JPS59134674A - Holder - 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 relates to a gripping mechanism for material handling equipment, and particularly to a gripping tool.

A conventional device of this type is shown in FIG.

In the figure, (1) is a gripping tool which is a handling mechanism;
(2) is called the grasped object work. Hereinafter, (3) is a holding plate that fixes and holds the workpiece (2) by fitting.

Next, I will explain the operation.The grip (1) uses a link mechanism, the same as so-called scissors, and the workpiece (2)
To remove it from the holding plate (3), apply force to the handle (1b) in the direction of arrow A, grasp the workpiece (2) with the claw (1a), and in that state apply force in the direction of arrow B. , was going.

Conventional tools of this kind are constructed as described above, so
If the workpieces (2) are crowded together as shown in Figure 2, the gripping tool (1
) has a structural disadvantage that the shape of the claw part is thin, making it vulnerable to bending moments; the gripping and pulling forces are perpendicular to each other, resulting in poor operability; and furthermore, the actuator is arranged in series, which impedes compactness. Immediately after the workpiece is pulled out, the force holding the workpiece is suddenly released, resulting in the workpiece colliding with the surrounding workpieces due to vibration, and the operator losing balance. This has the disadvantage of concentrating on two specific locations and causing damage to glass objects, which tend to break easily.

This invention was made to eliminate the drawbacks of the conventional ones as described above, and by using the wedge method,
A structure in which no bending moment acts and only tensile force acts on the member allows for a thinner design, which allows for extraction of densely packed cylindrical objects, and the ability to arrange the acting forces in series, resulting in a compact shape and good operability. By redirecting the pulling force toward the side to which the work is attached, it prevents shocks and the operator's loss of balance after the work is pulled out, and the structure grips the circumference of the work evenly, making it a glass product that is prone to breakage. The aim is to provide a device that can be handled even in

An embodiment of the present invention will be described below with reference to the drawings. 8th
In Figures 4 and 4, (2) and (3) are the workpiece and the holding plate that fixes it, and (4) is the conical taper part (4a) with a tapered tip that is divided in the axial direction as shown in Figure 5. The cylindrical clamping members (hereinafter referred to as chucks) that can be easily elastically deformed in the axial direction, (5a) and (5b) are rubber-like cushioning materials with a high friction coefficient, and are bonded to the inner surface of the chuck (4) to hold the workpiece ( 2)
protection. (6) is a holder (hereinafter referred to as a holder) having a tapered portion (6a) opposite to the tapered portion (4a) at its tip end. (7) is a joint, which is connected to the holder (6) by a screw (8). The rear cylindrical portion of the chuck (4) and the rear portion of the holder (6) are constructed in a slidable fitting relationship. OQ is chucked with connecting rod (4)
The other end is a screw, which is connected to the pusher (9) and prevented from rotating by a lock screw (2). A spring (to) is installed between the pusher (9) and the joint (7) through a connecting rod αQ. Q → is a spring.

OQ is a guide cylinder that is slidably fitted into the holder (6) and is fixed to the coupling ring α→ and the lever (7). (+7) is a lever that is screwed to the joint (7) through a long notch formed at the rear of the guide cylinder. Here, the pusher (9) and the connecting rod αQ constitute the first operation body for operating the chuck (4), and the joint (7)
.

It constitutes a second operating body that operates the holder (6) with lever α force.

As configured as above, the holder (8), the joint (
7), A set of levers (17), guide cylinder α, joint tongue αQ, B set of levers (G) and chuck (4), rubber-like buffers (5a) (5b) + connecting rod QQ, Push metal (9
) are assembled by 8 sets of elements, 6 sets of The elongated hole notch end of the guide tube a and the lever αη are pressed together.

Next, a method of using the tool according to the present invention will be explained. As shown in Figure 8, set the guide tube α~ against the holding plate (3), then push out the pusher (9), and the chuck (4)
Chuck (4) due to the tapered relationship between and holder (6)
The tip is constricted and grips the workpiece (2). In this state, an initial gripping force is generated between the chuck (4) and the workpiece (2), so that the chuck (4) and the workpiece (2) are prevented from slipping even by the force of the spring a.

Next, when the lever α force is gripped in the direction to shorten the span of the lever (toward), the gripping force on the workpiece (2) further increases due to the sliding between the chuck (4) and the holder (6) as shown in Figure 4, and the workpiece ( 2) and the chuck (4) do not slip, and the workpiece (2) can be pulled out from the holding plate (3).

