JPS6085887A - Grip device - Google Patents
Grip deviceInfo
- Publication number
- JPS6085887A JPS6085887A JP19122683A JP19122683A JPS6085887A JP S6085887 A JPS6085887 A JP S6085887A JP 19122683 A JP19122683 A JP 19122683A JP 19122683 A JP19122683 A JP 19122683A JP S6085887 A JPS6085887 A JP S6085887A
- Authority
- JP
- Japan
- Prior art keywords
- receiving plate
- finger
- members
- gripping
- shaped steel
- 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
Landscapes
- Clamps And Clips (AREA)
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
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】
本発明は、例えば鋼材等の建設資材を把持するグリップ
装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a gripping device for gripping construction materials such as steel materials.
従来、この種のグリップ装置としては、把持対象物の処
に人が居て人手によって補助しながら把持させており、
手間がかかるだけでなく危険も伴なっていた。Conventionally, with this type of gripping device, a person is present at the object to be gripped and the object is gripped with manual assistance.
Not only was it time-consuming, but it was also dangerous.
また、一般の産業用のロボットハンドは、左右のフィン
ガー間に該フィンが−の動きと同じ方向に油圧シリンダ
ーを配置したものが多く、これでは鋼材等の複雑な形状
のものは把持出来ない欠点があった。In addition, many general industrial robot hands have a hydraulic cylinder placed between the left and right fingers in the same direction as the fins move, but this has the disadvantage that it cannot grip objects with complex shapes such as steel materials. was there.
本発明は上記従来のグリップ装置の欠点を解消するため
１こなされたもので、その目的とするところは、遠隔操
縦により確実に把持及び解放が出来、安全に作業ができ
ると共に、型鋼等の複雑な建設資材を迅速且つ確実に把
持することの出来る新規なグリップ装置を提供するにあ
る。The present invention has been made in order to eliminate the drawbacks of the conventional gripping devices mentioned above.The purpose of the present invention is to enable secure gripping and release by remote control, to enable safe work, and to solve the problem of complex gripping devices such as shaped steel. An object of the present invention is to provide a new gripping device that can quickly and reliably grip construction materials.
以下、本発明の一実施例を図面を参照しながら説明する
。An embodiment of the present invention will be described below with reference to the drawings.
第１図に於いて、１は基板であって、たとえば建設ロボ
ットの腕の先端部に設けられている。該基板１の左右に
はピン２を介してフィンが一部材３が回動自在に取り付
けられている。該フィンガ一部材３の先端部は内側に折
曲がったフック部３ａとなっている。また、上記左右の
フィンガ一部材３の間には引張スプリング４が張装され
ていて、両フィンガ一部材３を内側、即ち把持方向に付
勢している。In FIG. 1, reference numeral 1 denotes a substrate, which is provided, for example, at the tip of the arm of a construction robot. A fin member 3 is rotatably attached to the left and right sides of the substrate 1 via pins 2. The tip of the finger member 3 is a hook portion 3a bent inward. Further, a tension spring 4 is tensioned between the left and right finger members 3, and urges both finger members 3 inward, that is, in the gripping direction.
上記左右のフィンガ一部材３の間の基板１中央部には油
圧シリンダー５が設けられていて、そのピストンロッド
５ａの先端部には受板６が取り付けられている。A hydraulic cylinder 5 is provided at the center of the base plate 1 between the left and right finger members 3, and a receiving plate 6 is attached to the tip of the piston rod 5a.
また、該受板６と左右のフィンが一部材３は、各々ピン
７．８を介してリンク部材９により連結されていて、上
記油圧、シリング−５が伸縮して受板６を左右のフィン
ガ一部材３の間で前進又は後退させると、これに伴なっ
て該フィンガ一部材３を開閉するようになっている。尚
、上記リンク部材９には長穴９ａが穿設されていて、こ
れに上記ビン７が挿通した状態で連結されている。Further, the receiving plate 6 and the left and right fin members 3 are connected by link members 9 via pins 7 and 8, respectively, and the hydraulic pressure and shilling-5 expand and contract to move the receiving plate 6 between the left and right fingers. When the finger member 3 is moved forward or backward, the finger member 3 opens or closes accordingly. The link member 9 has an elongated hole 9a, into which the bottle 7 is inserted and connected.
本実施例のグリップ装置は以上のように構成されている
ので、例えばＨ型鋼を把持するに際しては、まず油圧シ
リンダー５のピストンロッド５ａを縮めて受板６を後退
させると共に、引張スプリング４の引っ張り力に抗して
リンク部材９を介してフィンガ一部材３を左右に押し広
げておく。Since the gripping device of this embodiment is configured as described above, when gripping an H-shaped steel, for example, first, the piston rod 5a of the hydraulic cylinder 5 is retracted to retreat the receiving plate 6, and at the same time, the tension spring 4 is pulled. The finger members 3 are pushed apart laterally through the link members 9 against the force.
この状態でＨ型鋼１０の側片１０ａを上記フィンガ一部
材３の間に入れ、受板６の前面に当接させる６
続いて、油圧シリング−５を働かせて上記受板６を前進
させると、リンク部材９による突っ張り力が解除される
ので、上記左右のフィンガ一部材３は引張スプリング４
により内側のＨ型鋼１０に向かって閏じ、そのフック部
３ａがＨ型鋼１０の側片１０ａの裏面に係合し、最終的
に第２図に示すように受板６とフィンガ一部材３との間
でＨ型鋼１０を強固に把持する。In this state, the side piece 10a of the H-shaped steel 10 is inserted between the finger members 3 and brought into contact with the front surface of the receiving plate 6.Next, when the hydraulic cylinder 5 is activated to advance the receiving plate 6, Since the tension force exerted by the link member 9 is released, the left and right finger members 3 are moved by the tension spring 4.
