JPS59227388A - Gripper - Google Patents
GripperInfo
- Publication number
- JPS59227388A JPS59227388A JP10286283A JP10286283A JPS59227388A JP S59227388 A JPS59227388 A JP S59227388A JP 10286283 A JP10286283 A JP 10286283A JP 10286283 A JP10286283 A JP 10286283A JP S59227388 A JPS59227388 A JP S59227388A
- Authority
- JP
- Japan
- Prior art keywords
- gripper
- blank
- base
- robot
- gripping device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- JOYRKODLDBILNP-UHFFFAOYSA-N Ethyl urethane Chemical compound CCOC(N)=O JOYRKODLDBILNP-UHFFFAOYSA-N 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
（稙東上り利用分野）
こＶ発明は、ロホツトＩｉ！ｕ ＩＩＬ用いられる把持
装置、髄に製缶工程におけるフランク堆の把持に好適な
把１ｖ装飯に胸する。[Detailed Description of the Invention] (Field of Application of Tanto Upstream) This V invention is based on Rohots Ii! The gripping device used is suitable for gripping the flanks in the can manufacturing process.
（従来技術〉
製缶工程、特に３ピ一ス缶ｖ％缶工程においては、内外
＠υＷｉ装・印刷を長子したブランクを縦５（に２４枚
、３６枚寺に切貼・分離し、１缶外υ大きさとして＠戯
ねたブランク堆を製缶機のフィーダーに供給する。(Prior art) In the can making process, especially in the 3-piece can v% can process, blanks with internal and external @υWi packaging and printing are cut and pasted into 5 pieces vertically (24 sheets, 36 sheets vertically), and then 1 The blank pile, which has been adjusted to the outside size of the can, is fed to the feeder of the can making machine.
ブランク唯のフィーダーへの供給は、従来、人手で行な
われているが、塗装には渭シ易くするための塗料が入れ
られている関係もあシ、ブランク堆は取く敗扱いにくい
ものであシ、この搬送ね自動化されることが望まれてい
る。Feeding blanks to the feeder has traditionally been done manually, but the blanks are difficult to handle, as paint is added to make them easier to feed. It is hoped that this transportation will be automated.
（発明の目的）
仁の発明は上記のブランク堆０搬送をロボットで行なう
場合、ブランク堆を把持するｆ）Ｋ好適な把持装置を得
ようきするにある。(Object of the Invention) The object of the invention is to obtain a suitable gripping device for gripping the blank pile when the above-mentioned blank pile transport is carried out by a robot.
（発明の恰成）
第１図は、この発明の把持装置の応用的として、製缶工
程中のブランク准搬送部の全体配置の一例を示す。(Construction of the Invention) FIG. 1 shows an example of the overall arrangement of a blank semi-transporting section during a can manufacturing process as an application of the gripping device of the present invention.
Ａは製缶機のフィーダー、Ｂは第２スリツタ７）後に配
置されるスタッカー、Ｃはイ＼良ブランクの選別及び余
剰ブランクのストック用のブランク・フィード・コンベ
ヤ、Ｄ幻ロボットであるＯ
この応用向において利用されでいるロボットＤは、第２
図に示すような５つの自由度を持つものであるが、必要
に応じて能の形式のものでもよいことは勿論である。そ
の腕端にこの発明の把持装置がつけられるか、該把持装
置を第３図に示す。A is the feeder of the can making machine, B is the stacker located after the second slitter, C is the blank feed conveyor for sorting good blanks and stocking surplus blanks, and D is the phantom robot O. This application The robot D used in the second direction is
Although it has five degrees of freedom as shown in the figure, it is of course possible to use a Noh-style version if necessary. The gripping device of the present invention is attached to the end of the arm, as shown in FIG.
ロボット腕端１には基盤２が固定され、この基盤２には
四本の摺動杆３が植立されている。A base 2 is fixed to the robot arm end 1, and four sliding rods 3 are installed on the base 2.
該摺動杆３には摺動基盤４が摺ｙυ１自在に嵌合される
。５は基盤２に固定されたランク、６は摺動基盤４に固
定されたピニオンである〇摺動基盤４にはターンバック
ル式の左右ネジによって間隔を駄１節しうる括’ Ｎ１
１台７．７′が設けられ、谷摺捗Ｊ台７．７にはエアシ
リンダ８．８９．９′によって揺動しうる把狩手１０．
１０’、押えＪｔｊｌｌ、１１が設けられている。１２
．１３．１４はそれぞｈ把持″＋１０、エアシリンダ９
及び押え化１１ｖ揺殖１中心である。A sliding base 4 is fitted into the sliding rod 3 so that the sliding base 4 can slide yυ1 freely. 5 is a rank fixed to the base 2, and 6 is a pinion fixed to the sliding base 4.The sliding base 4 has a bracket whose spacing can be adjusted by a turnbuckle type screw on the left and right side.'N1
One unit 7.7' is provided, and the Tanizuri J platform 7.7 has a gripper 10.8 which can be swung by an air cylinder 8.89.9'.