In addition, in the above example, the connecting rod QO, pusher (9), and set screw @ were used to adjust the spring (to), but once the spring force is determined, the connecting rod αQ and pusher (9) can be connected using pins. May be fixed. Furthermore, the same effect can be obtained even if the guide tube (to), the coupling ring Q, and the lever (to) are integrally formed.

Furthermore, although the material of the chuck (4) and holder (6) are made of brass, the same effect can be achieved by using rust-free metal or synthetic resin for weight reduction.

In this way, according to this implementation, the gripping mechanism is composed of a tapered and split chuck (4) and a holder (6) having a conical taper portion facing the chuck (4), so that the workpiece ( For 2), set this tool and first press the pusher (
9) to bring the workpiece (2) into the initial gripping state with the chuck (4), and then squeeze lever α7) (toward) in the closing direction.
5a) and the workpiece (2) is much larger than the frictional force between the opposing tapered surfaces of the chuck (4) and holder (6), causing slippage between the chuck (4) and the holder (6). It happens. Therefore, workpiece (2) with chuck (4)
The gripping force is further increased by the wedge effect.

By this, it is fixed to the workpiece (2).
□If the fixing force of the holding plate (3) is strong, the above-mentioned slippage increases accordingly, generating a gripping force corresponding to the fixing force, which has the effect of pulling out the workpiece (2) from the holding plate (3).
In addition, due to the structure in which the gripping force is applied evenly on the circumference of the workpiece (2), when the workpiece (2) is a fragile object such as a cylindrical glass tube, the gripping force is applied evenly on the circumference of the workpiece (2). Grasping force can be applied, which also has the effect of eliminating damage to the workpiece (2) due to excessive gripping.

In addition, according to this embodiment, since the pulling force is directed toward the fixed side of the workpiece, the pulling operation can be performed by closing the lever (17) Qal, which prevents accidents caused by the worker losing his/her balance at the moment the workpiece is pulled out. This also has the effect of eliminating accidents where the extracted workpiece hits another workpiece and causes damage.

Furthermore, since the bending moment i is applied to the member in the tensile direction as in the link system, the member can be made of a material such as synthetic resin or aluminum, which has the effect of reducing weight.

Next, another embodiment of the present invention will be described based on FIGS. 6 and 7. In the figure, the same reference numerals as in FIGS.
), and the rear cylindrical portion of the chuck (4) and the rear portion of the cylindrical portion of the holder (6) are constructed in a slidable fitting relationship.

Since the structure is as described above, the holder (6).

Grip part (7), chuck (4), cushioning material (5a) (5
b) It is assembled by two sets of elements, the rod 00° pusher (9), and in the non-operating state, the rear end of the chuck (4) and the end surface of the grip (7) are pressed against each other by the spring Q3. .

Next, a method of using the tool according to this embodiment will be explained.

First, hold the rear collar of the grip (7) between your middle finger and index finger, place the pad of your thumb against the end surface of the pusher (9), and set it to the position of the workpiece (2) as shown in Figure 7.

Next, in order to bring the workpiece (2) into the initial gripping state with the chuck (4), push the pusher (9) until the chuck (4)
Due to the tapered relationship between the chuck (4) and the holder (6),
) becomes narrower, and the chuck (4) eventually picks up the workpiece (
2) Tsu・tsu)mu. In this state, the spring 04 is caused by the frictional force of the buffer material (5a) glued to the inside of the chuck (4).
Even if a force is applied in the direction of releasing the grip, the workpiece (2) and the chuck (4) are in a non-slip state.

Next, pull the grip (7) and the workpiece (2) and chuck (
4) is larger than that between the taper of the chuck (4) and the holder (6), so the taper of the chuck (4) and the holder (6) begins to slip, and this slippage causes the workpiece (2) to The gripping force of the chuck (4) on the
Even if the force of pulling the grip part 0 increases, the gripping force also increases. Therefore, the workpiece (2) can be removed from the holding plate (3) without slipping.

In the above example, the rod QO, pusher (9), and lock screw (6) were used to adjust the spring 03, but once the spring force is determined, the rod 0O and pusher (9) can be fixed with a pin. Good too.

