JPS5834398B2 - Grasping device for cargo handling - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in a cargo handling gripping device that clamps and lifts a coil or the like.

A cargo handling gripping device such as a coil lifter has a structure in which a pair of claws are inserted into holes in a coil or the underside of a pallet to clamp and lift the cargo.

However, in the conventional claws of this type of cargo handling grasping device, the tip of the arm moves in an arc shape in the vertical direction when clamping a load such as a coil, so it is difficult to align the tip of the claw. .

Furthermore, in most cases, the opening/closing operation of the pawl is performed by an operating means such as an oil cylinder mechanism, and in such cases, the load of a coil or the like suspended by the pawl acts largely in the direction of operation of the pawl operating means. For this reason, when hanging, the claws may open and fall, or the claws may be moved in the direction of closing more than necessary, damaging the suspended coils and the like.

In order to eliminate these drawbacks, an arm is attached to the lower side of a pair of parallel links, and the upper ends of the parallel links are pivoted to a lifting block that moves up and down along a vertically oriented frame. The center of the link located on the lower side of the frame is connected with another support link, so that opening and closing operations can be performed without changing the height position of the claw tip even when the lifting block moves up and down. is known (Special Publication No. 51-6936).

However, in this device, a link protruding diagonally upward from the frame is pivotally attached to the center of the lower link of the parallel link, so when the coil is suspended, a large bending moment is generated in the lower link. In order to withstand this, the cross section of the link had to be made larger, which had the disadvantage of increasing the overall weight.

In order to improve such drawbacks, the present invention provides a motor with a speed reducer that rotates a drive shaft, a first lifting piece and a second lifting piece screwed onto the drive shaft so as to be able to move up and down, and the first lifting piece. and an elevating guide that prevents the second elevating piece from rotating; two sets of parallel links whose upper short arms are fixed to the first elevating piece; and a pair whose upper end side is pivoted to the second elevating piece. an arm, each set of the parallel links, and a pair of claws supported at each lower end of the arm, and the drive shaft number has a first screw portion and a second screw portion having different pitches. The first and second elevating pieces are provided in upper and lower parts, and the first and second elevating pieces are respectively screwed into these threaded parts, and each piece is fixed vertically to the lower short arm of the parallel link. It consists in a gripping device for cargo handling.

Embodiments of the present invention will be described in detail below with reference to FIGS. 1 and 2.

As shown in the figure, in the gripping device of this embodiment, a motor 3 with a speed reducer is mounted on a base 2 supported by a hanger 1.

A pair of elevating guides 4 made of channel steel are suspended in parallel from the lower surface of the base 2, and a drive shaft 5 is disposed parallel to each other between these elevating guides 4, the upper end of which allows the base 2 to rotate freely. It penetrates through and is connected to and driven by the motor 3 with a reduction gear.

The lower end of the drive shaft 5 is rotatably supported by the lower end of the lifting guide 4 via a bearing 6.

The drive shaft 5 is divided into upper and lower parts, and has a first threaded part 5A and a second threaded part 5A.
A threaded portion 5B is provided, and the pitch of the second threaded portion 5B is limited to twice the pitch of the first threaded portion 5A (in the example, 1 pitch is 12 mm) (in the example, 1 pitch is 24 mm). ing.

A first elevating piece 7 and a second elevating piece 8 are screwed into the first threaded portion 5A and the second threaded portion 5B, respectively, and are prevented from rotating by the elevating guide 4 to rotate the drive shaft 5. It moves up and down at different speeds.

One short arm 9At 9 '' of a pair of left and right parallel links 9 91 is fixed to the first lifting piece 7 at a certain angle.

Each pair of parallel long arms 9 of these parallel links 9, 9'
B, 9 C! , 9B', 90' are respectively pivoted to short arms 9At9A', and the other lower short arms 9D, 9D' are each long arms 9B.

9C99B', short arm 9A, 9 at the lower end of 9C/
It is pivoted in a direction parallel to A'.