10', a presser foot Jtjll, and 11 are provided. 12
．． 13.14 are h grip''+10, air cylinder 9 respectively.
And presser foot 11v shaking 1 center.
この把持装置ｄ以下のように作動する。This gripping device d operates as follows.
把持＋１０が進入しうるような間隙をおいて支持さｎて
いるブランク准１５の上方から、エアシリンダ８′及び
９′によって把持子１０′及び押え指１１′を第３図右
側のように開いた状態で、ラック番ビニオン５．６によ
って摺動基板４を下降さぜ、次いでエアシリンダ８．９
によって第３固在のように把持子１０及び押え指１１を
閉じることによって、あたかも人間がブランク堆を両側
から持つような状態で把持する０次いで、ラック−ビニ
号ン５．６によってブランク、堆を兵士に持ち上げる。Open the gripper 10' and presser finger 11' as shown on the right side of Figure 3 using air cylinders 8' and 9' from above the blank assembly 15 supported with a gap such that the gripper +10 can enter. In this state, the sliding board 4 is lowered by the rack number pinion 5.6, and then the air cylinder 8.9 is lowered.
By closing the gripper 10 and the presser fingers 11 as in the third fixation, the blank and presser fingers 11 are held as if a person were holding the blank from both sides. to the soldier.
図中、１６．１７はブランクを傷つけないためのウレタ
ンコートである。In the figure, 16 and 17 are urethane coats to prevent damage to the blank.
なお、ロボットの自由舵によって腕１が垂［ηに上下し
つる場合は、括１１！Ｊｋ ｆｔ５−を９１略し、摺即
ｊ基板４を直接に腕１に固定してもよい。Note that if the robot's free rudder causes the arm 1 to hang vertically [η], bracket 11! Jk ft5- may be omitted at 91 and the sliding board 4 may be directly fixed to the arm 1.
また、ブランクサイズをりｊｋする＠αにはねじ１８Ｖ
（よシターンバックルを回すことによシ中心線を一定に
したまま摺動台７．７′の間隔を変えることが出来るが
、一方Ｏ把持″＋１０を基準とするときは、他方の摺動
台７′の会を摺動可能として大きさＶ変更をしてもよい
。Also, for the blank size @α, use a 18V screw.
(By turning the Yoshiturn buckle, you can change the spacing between the sliding tables 7 and 7' while keeping the center line constant. The size V may be changed by making the section 7' slidable.
（発明の効果）
と■発ＥｌｌＩ！７．Ｉ把持装阪は上記■ｔＦｊ成から
なル、■ 桶）易いフランク堆を、両１１ｊから押える
と１３時に上からも押え、あたかも入１０ｊυ手のよう
に羅夾に把持しで移送することができる。(Effect of the invention) and ■EllI! 7. I gripping equipment does not consist of the above ■tFj, ■ pail) If you press the easy flank from both 11j, you can also press it from above at 13:00, and transfer it by holding it loosely as if you were entering 10jυ. can.
■ フランクの大きさの変更かｋっでも、摺即Ｊ台葡搦
動芒せ゛、把ｔＣす乙、 ＩＩ、隔をシ”！ ｔａ’Ｊ
するたけでよいので、缶（「′Ｊり）弦四が容易である
。■ Even if you change the size of the flank, you can move it immediately and grasp it, II, change the distance!
It's easy to use the can ('Jri) string 4 because you only need to put it down.
■ 心安Ｖこ１Ｌ、し、帰服・基盤にｊ、って垂直上下
が出来るのて、目由同υ低いロボットも第１」用できる
。■ Since the robot can move vertically up and down, it can also be used for robots with the same low height.
等の多くの幼果を灸する。moxibustion of many young fruits such as.
４．１面υ１１１３ ’ｔ’な睨明
第１図はこの発明の把持装置の応用的であるブランク准
搬送部の午体配員図、’：ｉ５２図は同じくロボントυ
匝面図、第３因はこＶ発明の把持装置ｖｌｊｌｌｊ面図
である。4. 1 plane υ1113 't' perspective Figure 1 is a staffing diagram of the blank semi-conveying section which is an applied version of the gripping device of this invention, and ':i52 is also a robot υ
The third factor is a top view of the gripping device of the invention.