The hook part 3a engages with the back surface of the side piece 10a of the H-shaped steel 10, and finally the receiving plate 6 and the finger member 3 are connected as shown in FIG. The H-shaped steel 10 is firmly gripped between the two.
逆に、上記Ｈ型鋼１０を解放する場合には、上記油圧シ
リング−５を働かせて受板６をＨ型鋼１０から後退させ
る。しかし、該受板６と左右のフィンが一部材３を連結
するリンク部材９には長穴９ａが形成されているために
、受板６が後退してもフィンが一部材３は直ちに連動す
ることはなく、引張スプリング４により依然閉じられた
状態にあり、Ｈ型鋼１０の側片１０ａを弾性的に挟持し
ている。On the other hand, when releasing the H-shaped steel 10, the hydraulic cylinder 5 is operated to move the receiving plate 6 back from the H-shaped steel 10. However, since an elongated hole 9a is formed in the link member 9 that connects the receiving plate 6 and the left and right fins 3, the fins and the members 3 immediately interlock even if the receiving plate 6 retreats. There is no problem, and the tension spring 4 remains in a closed state, elastically holding the side piece 10a of the H-shaped steel 10.
受板６を更に後退させると、今度は上記リンク部材９が
作動して左右のフィンガ一部月３を押し開き、Ｈ型鋼１
０を完全に解放する。When the receiving plate 6 is further retreated, the link member 9 operates to push the left and right fingers apart to open the moon 3, and the H-shaped steel 1
Completely release 0.
次に、本発明の効果を列記する。Next, the effects of the present invention will be listed.
（１）左右のフィン〃−と受板との開で被把持体を確実
に把持することが出来るので、各種形状のものを安全且
つ確実に把持出来る。(1) Since the object to be gripped can be reliably gripped by opening the left and right fins and the receiving plate, objects of various shapes can be gripped safely and reliably.
（２）両フィンが一部材の間に引張スプリングを張装し
たので、フィンガ一部材が常に把持体側に働いて安全で
ある。(2) Since the tension spring is tensioned between the two fin members, the finger member always acts on the gripping body side and is safe.
（３）受板とフィンが一部材とをリンク部材で連結した
ので、油圧シリンダーを遠隔操作するだけで確実且つ迅
速に作動させることが出来る。(3) Since the receiving plate and the fin are connected by a link member, the hydraulic cylinder can be operated reliably and quickly simply by remotely controlling it.
第り図は本発明のグリップ装置の一実施例を示す図、第
２図はＨ型鋼を把持した状態の作動図である。
１・・・基板、２・・・ピン、３・・・フィンガ一部材
、３ａ・・・フック部材、４・・弓１張スプリング、５
・・・油圧シリング−１５ａ・：・ピストンロッド、６
・・・受板、７．８・・・ビン、９・・・リンク部材、
１０・・・ＩＪ型鋼、１０ａ・・・側片。Figure 2 is a diagram showing an embodiment of the gripping device of the present invention, and Figure 2 is an operational diagram of the gripping device gripping an H-beam. DESCRIPTION OF SYMBOLS 1... Board, 2... Pin, 3... Finger member, 3a... Hook member, 4... Bow 1 tension spring, 5
...Hydraulic Schilling-15a: Piston rod, 6
...Socket plate, 7.8... Bin, 9... Link member,
10... IJ type steel, 10a... Side piece.
Claims (1)
部材の間の基板中央部に油圧シリンダーを配設すると共
にそのピろトンロッドの先端部に受板を取付け、該受板
と上記左右のフィンガ一部材をリンク部材で連結すると
共に該両フィンガ一部材の間に引張スプリングを張装し
たことを特徴とするグリップ装置。A pair of finger members are pivotally attached to the base plate, a hydraulic cylinder is arranged in the center of the base plate between the finger members, and a receiving plate is attached to the tip of the pilot rod, and the receiving plate and the left and right sides are connected to each other. A gripping device characterized in that one finger member is connected by a link member, and a tension spring is tensioned between the two finger members.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19122683A JPS6085887A (en) | 1983-10-13 | 1983-10-13 | Grip device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19122683A JPS6085887A (en) | 1983-10-13 | 1983-10-13 | Grip device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6085887A true JPS6085887A (en) | 1985-05-15 |
| JPS6339396B2 JPS6339396B2 (en) | 1988-08-04 |
Family
ID=16270989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19122683A Granted JPS6085887A (en) | 1983-10-13 | 1983-10-13 | Grip device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6085887A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63113090U (en) * | 1987-01-19 | 1988-07-20 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5148874A (en) * | 1974-10-23 | 1976-04-27 | Taiyo Tekko Kk | Hikosakubutsuno jidochoshinshikichatsukingusochi |
| JPS5541271U (en) * | 1978-09-12 | 1980-03-17 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5541271B2 (en) * | 1973-02-12 | 1980-10-23 |
-
1983
- 1983-10-13 JP JP19122683A patent/JPS6085887A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5148874A (en) * | 1974-10-23 | 1976-04-27 | Taiyo Tekko Kk | Hikosakubutsuno jidochoshinshikichatsukingusochi |
| JPS5541271U (en) * | 1978-09-12 | 1980-03-17 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63113090U (en) * | 1987-01-19 | 1988-07-20 | ||
| JPH0447187Y2 (en) * | 1987-01-19 | 1992-11-06 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6339396B2 (en) | 1988-08-04 |
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