the pipes (26) and (26) are provided on one side surface of the gripping device (1) (1) in a state of protruding upward, and are guided via impact springs (27) and (27). Install the plates (28) (28) and attach the guide plate (2
8) The rod members (20) are attached to (28) so as to be freely adjustable. Examples of the impact springs (27) and (27) include a coil spring and a bamboo shoot spring. Further, an air cylinder, a hydraulic cylinder, a liquid pressure cylinder, a fluid pressure cylinder or the like may be adopted. (29) is a bar member (20)
A cylinder for moving the cylinder back and forth,
The rod member (20) is moved back and forth by 9). The cylinder (29) is composed of an air cylinder, a hydraulic cylinder, a liquid pressure cylinder, a fluid pressure cylinder and the like.

After attaching the pair of gripping devices (1) and (1) to the lightweight object moving device (30) as described above, the pair of gripping devices (1) and (1) are attached to the upper side of the lightweight object (2). Cylinders (6) arranged on the gripping devices (1) (1)
When (6) is operated, as described above, the gripping part (13
a) (13b) moves in the approaching direction and holds the lightweight object (2) by the work parts (15) and (15). In this state, the support arm portion (23) is rotated by the rotation of the pivot shaft (22), and the rod member (20) and each gripping device (1) (1) are separated from each other by the gripping device (1) (1). In the state of gripping the lightweight object (2), it is rotated in a predetermined direction. After the lightweight object (2) is moved to a predetermined position, the lightweight object (2) is placed at the predetermined position by releasing the cylinders (6) and (6).

In this way, the work part (15) (15) that moves closer by the action of the cylinder (6) has an elongation of 13%.
Since the elastic substance gel having the physical properties of 00% or more, compression set 12% or less, and hardness of 4 ° or more is coated, a required number of superposed lightweight objects (2) (2) ... Even if you hold it, multiple lightweight objects (2) (2)
..It is surely lightweight without grasping both at the same time (2)
(2) ... can be grasped one by one.

By the action of the cylinder (6), the arm (4
a) and (4b) rotate via the pivots (8) and (8), respectively, and the distance between the arm portions (4a) and (4b) increases, and the arm portions (4)
a) Rollers (9b) (9) provided at the bottom of (4b)
The two engaging projections (12a) (12b) engaging with (b) move in mutually opposite directions, and with this movement, the two slide members (5a) (5b) also move in mutually opposite directions. Since the gripping portions (13a) (13b) provided on the lower portions of the slide members (5a) (5b) move in the proximity direction,
The loci of the work parts (15) and (15) when these gripping parts (13a) and (13b) move are straight. Therefore, the work parts (1) when gripping the lightweight objects (2) (2) ... and when not gripping the lightweight objects (2) (2).
5) Since the height position of (15) does not change, the light weight objects (2) (2) ... are not pressed more than necessary, and the light weight objects (2) (2). You can grab each one.

[0024]

As described above, according to the present invention, a pair of side walls, a pair of substantially V-shaped arm portions provided between the side walls, and a pair of slide members engaging with the arm portions are provided. And a cylinder that is provided above the arm portions and presses the arm portions, and the arm portions are oppositely opposed to each other and are rotatably provided via pivots provided at bent portions of the arm portions. Moreover, rotatable rollers are respectively provided at both ends of these arm portions, the pair of slide members are provided so as to overlap between the side walls, and one slide member of the slide members is provided. One engaging protrusion that engages with the roller provided at the lower end of the one arm is erected at one end, and one grip is vertically provided at the other end. One end of the slide member facing the one engaging projection is attached to the lower end of the other arm. Another engaging projection that engages the scraped roller is erected, and another gripping portion is vertically provided at the other end, and an elastic body is stretched between these gripping portions. Work pieces are provided below the gripping portions, and the work pieces have an elongation of 1300% or more and a compression set of 12%.
Hereinafter, the gripping device for a lightweight object is characterized in that it is coated with an elastic substance gel having physical properties with a hardness of 4 ° or more, so that the following effects are obtained.

That is, the work part that moves closer by the action of the cylinder has an elongation of 1300% or more and a compression set of 12
%, The elastic substance gel having a physical property of hardness of 4 ° or more is coated, so that even if a required number of stacked lightweight objects are gripped, a plurality of lightweight objects are not gripped at the same time. , It is possible to securely hold each lightweight object one by one. By the action of the cylinder, the arms rotate via the pivots, respectively, and the distance between the arms widens, and the two engaging projections that engage with the rollers provided on the lower portion of the arms move in opposite directions. As a result of this movement, the two slide members also move in opposite directions, and the gripping portion provided at the lower part of the slide member moves in the approaching direction. The locus becomes a straight line. Therefore, since the height position of each work part does not change when the lightweight object is grasped and when the lightweight object is not grasped, the lightweight object is not pressed more than necessary and the You can grab one by one.

Further, when the gripping part and the work part are connected to each other via the slide rod and the elastic member, the pressing force at the time of gripping the lightweight object can be buffered, and the above effect can be further enhanced. it can.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a lightweight object gripping device according to an embodiment of the present invention.

2 is a schematic side view of the gripping device shown in FIG. 1. FIG.

FIG. 3 is a schematic explanatory view showing a state in which a cloth is gripped.

FIG. 4 is a schematic configuration diagram showing a state in which a long work portion is provided on the grip portion.

FIG. 5 is a schematic explanatory view showing a state in which the lightweight object gripping device according to the embodiment of the present invention is attached to a lightweight object moving device and used.

FIG. 6 is a schematic configuration diagram showing a conventional gripping device.

FIG. 7 is a schematic explanatory view showing a state in which the cloth is gripped by the gripping device shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Gripping device 2 Light weight 3 Side wall 4a Arm part 4b Arm part 5a Sliding member 5b Sliding member 6 Cylinder 7 Bending part 8 Axis 9a Roller 9b Roller 12a Engaging protrusion 12b Engaging protrusion 13a Gripping part 13b Gripping Part 14 Elastic body 15 Work part 16 Slide rod 17 Elastic member

Claims (2)

[Claims] 1. A pair of side walls, a pair of substantially V-shaped arm portions provided between the side walls, a pair of slide members engaging with the arm portions, and a pair of slide members provided above the arm portions. A cylinder for pressing the arm portions, the arm portions being rotatably provided opposite to each other via a pivot provided at a bent portion of the arm portions, and the arm portions are rotatable at both ends thereof. Movable rollers are provided respectively, a pair of slide members are provided so as to overlap each other between the side walls, and one slide member of the slide members has one end portion of the one arm portion. One engaging protrusion that engages with the roller provided at the lower end is erected, and one gripping portion is vertically provided at the other end, and the one engaging protrusion of the other slide member. The other end that engages with the roller provided on the lower end of the other arm The protrusion is erected and another gripping part is vertically provided at the other end, and an elastic body is stretched between these gripping parts, and a work part is provided below the gripping part. And the work part has an elongation of 1300% or more,
A gripping device for a lightweight object, characterized in that it is coated with an elastic substance gel having a physical property of a compression set of 12% or less and a hardness of 4 ° or more. 2. The light weight gripping device according to claim 1, wherein a work part is provided below the gripping part via a slide rod and an elastic member.