JPS59133191A - Gripper for amorphous body - 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] The present invention is capable of lifting, moving, etc.
) Regarding the improvement of the gripping device when

Conventionally, when handling objects of arbitrary shapes, various small-sized ones have been developed, but the current situation is that the development of grasping devices for large-sized objects with irregular shapes has lagged behind. . In other words, it is thought that the mechanism would be too complicated to accommodate objects of arbitrary shapes, and that there was relatively little need to handle such objects in large quantities. However, with the advent of distribution departments such as factories, warehouses, and distribution centers, and with the advent of robots that handle objects of arbitrary shapes, the need to handle such objects is increasing.

Now, 1 is currently being used as such a gripping device.
An example is shown in Figure 1.

This is used as a gripping device for cargo dumping machines, and it is designed to hold objects between two parallel gripping parts. However, as can be easily seen from FIG. 2, it is far from being able to grasp objects of arbitrary shapes.

For example, even if it is a rectangular object that is difficult for this device to grasp, it cannot be grasped properly unless the gripping part is parallel to the side of the object and the stand is placed at the position of the object, as shown in Figures (a) and (b). There is a drawback that there is no (C), (d
) As shown in the figure, it is not only difficult to grasp objects of any shape, but if you try to forcefully pick them up, they may fall due to the unstable grip, damaging the object or making it impossible to work safely. It becomes a problem.

The present invention thus provides a gripping device that can reliably grip an object regardless of its shape.

FIG. 3 shows an assembly 1 which is the gripping part of this gripping device. (a) If the figure shows that the grip is open, (I
)) Indicates when the diagram is closed.

The two levers 11 and the two link rods 12 are connected like a link by pin joints 1 to 14, 15, and 16 so that they can freely rotate around the bottle.

A grip pad is usually attached to the tip of the lever 11. The function of this pad is to avoid damaging objects when grasping them,
The idea is to grasp the object in a way that fits the surface of the object as widely as possible, and to use a material that has high friction with the surface to grip it safely and reliably.

A spring '13 is attached between the two binge joints 15, and a rope pulley 5 is attached to the upper part of the binge joint 16. This gripping portion is normally held in place by the force of the spring 13 as shown in Figure (a). However, if a downward force is applied to the binge joint 16 (
b) Close the force input part as shown. Assuming that the force applied downward is constant, the force that tends to close the grip portion increases as the position of the binge joint 16 moves downward.

Therefore, by applying a certain force to the upper end of this link (well, it can be said that this assembly is just suitable for the action of holding an object), the strength of the spring 13 is sufficient to open the gripping part. It is a good twist if there is a tension, but it is of course possible to use another power source instead of a spring to pull the tension. , the force of the spring trying to open it increases, so by adjusting the strength of the spring,
The point is that it is possible to prevent the force of closing the grip portion from becoming excessive.

Now, the key point of our invention is to combine the aforementioned assembly into two parts.
The point is that the force applied to the top of the assembly is constant by applying the pulley principle.

Let me explain using Figure 4. This is an example using three assemblies. Each assembly is mounted on a fulcrum 2. The fulcrums 2 are attached to the frame 7 at equal intervals on substantially the same horizontal line. Further, the rope pulley 4 is roughly attached to the upper part of the frame 7 so that the rope pulley 3 is approximately at the same height as the above-mentioned fulcrum 2, and the fulcrum 2 and the rope pulley 3 are separated from each other by an appropriate distance. And 4-
4-3-5-3-5-. 3-5-3-4-4 ropes are attached, forming a pulley system as a whole.

That is, by pulling both ends of the rope by the power source 8, each -C1 assembly is subjected to a downward force by the rope boot 1]-5. Since the rope is connected to each pulley as a whole, an equal force is applied to each pulley.

The gripping portion of each assembly grips an object, and the degree of opening of the gripping portion varies depending on the shape of the object, so the height of the lawn pulley 5 can actually vary to some extent. However, the force applied to the mouth pulley is constant regardless of the height of the pulley. In other words, even if the opening of the gripping portion of the assembly varies depending on the shape of the object, the nozzles applied to each pulley are the same, and the IC can be gripped automatically according to the shape of the two paralyzed bodies.

A state in which an object of arbitrary shape is gripped by this gripping device is not schematically shown in FIG.

The force of the power source 8 pulling the lobe 6 can be much smaller than the force exerted on the lobe pulley 5, as it is magnified by the pulley theory. However, the stroke of the probe will be longer.As a power source, you can use anything that can pull the lobe in and out to any desired point, such as an air cylinder, a hydraulic cylinder, or a winding device with a motor.

