JPS59115183A - Multiple article gripper - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION FIELD OF INDUSTRIAL APPLICATION The present invention relates to a multiple gripping device for articles used in processing machines, assembly machines, and the like.

Conventional configurations and their problems Conventional multiple gripping devices, especially devices that simultaneously grip a large number of rigid bodies with slightly different external dimensions, each have a pair of gripping claws and a claw opening/closing drive unit. At least one of the gripping claws was divided into individual parts, each of which had a driving part. In this case, the structure requires a large number of members and is complicated, resulting in a large and expensive device as a whole.At the same time, since the structure is complex, it is necessary to change and adjust the spacing between the claws. This has the disadvantage that it cannot be carried out easily. Another conventional example is a method of attaching a highly elastic member such as rubber to the gripping portion of one or both of a pair of long gripping claws. This has the disadvantage that members such as a comb attached to the grip are subject to severe wear and tear and lack durability.

OBJECTS OF THE INVENTION The present invention solves the above-mentioned conventional drawbacks, and provides a compact and highly reliable multi-article gripping device with a simplified configuration.

Structure of the Invention The present invention has two parallel shafts that are connected and held so as to rotate in opposite directions, and a grip portion that is fixed to one of the parallel shafts and has an arbitrary length in the axial direction of the parallel shafts. an integral gripping claw, and a plurality of individual gripping claws that are rotatably held at a constant interval on the other axis of the parallel shafts and whose gripping portions are provided at positions opposite to the gripping portions of the integral gripping nails; A pressurizing part is fixed to a parallel shaft on the side of the individual gripping claws and is provided separately and independently to press the gripping part of each of the individual gripping claws toward the gripping part side of the integrated gripping part, and a parallel shaft on the side of the individual gripping claws. a stopper fixed to the shaft and provided to hold in a fixed position the individual gripping claws which are about to rotate by the pressing force of the pressurizing section; and a driving means for applying rotational reciprocating motion to one of the parallel shafts. Due to the simple structure. This is an inexpensive, reliable, and durable multiple object gripping device.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 to 5. In the figure, 1 is a substrate, 2 is a bearing block fixed to the substrate 1, 3 and 4 are rotatably held by the bearing block 2, and a pair of meshing gears 6 and 6 are fixed to each, and rotate in opposite directions. parallel axes arranged to 7°8 is a block fixed to the parallel shaft 3;
9 is a clevis type 7 cylinder which is a driving means for applying rotational reciprocating motion to the parallel shaft 3, and the tip rod 1° is a link 11. It is swingably connected to the block 7 via a pin 12, and the rear end clevis portion 13 is swingably connected to a bracket 15 fixed to the base plate 1 by a pin 14. Reference numeral 16 denotes an integral gripping claw fixed to the block 7.8 fixed to the parallel shaft 3, and having a gripping portion 17 of a constant length in the axial direction of the parallel shaft 3.

One hand 18 is a plurality of individual gripping claws rotatably held on the other parallel shaft 4 by a bearing 19 and having a gripping part 2o at a position opposite to the gripping part 17 of the integral clamping claw 16, and both sides thereof. is held in its axial position by a holding part 21 that can be freely moved and fixed in the axial direction of the parallel shaft 4, and the individual gripping claws 18 are held in parallel on the parallel shaft 4 at arbitrary intervals. There is. Furthermore, the individual gripping claws 18
The gripping portion 2o is pressed against the gripping portion 17 of the integral clamping claw 16 by a pressing portion 23 having an independent pressure spring 22 for each individual gripping claw on the opposite surface of the gripping portion 2o. It is pressurized.

The pressure section 23 is connected to the parallel shaft 4 via the rail material 24.25.
This pressurizing part 23 is fixed to levers 26 and 27 fixed to the rail members 24 and 25.
It can be moved and fixed according to the position. As shown in FIGS. 3 to 5 in detail, this pressure section 23 is connected to the pressure spring 22 and the nut 2 in the rail of the rail material 24, 25.
9 and bolts 30, the pressure plate 28 is movably fixed in the longitudinal direction of the rail material 24.26, the pressure adjustment screw 31 screwed into the pressure plate 28, and the spring receiver 32. The pressing force of the pressing spring 22 can be adjusted by rotating the pressing force adjustment screw 31. Moreover, the levers 26, 2
On the opposite side of the fixed rail plate 23, 24 is a long stopper 34 that connects the levers 26, 270.
is fixed, and all the individual gripping claws 18 are held so as not to rotate beyond a certain position by the pressing force of the pressing spring 22 of the pressing section 23. Reference numeral 35 denotes a plurality of objects to be gripped by the present device.

The operation of the multiple gripping device configured as described above will be described below.