Next, another embodiment of the present invention will be described based on FIGS. 8 and 9. In the figure, the same reference numerals as in Figures 8 and 4 indicate the same parts, 2) is a joint screwed to the holder (6), and Qυ is a part of the handling device body, which is screwed to the joint ■. are doing. (2) is a cylinder and is connected to the chuck (4) at the threaded end of the piston. (C) is the lock nut between the chuck (4) and the piston rond (E). 6) is a nut that connects the cylinder (A) body and the joint.
), joint (a), handling device body? It has a structure in which υ and cylinder (A) are connected. Chuck (4
The unbroken cylindrical part of ) and the inner cylindrical part of the holder (6) are in a movable fitting relationship, and by the action of the piston rod of the cylinder which is screwed to the chuck (4), The chuck (4) has a structure that allows it to move back and forth within the holder (6).

Using a handling device having a part of the handler configured as described above, the workpiece (2) is brought to the position as shown in Fig. 8.
Next, when the cylinder (9) is actuated, the chuck (4) moves forward within the holder (6) as shown in FIG. Chuck (4)
and the tip of the holder (6) are in an opposing tapered relationship,
Since the tip of the chuck is split, as the chuck (4) moves forward, the tip of the chuck narrows and grips the workpiece (2).

As the workpiece moves further forward, the frictional force between the workpiece (2) and the buffer material (5a) bonded to the tip of the chuck (4) increases, and the workpiece stops in equilibrium with the output of the cylinder (a), resulting in an initial gripping state. When the handling device Q1) moves backward in this state, the frictional force between the tip of the holder (6) and the tapered part of the chuck (4) is applied to the buffer between the workpiece (2) and the chuck (4).
The frictional force with workpiece (2a) is much smaller than that with workpiece (2a).
) and the chuck (4) do not slip, and the tip of the holder (6) (
6a) and the chuck (4) taper part (4a) is connected to the workpiece (2).
) and the holding plate (3) will slide depending on the adhesion strength between the chuck (
4) The tapered portion becomes further narrower and acts to increase the gripping force, allowing the workpiece (2) to be pulled out from the holding plate (3).

In the above embodiment, a cylinder was used as the actuator for pushing the chuck (4), but air, hydraulic pressure, a screw mechanism, an electromagnetic mechanism (for example, a solenoid), etc. may also be used.

Although a commercially available cylinder (9) is used, a cylinder mechanism may be provided within the joint (7) in order to further reduce the size of the cylinder.

As described above, according to the present invention, since the gripping portion is constituted by a wedge mechanism consisting of a holding body having a conical taper portion and a holding body, a bending moment does not act on the member unlike the link method, and the member can be made thinner. In addition to being able to use lightweight materials such as aluminum and plastic, it is also capable of gripping densely packed workpieces, and can grip with a gripping force that corresponds to the adhesion force of the workpiece, so the workpiece will not be damaged by excessive gripping force. Furthermore, because the structure allows it to be gripped with even force,
It can also be used to grip fragile glass tubes.

Further, there is no need for complicated control to control the gripping force according to the fixing force. In addition, since the material structure that generates the gripping force and the mechanism that handles the member are applied in the same direction, the outside shape can be extremely simple.

In addition, the number of movable parts is smaller than that of a link mechanism that uses a large number of bottles, etc., and there is no backlash due to undulation.

In addition, in each of the above examples, the extracting tool is explained:
However, the same effect can be achieved when used as an insertion tool.

[Brief explanation of drawings]

1 and 2 are usage state diagrams showing a conventional handling tool, FIGS. 8 and 4 are sectional views showing an embodiment of the present invention, and FIG. 5 is a perspective view showing the external appearance of the clamping body. 6th
and FIG. 7 are cross-sectional views showing other embodiments of the present invention.
FIGS. 8 and 9 are cross-sectional views showing another embodiment of the present invention. In addition, in the figures, the same reference numerals indicate the same or corresponding parts. (4)...Pinching body (chuck'), (5a) (5
b)...buffer. (6)...Holder, (7)...Joint, (9)...Press metal. α0...Connection rod, (to)...Spring, 041...
Spring, (to)...Guide tube. aη...lever, (t)...lever, 0 groan...grip, kanji...joint. QXl...Handling device body, (Foundation)...Cylinder, @...Piston Rondo. Agent Makoto Kuzuno - Figure 1 Figure 2 Figure 5 Figure 4 a

Claims (1)

[Claims] a first operating body that moves the holder relative to the holding body;
a second for moving the holding body relative to the clamping body;
A gripping tool equipped with an operating body.