１：ロボット腕端 ２：基盤 ３：摺動杆４：摺動基盤
５．６：ランク・ヒニオン７：掲（勘合 ８．９：エ
アシリンダ
１０：把持子 １１：押え指 １５ニブランク堆 １６
．１７：ウレタンコート
勃１゛１−出ｈ；人 東洋製罐味式会社出願人代理人
５′ｒ理士 佐 藤 文 男（ほか１名）
第 ２ 図
第 ３ し１1: Robot arm end 2: Base 3: Sliding rod 4: Sliding base 5.6: Rank/Hinion 7: Fitting 8.9: Air cylinder 10: Grip 11: Presser finger 15 Blank pile 16
．． 17: Urethane coat 1゛1-outh; Person Toyo Seikan Shiki Co., Ltd. Applicant's agent 5'r Physician Fumi Sato (and 1 other person) Figure 2 Figure 3 Shi1
Claims (1)
れ、互に間隔をＫｌ！：＋節しうる合、組合に外方にＩ
ＬＡ斜０］能に嘔付けられた把持子及び、該把持子に揺
動自在に敗付けられ、該把持子と協動して被把持物を抑
圧保持しうる押え指とからなることを特敵とする把持装
置A base is attached to the end of the arm of the robot, and is attached to the base at a distance of Kl! ：+When it is possible to join, I outward to the union
LA Oblique 0] The invention is characterized in that it consists of a gripper which is attached to the gripper, and a presser finger which is swingably attached to the gripper and can cooperate with the gripper to suppress and hold the object to be gripped. enemy gripping device
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10286283A JPS59227388A (en) | 1983-06-10 | 1983-06-10 | Gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10286283A JPS59227388A (en) | 1983-06-10 | 1983-06-10 | Gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59227388A true JPS59227388A (en) | 1984-12-20 |
| JPS6149076B2 JPS6149076B2 (en) | 1986-10-27 |
Family
ID=14338721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10286283A Granted JPS59227388A (en) | 1983-06-10 | 1983-06-10 | Gripper |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59227388A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS621891U (en) * | 1985-06-20 | 1987-01-08 | ||
| US4942093A (en) * | 1988-09-09 | 1990-07-17 | Bridgestone/Firestone, Inc. | Adhesive system for bonding uncured rubber to cured polyurethane |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5890490A (en) * | 1981-11-25 | 1983-05-30 | 株式会社新潟鐵工所 | Manipulator |
-
1983
- 1983-06-10 JP JP10286283A patent/JPS59227388A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5890490A (en) * | 1981-11-25 | 1983-05-30 | 株式会社新潟鐵工所 | Manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS621891U (en) * | 1985-06-20 | 1987-01-08 | ||
| US4942093A (en) * | 1988-09-09 | 1990-07-17 | Bridgestone/Firestone, Inc. | Adhesive system for bonding uncured rubber to cured polyurethane |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6149076B2 (en) | 1986-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| ATE12191T1 (en) | AUTOMATIC SHEET BENDING MACHINE. | |
| CN207375326U (en) | A kind of backlight source module automatic charging machine | |
| CN203197550U (en) | Disc automatic locking screw machine | |
| EP0088248A3 (en) | Device for erecting boxes | |
| JPS59227388A (en) | Gripper | |
| JPS6444100A (en) | Device for mounting electronic component | |
| JPH06127698A (en) | Part feeding device | |
| CN216030866U (en) | Adjustable carrying gripper convenient and fast to use | |
| JPS6155016A (en) | Parts supplying and arranging system | |
| ATE49731T1 (en) | SCREEN PRINTING MACHINE WITH A FIXED PRINTING TABLE. | |
| CN207942301U (en) | Human body artificial limb handling system based on industrial robot | |
| US3276609A (en) | Apparatus for handling packs of printed signatures | |
| JPS5811143Y2 (en) | Grain culm conveyor | |
| SU595229A1 (en) | Load-lifting device for workpiece transfer | |
| JPS6146287A (en) | Method and device for discriminating and aligning head and tail of dried bonito | |
| SU783160A1 (en) | Arrangement for separating and one-by-one delivering of long cargoes | |
| JPS5952300U (en) | work safety equipment | |
| JPS59227375A (en) | Conveyor for body blank of can | |
| DE1699439U (en) | HOLDER, IN PARTICULAR FOR VACUUM CLEANERS. | |
| JPS58149303U (en) | Obi wrapping equipment | |
| JPS58131236U (en) | Layered parts push-up supply device | |
| CN108909178A (en) | A kind of transverse conveying mechanism of automatic mulch applicator | |
| JPS5959212U (en) | Pipe end material conveying device in steel pipe cutting machine | |
| JPS59227310A (en) | Blank cutting unit | |
| JPS6327294A (en) | Cover fixture for back-binding paper cover book |