JPS61241089A - Gripper - 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] B. Purpose of the invention [Industrial application field] The present invention relates to a gripping device (robot hand device).

More specifically, it has a pair of opening/closing gripping members (hands), at least one of which is movable, moves relatively close to the object to be gripped, receives the object between the gripping members in an open state, and closes the gripping members. The present invention relates to a gripping device that grips an object between clamping members through an operation.

[Conventional technology]

The above-described gripping device is used, for example, as a cartridge gripping mechanism incorporated into a microfilm cartridge autochanger CGA III (apparatus).

For convenience, the above DAC device will be explained below as an example.

The CAC device searches for a specified target cartridge among a large number of microfilm cartridges stored one by one in a number of shelves of a cartridge storage section such as a rotating drum shelf section, arranged by address. The cartridge is gripped by a gripping device, and transported to and installed in the cartridge mounting section of a microfilm device such as a Microfilm League printer.Also, the used cartridge is gripped by a gripping device on the microfilm device side. This is a device that automatically performs the operation of returning the microfilm to a predetermined storage shelf in the storage section, transporting it, and storing it again, and is an effective device for efficiently utilizing microfilm.

Grasping of the target cartridge, which is an object to be gripped, by the gripping device is performed by moving the gripping device and the target cartridge relatively close together (generally The gripping device moves forward toward the target cartridge, and as a result of this operation, the cartridge is received between the gripping members in the open state. When the gripping device and the target cartridge move toward each other by a predetermined amount, the gripping members close together. After the closing operation is performed, the cartridge received between the open clamping members is gripped and gripped between the clamping members. Thereafter, the transport process of the target cartridge held by the gripping device is executed by the operation of the carrier mechanism holding the gripping device.

[Problems to be Solved by the Invention] In order for the gripping device as described above to always securely grip an object, it is necessary to ensure that the object is within the width of the gap between the clamping members on the gripping device side, and It is necessary that the gripping device be located in a position facing the gripping device in a substantially directly facing position. In other words, if the object to be grasped is deviated laterally or diagonally from the opening width area between the clamping members on the gripping device side, the gripping device with the clamping members open to grasp the object. During the relative approach movement between the gripping member and the gripped object, the tip of the clamping member butts against the gripped object, and the gripped object is not received between the clamping members, resulting in an error in grasping the gripped object. become.

In fact, in the CAC 9 as described above, mistakes in gripping the cartridges often occur due to the above-mentioned positional deviation and diagonal positional deviation of the stored cartridge in the cartridge storage section with respect to the gripping device.

By making the opening width of the clamping member on the gripping device side considerably larger than the grasping width of the object to be gripped, it is possible to widen the tolerance range for a certain degree of positional deviation and diagonal posture deviation of the object to be gripped, but in this case, the gripping device becomes that much larger.

The present invention relates to the above-mentioned gripping device, without making the opening width of the clamping member unnecessarily large, and therefore, using an unnecessary gripping device, while allowing considerable displacement of the position and diagonal posture of the object to be gripped. An object of the present invention is to provide an object that can reliably grasp an object.

Summary: Structure of the Invention [Means for Solving Problems] The present invention has a pair of opening/closing clamping members, at least one of which is movable, and the clamping members are in an open state by moving toward the object to be gripped. In a gripping device that receives an object between the clamping members and grasps the target between the clamping members by closing the clamping members, the inner surface of the distal end of the clamping member on the gripping member receiving side is connected to the clamping member. The gist of the present invention is a gripping device characterized by having an outwardly inclined surface that is inclined outward with respect to a direction of relative approach with an object to be gripped.

[For production]

That is, by forming the inner surface of the tip of the gripping member on the gripped object receiving side into an outwardly inclined surface that is inclined outward with respect to the relative approach direction of the gripping member with the gripped object, when the gripping member is in the open state, Even if the actual opening width dimension is set to be somewhat larger than the grasping width dimension of the object to be gripped, the opening width dimension between the tips of the clamping members will be large and open in a trumpet-like state, and the above-mentioned outward direction Since the inclined surface acts as a cam surface that guides the object to move laterally in the direction between the clamping members, even if the object to be gripped has a considerable positional or diagonal deviation, the gripping member remains open. In the process of relative approach movement with the gripping device, positional deviations and diagonal posture deviations between the clamping members are corrected and accepted, thereby ensuring reliable gripping of the object to be gripped.

〔Example〕

In FIG. 1, A is a gripping device, and B is a microfilm cartridge as an object to be gripped, which is stored on a shelf of a storage section (not shown).

Reference numeral 1 denotes a five-piece wooden housing for the gripping device; 2Φ2 denotes a pair of clamping members made of sheet metal that protrude forward from the left and right sides of the front plate 3 of the housing 1; An opening/closing mechanism (e.g. rack and pinion type,
The gripping device A is controlled to open and close by a gear/cam type, tension wire type, etc. between an open position shown by a solid line and a closed position shown by a two-dot chain line. forward and backward movements a*b. 4 is the axis of the gripping device A in the forward and backward directions.

