JPS601157B2 - handling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a handling device having a grip function in conveyance equipment such as manipulators and industrial robots used for conveying materials and products, and particularly for soft articles or easily breakable articles. It relates to equipment that handles special objects with shapes such as elliptical or elliptical.

In general, soft articles and articles that are easily damaged (hereinafter simply referred to as "workpieces") require special consideration from removal from processing equipment such as molding machines to transportation.

In particular, in order to avoid contact between works and to prevent damage due to unexpected collisions with other objects, various considerations have been made to the containers and means for transporting the works. The work that has conventionally been considered the most difficult when manufacturing or processing the above-mentioned workpieces is the work of removing the workpieces from manufacturing and processing equipment.

Due to the characteristics of the workpiece and its special shape, there are various problems such as the inability to hold the workpiece in normal handling. For this reason, the above-mentioned work has to be done manually, and mechanization and automation are delayed, which has a negative impact on labor-saving and mechanization, including related equipment. The present invention solves the problems of the prior art and provides a simple handling device that grips a workpiece with claws on an elastic plate that can easily grip even a special shape.

The gist of this invention is that the claws that come into contact with the workpiece are formed by combining a plurality of parts of a weak elastic material and other parts of a strong elastic material,
By utilizing the elasticity of each elastic material to grasp the shape of the object on the outside, it is possible to handle glass, ceramic powder molded products, etc. that have special shapes and are particularly prone to breakage without causing damage. This is the main point.

Embodiments of the present invention will be described below. FIG. 1 shows an article having a special shape such as a polygon a and an ellipse b.

FIG. 2 is a front view of the main part showing an embodiment of the present invention. Reference numeral 3 denotes an arm, which is provided facing the support plate 5 so as to be openable and closable. A claw la made of material is disposed in the center, and for fixation by screws 2, a large number of attachment holes are provided on the opposing surface of the arm, and the tip of the elastic body is inserted into these holes for fixation.

A gap lb and a gap lc are provided between the claws 1 and la and the arm 3 to such an extent that the claws do not come into contact with each other, and the claws 1 and la are formed so that they can extend toward the arm 3 side and be deformable. The arm 3 is rotatably attached to the support plate 5 via a pin 4 so that the end of the arm protrudes from one side of the support plate 5. A cylinder 9 is fixed to the other side of the support plate 5, and a metal fitting 8 is fixed to the piston rod 9a, and the metal fitting 8 and the inner end of the arm 3 are connected to the link plate 7 and the pin 6. Use the one connected through. FIG. 3 is a diagram showing a state in which an article of a special shape is grasped according to an embodiment of the present invention.
, 1ob from the outside according to the outline or the shape of a part of the outer periphery. Work 10a again? 10b
It is designed to be removable and replaceable in order to accommodate this. In this invention, the elastic material is fixed by screws, but another embodiment is shown in FIG. 3b.

That is, the arm 3a has a mounting plate 11 having a large number of mounting holes, and the arm 3b has a fixing plate 12 for suppressing an elastic material, and both can be fixed in a manner parallel to or intersecting the arm. It goes without saying that it is possible to bond only the elastic material, and it is also possible to use the above fixing methods in combination. With this configuration, the cylinder 9
When the arm 3 is closed by operating the arm 3, the claws 1 and la deform and partially come into close contact with the outer circumferential contours of the workpieces 10a and 10b, as shown in FIGS. 3a and 3b, thereby gripping and holding the workpiece 10.

When the workpiece 10 is transported to a predetermined position and the arm 3 is released, the claws 1 and la are restored as shown in FIG. 2 due to their elasticity. Particularly for an article like the present invention, which has a polygonal shape or an irregular outer contour, by making the center or outer portion a weakly elastic body, it is possible to grasp the article regardless of its shape. In the embodiment, an example was shown in which the arms rotated, but the effect is the same even if the opposing arms are moved in parallel.

Further, although the elastic material is fixed using screws, it is also possible to insert the tip of the elastic material into the arm hole, press it with a fixing plate, and adhere it. As explained above, by carrying out the present invention, easily damaged articles can be grasped in a soft manner, thereby eliminating the risk of scratches, deformations, cracks, chips, etc. occurring in the articles. Furthermore, the gripping force can be adjusted by changing the material and strength of the elastic material depending on the object. Handling work that was previously done manually can be mechanized and automated, making it possible to significantly save labor or automate related equipment, and even to make it unmanned. In particular, the present invention has made it possible to grasp special shapes, which were conventionally considered difficult, and this has a great industrial effect.

[Brief explanation of drawings]

1A and 1B are plan views showing polygonal and elliptical articles having special shapes, FIG. 2 is a front view of main parts showing an embodiment of the present invention, and FIGS. It is a figure which shows the state which grasped the special shape article by Example. 1, la: elastic material, 3, 3a, 3b: arm, 5: support plate, 7: ring plate, 9: cylinder head, 1
0a, lob: Work. O figure 2 figure O 3 figure

Claims (1)

[Scope of Claims] 1. In a handling device in which a pair of arms of the same shape are arranged to face each other and can be opened and closed, an elastic material that deforms into the shape of a workpiece to be gripped by a resiliently strong arm and a weak arm is provided on a surface facing the arms. 1. A handling device characterized in that the claws are mounted with a space and a gap provided to the extent that the claws do not come into contact with each other. 2. Handling according to claim 1, in which a large number of mounting holes are arranged on the elastic material mounting surface of the arm-facing surface, and the shape is similar to that of an article to be gripped by the plurality of elastic materials that deform into the shape of the workpiece. Device. 3. Claim 1 or 2, in which at least one fixing plate is disposed on the elastic material attachment surface of the arm facing surface.
Handling equipment as described in section.