JPH11193544A - Gripping machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To disenable the occurrence of unnecessary rebound when a target is gripped and facilitate grip ping of the target. SOLUTION: A gripping machine includes a frame F for connecting an upper claw 1 to a lower claw 2 with pivot pins 61 and 62 and an interlock section for interlocking and rotating both upper and lower claws 1 and 2. The frame F is mounted to an arm 7 of a construction machinery, and the front end of a hydraulic cylinder 8 of the construction machinery is connected to the upper claw 1 and frame F through links 3 and 30 respectively. The front end of a pivoting link 9 provided to the arm 7 used for a joiner between the front end of the hydraulic cylinder 8 of the construction machinery and arm 7 is connected to the frame F instead of the hydraulic cylinder 8. Originally, the pivoting link 9 provided to the arm 7 and used for a joiner to the front end of the hydraulic cylinder frame F is used to fix a postre of the frame F, and positions of the pivot pins 61 and 62 remain unchanged irrespective of an openable state in the upper claw 1 and lower claw 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripper mounted on an arm of a construction machine such as a hydraulic shovel in place of a digging bucket.

[0002]

2. Description of the Related Art As equipment for work such as dismantling of houses and accumulation of waste materials, there is a gripper which has an upper claw and a lower claw and which is driven to open and close to hold an object to be worked with these two claws. The gripper is generally formed to be mounted on an arm of a construction machine such as a hydraulic shovel instead of a bucket for excavation.

FIG. 7 shows an example. This means that the base of the upper claw 1 of the pair of upper and lower claws 1 and 2 is connected to the arm 7 of the construction machine.
Attach it to the tip of the
Is mounted with a pivot pin 6, the hydraulic cylinder 8 on the construction machine side and the upper pawl 1 are connected by a link 3, and the link 3 and the lower pawl 2 are linked by an interlocking link 4.
Are linked by In the figure, reference numeral 9 denotes a link connecting the connection point between the hydraulic cylinder 8 and the link 3 and the arm 7.

[0004] From the state where the upper nail 1 and the lower nail 2 are open,
If the hydraulic cylinder 8 on the construction machine side is extended,
Rotates around the pin 5 and the lower claw 2 also rotates in the opposite direction in conjunction with the rotation of the lower claw 2 to close the upper claw 1 and the lower claw 2. When the hydraulic cylinder 8 is contracted, the upper claw 1 and the lower claw 2 are opened. Meanwhile, in a construction machine to which such a gripper is attached, an excavating bucket 70 is originally attached to the tip of the arm 7 by a pin 72 as shown in FIG.
The rod 71 attached to the bucket 70 is connected to the hydraulic cylinder 8 and the rotating link 9 by the pin 73. When the gripper is mounted instead of the bucket 70, the pin 73 and the pin 72 are removed and the bucket 70 is removed. And remove
Thereafter, a gripper is attached to the tip of the arm 7 using the pin 5 instead of the pin 72, and the gripper is connected to the hydraulic cylinder 8 and the rotating link 9 using the pin 73.

[0005]

In this case, since there are only two places for attaching and detaching the pins, the exchange between the bucket and the gripper is easy. However, the lower claws are attached to the upper claws 1 which rotate about the pins 5. Because there is a pivot pin 6 which is the center of rotation of 2,
When opening and closing by operating the hydraulic cylinder 8, the position of the pivot pin 6 changes due to rotation about the pin 5. In other words, the center of rotation of the lower claw 2 moves with the opening and closing of the claws 1 and 2, which causes a problem that it is difficult to grasp a target, and the upper claw 1 and the lower claw 2
When the pivot pin 6 is closed, the pivot pin 6 moves in the front-rear direction with respect to the tip of the arm 7 (L0, L1, L2 shown in FIG. 7).
Therefore, there is also a problem that rebound is large because the gripper pushes the target when gripping the target. This problem also exists in a type in which the lower claw 2 is attached to the tip of the arm 7 and the upper claw 1 is attached to the lower claw 2 with the pivot pin 6.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a grasping machine which can easily grasp a target and does not cause unnecessary rebound when grasping the target. It is in.

[0007]

According to the present invention, there is provided a frame in which an upper pawl and a lower pawl are connected by a pivot pin and an interlocking portion for interlockingly rotating the upper pawl and the lower pawl, and the frame is a construction machine. The tip of the hydraulic cylinder of the construction machine is connected to the upper pawl and the frame via a link, respectively, and is provided on the arm for connecting the tip of the hydraulic cylinder of the construction machine to the arm. It is characterized in that the tip of the rotating link is connected to the frame instead of the hydraulic cylinder.
The upper and lower claws are attached to the frame by fixing the attitude of the frame attached to the tip of the arm by using the rotating link provided on the arm as it is originally connected to the tip of the hydraulic cylinder The position of the pivot pin is constant regardless of the open / closed state of the upper and lower claws.