The sheet metal holding members 2, 2 are formed by first bending the tip side diagonally inward, and then bending the tip side diagonally outward from the halfway point between the bending position and the tip, thereby forming the inward chevron portion 2a. It is formed. Due to the formation of the inward chevron portions 2a, the inner surfaces 2b, 2b of the distal ends of the gripping members 2, 2 on the cartridge receiving side, which are objects to be gripped, are inclined outward with respect to the direction in which the gripping members approach relative to the cartridge. It has the form of an outwardly inclined surface (elevation angle relative to the side surface of the cartridge). The inclination angle θ of the outwardly inclined surfaces 2b and 2b is such that the angle of inclination θ of the outwardly facing inclined surfaces 2b is 2
It is best to set the angle to about 0° to 80°.

Reference numerals 7 and 7 denote recesses provided on the sides of the cartridge B, and when the cartridge is gripped by the gripping members 2 and 2 of the gripping device A (Fig. 3), the inward chevrons on the side of the gripping members 2 and 2 are recessed. 2ae2a is inserted.

Wl is the gripping width dimension of cartridge B, Wl is the gripping device A
is the actual opening width dimension (distance between the tops of the inwardly facing chevron portions 2a, 2a of the clamping members 2, 2) when the clamping members 2, 2 are in the open state, and is from the gripping width dimension WI of the cartridge B. It is also set somewhat thicker. W3 is the opening width dimension between the tips of the clamping members 2, 2, and is larger than the above-mentioned W2.

Thus, in order to grasp the cartridge B by the gripping device A, the gripping device A is moved forward a toward the cartridge B with the gripping member in the open state (FIG. 1), and the end of the cartridge B on the gripping device side is gripped. When it is received between the members 2 and 2, and its end face abuts against the front plate 3 between the clamping members 2 and 2 of the gripping device housing 1.

The contact is detected by pushing the sensor actuator 8 protruding from the front plate 3, and the detection signal stops the further forward movement of the gripping device A, and the clamping members 2 are closed. The inward angled portions 2a, 2a of the clamping members 2, 2 fit into the recess 7 on the side of the cartridge B.
7 and the cartridge B is grasped by the clamping members 2.2 (Fig. 3). When the end of the closing operation of the clamping members 2.2 is detected by a sensor (not shown), the signal causes the above-mentioned The gripping device A that has gripped the cartridge B is moved back, and the cartridge B is taken out from the storage shelf and transported to a cassette loading section such as a microfilm league.

In the above, even if the cartridge B, which is the object to be gripped, is originally considerably misaligned with respect to the gripping device A, or has an oblique posture, the inner surface of the tip of the clamping members 2, 2 can be By forming the outwardly inclined surfaces 2b and 2b, the opening width dimension W3 between the distal ends of the clamping members 2 and 2 is large and the opening width dimension W3 is large, forming a trumpet-shaped opening. (corresponding to Figure 2),
During the forward movement process of the gripping device A, the cam action of the inclined surface 2b automatically corrects the positional and posture deviations while the gripping device A moves to correct the actual opening width between the inwardly facing angular portions 2a of the gripping members 2. Cartridge B is accepted between Wl without any problems.
is captured (Fig. 3).

FIG. 4 shows another member 9 tapered at the tip of the clamping members 2.
・An example in which the inner surfaces of the tips of the clamping members 2 and 2 are made into outwardly inclined surfaces 2b and 2b by attaching the clamping members 2 and 2, FIG.・2
This figure shows an example in which the inward convex portions 10-10 having the shape b are integrally formed and formed by molding, and the functions and effects are the same as those in the examples shown in FIGS.

C. Effects of the Invention As described above, according to the present invention, it is possible to reliably grip an object to be gripped with a small-sized gripping device while allowing a considerable displacement and posture of the object to be gripped. For example, it is effective and suitable as a cartridge gripping device for a CAC device.

[Brief explanation of drawings]

Fig. 1 is a state diagram before grasping, Fig. 2 is a state diagram when the object to be grasped is misaligned with respect to the grasping device, Fig. 3 is a state diagram after grasping, and Figs. 4 and 5 are respectively FIG. 7 is a diagram of another embodiment of the clamping member. A is a gripping device, 2.2 is a clamping member, and B is a microfilm cartridge as an object to be gripped.

Claims (2)

[Claims] (1) It has a pair of opening/closing clamping members, at least one of which is movable, moves relatively close to the grasped object to receive the grasped object between the open clamping members, and when the clamping member closes, the grasped object is received. In a gripping device that grips an object between clamping members, the inner surface of the tip of the gripping member on the side to receive the gripped member is inclined outward with respect to the relative approach direction of the clamping member with the gripped object. A gripping device characterized by having an outwardly inclined surface. (2) The grip according to claim 1, wherein the inclination angle of the outwardly inclined surface is 20° to 80° outward with respect to the direction of relative approach movement of the gripping member with the object to be gripped. Device.