JPS5916913B2 - Grasping device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention enables efficient arm opening and closing operations by arbitrarily adjusting the amount of oil sent to the hydraulic cylinder that opens and closes the arm.
This invention relates to a gripping device that can be operated efficiently.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The configuration of the present invention will be described below with reference to the drawings in accordance with embodiments.

: As shown in FIG. 1, in the gripping device 1, arms 2, 2 for holding an article provided opposite to each other are connected to a base body 4 by parallel links 3, 3, respectively, and the arms 2 and base body 4 are connected to each other by parallel links 3, 3, respectively.
Due to the expansion and contraction of the hydraulic cylinders 5, 5 connected between the
The arms 2, 2 are opened and closed, and an article is held between them, and the expansion and contraction of the cylinder 5 is performed by an operation control mechanism to be described later.

The arm 2 is provided with contact detection switches 6, 6 that operate when the arm 2 comes into contact with an article, and a signal generator T that detects the space between the arm 2 and the clamped article. ing. As shown in FIG. 2, a roller 10 is supported by a frame 9 provided inside the arm 2 so as to be slidable along a guide 8, and the frame 9 is pulled by a spring 11 so that a part of the roller 10 is A contact sensing switch 6 is provided at the rear of the frame 9 so as to protrude and is activated by movement of the frame 9.

Further, at one end of the roller 10, a fullness signal generator 7 including a speed increaser 12, a rotary plate 13, and a rotation detector 14 is provided. 5 To explain the operation control mechanism, the hydraulic system is as shown in FIG. It is supplied through a valve 18, a branch switching valve 19, and a direction switching valve 20, and a pressure adjustment valve 21 is connected to the rear chamber 16.

The direction switching valve 20 is a 6-port, 3-position switching valve, with the intermediate section 22 at the stop position, and the operating solenoids 23 and 24 switch between the extension section 25 and the tightening section 26 to direct pressure oil to the rear of the hydraulic cylinder 5. The chamber 16 or 5 supplies the front chamber 15 and allows the piston rod 27 of the hydraulic cylinder 5 to move in and out.

The diversion switching valve 19 is a 6-port, 2-position switching valve, and when the actuating solenoid 28 is in operation, the pressure oil is detoured to the diversion valve 30 through its conduction portion 29 and supplied at a reduced flow rate.
The remaining pressure oil separated by the flow dividing valve 30 is supplied to another hydraulic system 31 for use. The flow rate regulating valve 18 has a regulating solenoid 32 to regulate the flow rate of the pressure oil passing therethrough, and is also provided with a safety valve 33 . The pressure regulating valve 21 maintains the pressure in the rear chamber 16 at a set value. As shown in FIG. 4, the electrical system includes an open switch 34 for opening and closing the arm 2.
The close switch 35 is connected to the operating solenoids 23 and 24 of the directional control valve 20 through a switching mechanism of gates 36 and 37 and transistors 38 and 39, respectively, and the touch sensing switch 6 is similarly connected through a gate 40 and a transistor 41. and is connected to the operating solenoid 28 of the diverter switching valve 19.

Further, the slip signal generator 7 is connected to the pressure regulating valve 21 via a gate 42, a voltage converter 43, and an amplifier 44,
Pressure is regulated. On the other hand, the sliding tap 46 of the potentiometer 45 is connected to the open switch 34 and the close switch 3.
5, the resistor 47 is divided into voltages, connected to the flow regulating valve 18 through the amplifier 48, changing its regulating solenoid 32, adjusting the set value, and adjusting the sliding tap 46. The flow rate of pressure oil is adjusted according to the operation amount, and the expansion/contraction speed of the hydraulic cylinder 5 is controlled.

In addition, 49 is a main switch, 50 is a power supply, and 51 is a diode.

The clamping action will be explained.

When closing the arm 2, the close switch 35 is operated to close the contact, and the solenoid 24 of the direction switching valve 20 is activated.
The extending portion 25 conducts pressure oil to the rear chamber 16 of the hydraulic cylinder 5. When the arm 2 comes into contact with the article, the contact sensing switch 6 is actuated to close the contact and actuate the operating solenoid 28 of the diverter switching valve 19. Oil is supplied to the hydraulic cylinder 5 through the branch valve 30 and the extension 25 of the direction switching valve 20. At this time, the flow rate of the pressure oil that has passed through the diversion valve 30 is reduced according to the settings of the diversion valve 30, and the remaining pressure oil is supplied to another hydraulic system 31 for use. Even when the close switch 35 is opened, the transistor 39 is maintained in a conductive state due to the operation of the contact sensing switch 6, so that the solenoid 24 continues to be operated, and the extension portion 25 is maintained in a conductive state. ing. The set pressure of the pressure regulating valve 21 is the minimum operating pressure required to open and close the arm 2. Next, move arm 2 upward. When the clamping pressure is small and the slip signal generator 7 is actuated, it acts on the pressure regulating valve 21 to gradually increase the pressure and lift the article at a pressure that will not cause slip. When opening the arm 2, operate the open switch 34 to connect the contacts, actuate the solenoid 23 to move the direction switching valve 20 to the retracting section 26, return the flow switching valve 19, and switch the pressure oil to the hydraulic pressure. It is supplied to the front chamber 15 of the cylinder 5 and the arm 2 is opened.

When the arm 2 is operated to open or close, the amount of operation is converted into the amount of movement of the sliding tap 46 by the potentiometer 45, which operates in conjunction with the open switch 35 or the close switch 34, and the flow rate is adjusted via the amplifier 48. The adjustment solenoid 32 of the adjustment valve 18 is controlled, the amount of oil supplied to the hydraulic cylinder 5 is increased or decreased, and the opening/closing speed of the arm 2 is adjusted.

Therefore, according to the gripping device of the present invention as described above, the supply of pressure oil to the hydraulic cylinder is adjusted by the flow rate adjustment valve and the flow switching valve, and the expansion and contraction speed of the hydraulic cylinder is made variable.
Opening and closing operations of the arm for holding articles are performed efficiently. In addition, after the arm comes into contact with the object, the pressure oil is diverted using a diversion switching valve to reduce the flow rate supplied to the hydraulic cylinder, and the remaining pressure oil is supplied to other hydraulic systems. , pressure oil can be used efficiently and it is very economical.

[Brief explanation of drawings]

The drawings illustrate embodiments of the present invention, and FIG. 1 is a schematic plan view, FIG. 2 is a sectional view of main parts of the arm, FIG. 3 is a hydraulic circuit diagram showing the operation control mechanism, and FIG. 4 is a hydraulic circuit diagram showing the operation control mechanism. It is the same electric circuit diagram. 1...Gripping device, 2...Arm, 3.
...Parallel link, 4...Base, 5...
...Hydraulic cylinder, 6...Touch sensing switch, 7...Slip signal generator, 17...
Hydraulic supply source, 18...Flow rate adjustment valve, 19...
... Diversion switching valve, 20 ... Direction switching valve, 21
...Pressure regulating valve, 30...Diversion valve.

Claims (1)

[Claims] 1. A diversion valve that reduces the amount of pressure oil supplied to the hydraulic cylinder when the arm comes into contact with an article, with respect to a hydraulic cylinder that opens and closes arms for holding an article that are provided opposite each other. A hydraulic supply source is connected through a switching valve and a flow rate adjustment valve that increases or decreases the amount of pressure oil supplied to the hydraulic cylinder, and further, another hydraulic system is connected to the branch valve. Device.