At this time, the connection of the rotating link and the frame via an adapter for adjusting the connecting position of the rotating link and the frame corresponds to the case where the length of the rotating link is different, This is preferable in that the posture of the frame can be adjusted.

[0009]

FIG. 1 shows an example of an embodiment of the present invention.
2, the gripper shown here does not directly attach the upper claw 1 or the lower claw 2 to the tip of the arm 7, but attaches the frame F to the tip of the arm 7 with the pin 5. The upper and lower claws 1 and 2 are attached to the frame F by pivot pins 61 and 62, respectively. When the bucket is mounted, a rotating link 9 connecting the arm 7 and the hydraulic cylinder 8 is connected to the frame F for fixing the posture of the frame F. The tip of the hydraulic cylinder 8 is connected to the upper pawl 1 by the link 3 and at the same time to the frame F by the link 30. In the figure, reference numeral 4 denotes an interlocking link connecting the upper nail 1 and the lower nail 2.

In this case, when the hydraulic cylinder 8 is contracted from the state shown in the figure, the frame F
The upper claw 1 is attached to the arm 7 in a state where the posture of the upper
Is the pivot pin 61, and the lower claw 2 is the pivot pin 6.
2, the pivot pins 61 and 62 do not change their positions at this time, so that it is possible to reliably grasp a target object. , And do not receive unnecessary rebound from the target.

The connection between the rotating link 9 and the frame F is performed via an adapter 90. The adapter 90 has a hole through which the pin 91 is passed, which is formed on one side. The adapter 90 can be attached to the frame F in the reverse direction. The difference in the length of the rotation link 9 with respect to the mounting hole at the tip can be absorbed, or the direction of the frame F with respect to the arm 7 can be changed as shown in FIG. Reference numeral 91 in FIG. 2 denotes a width adjusting spacer.

The position where the rotating link 9 in the frame F is connected may be not only below the arm 7 but also above the arm 7 as shown in FIG. Also, the hydraulic cylinder 8 and the frame F
FIG. 5 shows another example where the link between the link 30 and the frame F can be connected to the frame F if the operation of the hydraulic cylinder 8 and the upper pawl 1 can be stabilized while avoiding interference with other members. As shown, it may be another location. Furthermore, the upper claw 1 and the lower claw 2 are shown as having an interlocking link 4 for directly linking them, but the interlocking mechanism is not limited to the illustrated example. It may be one that connects the nail 2.

[0013]

As described above, according to the present invention, the frame in which the upper pawl and the lower pawl are connected by the pivot pin is attached to the arm of the construction machine, and the connection between the tip of the hydraulic cylinder of the construction machine and the arm is provided. The tip of the turning link provided on the arm is connected to the frame instead of the hydraulic cylinder, and the turning link provided on the arm as originally connected to the tip of the hydraulic cylinder is used. The position of the pivot pin that fixes the upper and lower claws to the frame is fixed regardless of the open / close state of the upper and lower claws. The target can be easily grasped, and unnecessary rebound does not occur when the target is grasped.

[0014] When the rotating link and the frame are connected to each other via an adapter for adjusting the connecting position between the rotating link and the frame, it is possible to cope with a case where the rotating link has a different length. Can be adjusted.

[Brief description of the drawings]

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

FIG. 2 is an exploded perspective view of the same arm and frame.

FIG. 3 is a side view showing a state where the adapter is turned upside down.

FIG. 4 is a side view showing another example of the above.

FIG. 5 is a side view showing still another example of the above.

FIG. 6 is an exploded side view of an arm and a bucket.

FIG. 7 shows a conventional example, and (a), (b) and (c) are side views, respectively.

[Explanation of symbols]

 F frame 1 Upper jaw 2 Lower jaw 4 Interlocking link 7 Arm 8 Hydraulic cylinder 9 Rotating link 61 Pivot pin 62 Pivot pin

Claims (2)

[Claims] 1. A frame having an upper pawl and a lower pawl connected by a pivot pin, and an interlocking unit for interlockingly rotating the upper pawl and the lower pawl. The tip of the hydraulic cylinder of the machine is connected to the upper pawl and the frame via links, respectively, and the tip of the rotating link provided on the arm for connecting the tip of the hydraulic cylinder of the construction machine and the arm is connected to the hydraulic cylinder. A grabber characterized by being connected to a frame in place of the above. 2. The gripper according to claim 1, wherein the rotating link and the frame are connected via an adapter for adjusting a connecting position between the rotating link and the frame.