First, as shown in FIG. 4, the rod 1o of the cylinder 9
is in the retracted state, the integral gripping claw 16 and the individual gripping claw 18 are kept in the open state, and the individual gripping claw 1
8 attempts to rotate clockwise around the parallel shaft 4 under the pressure of the pressure spring 22, and stops at a position where it contacts the stopper 34. Next, the integral gripping claw 16 that pushes out the rod 10 in the direction of arrow X rotates in the direction of arrow R,
Further, the individual gripping claws 18 are connected to the pressure section 23. It rotates in the direction of arrow S while maintaining the same relative position as the stopper 34, and as shown in FIG.
The gripping part 17 holds all the objects 35 together, and on the other side, the individual gripping parts of the individual gripping claws 18 hold the objects 35 together.
5 separately. At this time, by setting the gripping part 20 of the individual gripping claw 18 to contact the object 36 at a distance e from the gripping part 17 of the integral gripping claw 16, the individual The gripping claw 18 changes the relative position of the pressurizing part 23° and the stopper 34 in the direction of compressing the pressurizing spring 22, and the compressed pressurizing spring 22
A pressing force F and a gripping force F' due to the pressing force F are generated. Here, even if there is variation in the size of the object to be held 36, the pressing portion 23 of the individual gripping claw 18. If the variation is within 8 relative movements with respect to the stopper 34, it is possible to absorb the variation in the width dimension t of all the objects 36 and securely hold the objects 36. Then, the gripping force F′ of the holding object 35
is determined only by the pressing force F of the pressing spring 22,
The gripping force F' can be easily and independently set for each individual gripping claw by rotating the pressing force adjustment screw 31.

Further, the individual gripping claws 18 are held by the holding member 21 at arbitrary axial positions on the axis of the parallel shaft 4, and at the same time, the pressurizing part 23 is also held by the individual gripping claws 18 on the rail material 24.25. Since they can be moved and fixed in a corresponding manner, the spacing of the individual gripping claws can be set and adjusted very easily in accordance with the spacing of the objects to be held.

In the embodiment, the pressure spring 22, which is a compression spring, is used as the pressurizing means of the pressurizing portion 23, but other pressurizing means such as a tension spring, a torsion spring, or a pressurizing means using air pressure may be used.

Effects of the Invention As described above, the present invention uses a single driving means, has an integral gripping claw and a plurality of individual gripping claws held at adjustable intervals, and has a pressurizing force adjustment function. The position can be adjusted according to the claws, and by using the pressure force of the pressurizing parts that are installed separately to transmit the gripping force to the individual gripping claws, it is possible to simultaneously and reliably hold multiple objects with minutely different external dimensions. Because it has a structure that can be kept in place, it has a simple structure as a whole.
It is possible to realize at a very low cost a multiple article gripping device that is reliable and durable, has a variable gripping pitch, and can easily adjust the gripping force, and has great effects.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a multiple article gripping device according to an embodiment of the present invention, FIG. 2 is a partial perspective view of the device, and FIG.
4 and 6 are cross-sectional views taken along the line B--B in FIG. 1 and showing the operating state of this embodiment. 3.4...Parallel shaft, 16...Integrated gripping claw, 18...Individual gripping claw, 17.20...
...Gripping part, 23...Holding member, 34...
...Pressure Department, 34...Stosono (-〇 Name of agent: Patent attorney Toshio Nakao and 1 other person)
2 Figure 3! Figure 4

Claims (3)

[Claims] (1) Two parallel shafts that are connected and held so as to rotate in opposite directions, and an integral gripping claw that is fixed to one of the parallel shafts and has a gripping portion of arbitrary length in the axial direction of the parallel shafts. a plurality of individual gripping claws that are rotatably held at fixed intervals on the other axis of the parallel shafts and whose gripping portions are provided in positions opposite to the gripping portions of the integral sliding claws; A pressurizing part is fixed to the parallel shaft on the claw side and is provided separately and independently to press the gripping part of the individual gripping claw toward the gripping part side of the integral gripping claw, and a parallel shaft on the individual gripping claw side. a stopper that is fixed to and is provided to hold in a fixed position the individual gripping claws that are about to rotate by the pressing force of the pressurizing part; and a driving means that applies rotational reciprocating motion to one of the parallel shafts. A multi-article gripping device. (2) The individual gripping claws are made slidable in the axial direction on parallel shafts, and the spacing between the individual gripping claws is adjusted using holding members on both sides of each individual gripping claw that can be fixed to the parallel shafts at arbitrary positions in the direction of the town. 2. The multiple article gripping device according to claim 1, wherein said pressurizing section is also positionally adjustable in accordance with the position of the individual gripping claws. (3) Claim 1, 71J, 2, wherein the pressing force of the pressurizing section can be set and adjusted to an arbitrary value.
The multiple article gripping device described in Section 1.