Now, as mentioned above, by dividing the gripping portion into a plurality of parts, moving each gripping portion with a constant force, and moving independently of each other, it is possible to grip the gripping portion that substantially conforms to the shape of any object. Our invention also provides a way for this gripping device to better conform to the shape of the object.

That is, the fulcrum 2 can still rotate around the bin 14, but it can also be rotated around a vertical axis perpendicular to the bin 14.
By making the grip part rotatable in two directions about a horizontal axis perpendicular to the bottle 14, the gripping part can be adapted to the shape of the object better.

As shown in FIG. 5, the two levers 11 or assembly 1 can be rotated about the central axis X-X of the bin 14, but also around the vertical axis Y-Y perpendicular to the bin 14.
, and also about a horizontal axis Z--Z perpendicular to the bin 14. The angle at which it can be rotated does not have to be the entire angle; it is sufficient that it can be adapted to the shape of the object. Depending on the shape of the object, in other words when handling objects with a certain shape, this rotation mechanism does not need to be provided in both directions, and may be provided in one direction, or in the X-x direction. There are also cases where you don't need anything other than the surrounding area. In short, the equipment can be selected and installed appropriately depending on the shape of the object to be handled.

It is believed that this gripping device is often used suspended from a crane or a loading machine, that is, in a vertical position. However, recent work machines, robots, etc. often use such gripping devices in non-vertical positions. This gripping device is fully applicable to such cases as well.

In order to be able to adapt better, it is first of all desirable that the lobes connecting each pulley are always taut without sagging. For this purpose, it is effective to use elastic material in the lobes. For example, it is most effective in such cases to use a highly elastic robe mainly made of rubber. The use of such elastic lobes also has the effect of weakening the impact force when the gripping device grips an object, and is therefore the most desirable material.

Secondly, when using this gripping device in any position, it must be taken into consideration that the weight of the object to be gripped can cause the assembly to shift excessively from its normal position. To prevent this, we decided to support the top of the assembly with a spring. That is, as shown in FIG. 7, the frame 7 and the top are connected by springs in four directions: the direction of the central axis XX of the binge joint, and the direction of the horizontal axis Z-7 perpendicular thereto.

When the weight of the object causes a displacement of the top of the assembly, a force proportional to the amount of the displacement tends to return the top to its original position. Therefore, by appropriately selecting the strength of the spring according to the capacity of the gripping device, it is possible to prevent this displacement from becoming excessive. Also, if necessary,
It is also possible to forcibly suppress displacement by providing a collar.

As described above, the present invention provides a gripping device useful for handling, moving, etc. objects of arbitrary shapes.

[Brief explanation of drawings]

Fig. 1 An example of a conventional gripping device. <a> Front view (b) Side view Fig. 2 (a), (b), (c), (d) Example of gripping condition by conventional gripping device Fig. 3 Assembly 1 (1) portion of the present invention ( a)
When the grip is open (b) When the grip is closed Figure 4 Overall view of the present invention Figure 5 When gripped by the grip device according to the present invention Figure 6 Part of the fulcrum (2) Figure 7 Assembly top holding device 1 Assembly 2 Fulcrum 3 Lower rope pulley 4 Upper lobe pulley 5 Allenbray top rope pulley 6 Lobe 7 Frame 8 Power source 11 Lever 12 Link rod 13 Spring 14 Binge joint 15 Binge joint 16 Binge joint applicant Toyo Engineering Co., Ltd. (pressure) (b)

Claims (1)

[Claims] Twelve levers (11) and two link rods (12) are connected in a link shape by binge joints (14) 1, (15), and (16), and two binge joints (15)
) is installed between the springs (13) and the binge joints (1
A plurality of assemblies (1) each having a rope pulley (5) attached to the top of the assembly (6) are arranged in parallel and with a binge joint (
Mount the lower lobe boley (3) on the fulcrum (2) so that the positions of the lower lobe (3) and the
approximately on this horizontal line, the upper rope pulley (4)
is attached to the frame (7) at the top, and the rope (6) is hung between these pulleys (3), (5), and (4) so that the whole acts as a pulley.
) by pulling power m(8), the assembly (1
) is a gripping device whose tip is designed to grip objects. 2 The fulcrum (2) is the central axis X of the binge joint (14)
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2. A gripping device according to claim 1, wherein the gripping device is rotatable about two axes. 3. The gripping device according to claim 1 or 2, wherein the rope (6) is made of an elastic material. 4. According to any one of claims 1 to 3, in which elastic bodies are installed between the top of the assembly (1) and the frame (7) in four directions, the x-x direction and the Z-7 direction. Grasping device as described.