The upper ends of a pair of left and right arms 10.10' are pivotally supported on the second lifting piece 8, and the lower ends of these arms 10.10' are the lower ends of the lower short arms 9D, 9D' of the parallel links 9, 9'. is supported by

Lower end arms 9D, 9D of parallel links 9, 9/
A pair of coil clamping claws 11, 11' are fixedly oriented in the vertical direction.

When lifting the coil 12 using such a gripping device, first adjust the vertical height of this device to reach l 1 , 1
The lower end of the coil 1' is aligned with the hole 12A of the coil 12.

After that, when the motor 3 with a reduction gear is rotated, the drive shaft 5
is rotated, and the first and second lifting pieces 7, 8 are raised.

In this case, as described above, the pitch of the second threaded part 5B is selected to be twice that of the first threaded part 5A, so the pitch of the second threaded part 5B is twice that of the first threaded part 5A.
The first lifting piece 8 moves up twice as fast as the first lifting piece 7.

Thus each lower short arm 9D of the parallel links 9, 9'.

The angle of 9D/ with respect to the drive shaft 5 does not change, and accordingly, the orientation of each group 11, 11' remains vertical and approaches each other to sandwich the coil 12.

In this way, in order to approach and separate each group 11, 11' without changing the direction, the first and second lifting pieces 7 and 8 are raised from the standby state as shown in the figure to bring the coils into the clamping state. Ratio ΔY2 of the rising distance Δyl and Δy2 of each piece 7 and 8 when
The long arms 9 of the parallel links 9 and 9' are arranged so that
B, 90.9B', 90' length 11 and arm 10,1
It is necessary to select the length 12 of 0'.

As explained above, according to the cargo handling gripping device of the present invention,
Since the claw moves in parallel, once the claw is aligned with the coil hole, it will not fall out of the coil hole even if the gap between the claws is narrowed, making positioning easier and enabling efficient coil lifting work. be able to.

In particular, the cargo handling gripping device of the present invention has a simple structure because the claw can be moved in parallel by simply selecting the length of the arm supporting the claw and the pitch of the drive shaft.
This is advantageous in terms of implementation.

Furthermore, the opening/closing operation of the pawl is achieved by screwing into the first and second threaded portions of a single drive shaft having different pitches, and operating at different speeds as the drive shaft rotates in one direction. Since the movement of the lifting piece No. 2 is carried out via the link, strong and reliable movement can be obtained.Also, the load of the coils etc. on the claws is applied in the upward direction of both the first and second lifting pieces. The drive shaft is not rotated by the load of the suspended coil, etc., and is extremely safe.

In addition, by supporting the claws at the lower ends of the parallel links and arms, the load of the coils, etc. that are grabbed and suspended acts on the parallel links as a tensile load in the longitudinal direction, and on the arms in the longitudinal direction. Compared to conventional devices of this type, the links and arms can be made thinner and the weight can be reduced to a distant degree.Moreover, by appropriately selecting the pitch of the screws in the threaded portion of the drive shaft, The claws can be moved horizontally in a substantially straight line and have good operability.

[Brief explanation of drawings]

The drawings show an example of the implementation of the present invention, and FIG. 1 is a partially sectional front view of a gripping device for cargo handling, and FIG. 2 is taken along line X-X in FIG.
FIG. 1...Hanger 2...Base, 3...
... Motor with reducer, 4 ... Lifting guide,
5... Drive shaft, 5A... First threaded part, 5B... Second threaded part, 7... First
Lifting piece, 8...Second lifting piece, 9,9'...
...Parallel link, 9A, 9A'...Short arm, 9B. 9B'j90t90'・・・Long arm, 10,1
0'...Arm, 11.11'...Pinching claw.

Claims (1)

[Claims] 1 A motor with a reducer that rotates a drive shaft, a first lifting piece and a second lifting piece that are screwed onto the drive shaft so as to be able to move up and down, and a mechanism that prevents rotation of the first and second lifting pieces. two sets of parallel links whose upper short arms are fixed to the first elevating piece; a pair of arms whose upper ends are pivoted to the second elevating piece; link and
a pair of claws supported at each lower end of the arm; a first screw portion and a second screw portion with different pitches are provided on the drive shaft vertically; 1st
and a second elevating piece are screwed together, and each of the groups is vertically fixed to the lower short arm of the parallel link.