JPS6144794Y2 - - Google Patents
Info
- Publication number
- JPS6144794Y2 JPS6144794Y2 JP1982137140U JP13714082U JPS6144794Y2 JP S6144794 Y2 JPS6144794 Y2 JP S6144794Y2 JP 1982137140 U JP1982137140 U JP 1982137140U JP 13714082 U JP13714082 U JP 13714082U JP S6144794 Y2 JPS6144794 Y2 JP S6144794Y2
- Authority
- JP
- Japan
- Prior art keywords
- gripping
- claws
- arms
- articles
- contact
- 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.)
- Expired
Links
- 210000000078 claw Anatomy 0.000 claims description 26
- 210000000707 wrist Anatomy 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 3
Description
【考案の詳細な説明】
本考案は、単一の駆動装置により均等な把持力
で複数の物品を把持できるようにした物品把持装
置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an article gripping device that is capable of gripping a plurality of articles with uniform gripping force using a single drive device.
従来のこの種の物品把持装置は、複数の物品を
同時に把持する場合、複数組の爪を同期的に作動
させねばならず、構成が複数となつていた。ま
た、把持すべき物品の寸法にバラツキがあると把
持力に差異が生じ、うまく物品を把持することが
できないという欠点が生じていた。 In the conventional article gripping device of this type, when gripping a plurality of articles at the same time, a plurality of sets of claws must be actuated synchronously, resulting in a plurality of configurations. Furthermore, if there are variations in the dimensions of the article to be gripped, there will be differences in the gripping force, resulting in the disadvantage that the article cannot be gripped properly.
本考案は、上記従来の欠点に鑑み、単一の駆動
装置を用いて一組のアームの開閉のみによる簡単
な構成により複数個の物品を均等な把持力で同時
に把持できるようにした物品把持装置を提供せん
とするものである。 In view of the above-mentioned drawbacks of the conventional art, the present invention is an article gripping device that uses a single drive device and has a simple configuration that only opens and closes a set of arms, and is capable of gripping multiple articles at the same time with equal gripping force. We aim to provide the following.
以下、本考案の実施例を添付図面に基づいて説
明する。 Embodiments of the present invention will be described below with reference to the accompanying drawings.
第１図は本考案を工業用ロボツトに適用した場
合の実施例を示す縦断面図で、図中符号１は工業
用ロボツトの手首部であり、この手首部１の下端
にはツール取付部材２がボルト３によつて固定さ
れている。ツール取付部材２の内部にはエアシリ
ンダ４が形成され、該シリンダ４内には往復動自
在のスプリング５によつて手首部１の方向に付勢
されたピストン６が装着されている。そして、図
示してないエア供給源と前記シリンダ４とピスト
ン６によりアクチユエータ（駆動装置）が形成さ
れている。 FIG. 1 is a longitudinal sectional view showing an embodiment in which the present invention is applied to an industrial robot. In the figure, reference numeral 1 is a wrist portion of the industrial robot, and a tool mounting member 2 is attached to the lower end of the wrist portion 1. is fixed by bolt 3. An air cylinder 4 is formed inside the tool attachment member 2, and a piston 6 biased toward the wrist portion 1 by a reciprocating spring 5 is mounted within the cylinder 4. An actuator (drive device) is formed by an air supply source (not shown), the cylinder 4, and the piston 6.
前記ツール取付部材２の下端部には円筒状延在
部２ａが形成され、この延在部２ａの外周端部に
は係合溝２ｂが形成されている。前記延在部２ａ
の端部には把持ユニツトＡが離係合自在な如くに
係合せしめられている、この係合は、締付スリー
ブ７をスプリング８の付勢力で上方向に押動せし
めて球受け部材９に組付けられている複数個の係
合球１０を前記係合溝２ｂに係合せしめることに
よつて行なう。すなわち、前記ユニツトＡが未だ
円筒状延在部２ａに取付けられていないときに、
スプリング８に抗して前記スリーブ７を下方に押
動せしめ（冶具を用いて行なう）た状態で前記球
受け部材９を図示の如く延在部２ａの外周にセツ
トし、スリーブ７を離せばスプリング８の付勢力
で前記スリーブ７が上動し、その際斜面７ａが前
記球１０を内側に押すため、これら球１０が係合
溝２ｂにはまり込むのである。この場合、前記球
受け部材９には係合球１０を収納する部分の内側
に凸部９ａが形成されているため、ユニツトＡが
延在部２ａにセツトされていない状態のときに、
球１０が受け部材９から外れ落ちるということは
ない。 A cylindrical extending portion 2a is formed at the lower end of the tool mounting member 2, and an engagement groove 2b is formed at the outer peripheral end of this extending portion 2a. The extending portion 2a
A gripping unit A is releasably engaged with the end of the ball receiving member 9. This engagement is achieved by pushing the tightening sleeve 7 upward by the biasing force of the spring 8, and thereby releasing the ball receiving member 9. This is done by engaging a plurality of engaging balls 10 assembled into the engaging groove 2b. That is, when the unit A is not yet attached to the cylindrical extension part 2a,
With the sleeve 7 pushed downward against the spring 8 (done using a jig), the ball receiving member 9 is set on the outer periphery of the extending portion 2a as shown in the figure, and when the sleeve 7 is released, the spring is released. The sleeve 7 moves upward by the biasing force 8, and at this time the slope 7a pushes the balls 10 inward, so that the balls 10 fit into the engagement grooves 2b. In this case, since the ball receiving member 9 has a convex portion 9a formed inside the portion that accommodates the engaging ball 10, when the unit A is not set in the extending portion 2a,
The ball 10 will not fall off the receiving member 9.
前記球受け部材９の下端部には把持本体１１が
ボルト１２により固定されている。該本体１１の
上方開口部内にはスプリング１３が配設され、且
つ前記スプリング１３によつて上方に付勢された
作動軸１４がカラー１５を介して軸心方向に往復
動自在に装着されている。前記作動軸１４の上端
と前記ピストン６の下端は前記スプリング１３の
付勢力により常時点接触している。 A grip main body 11 is fixed to the lower end of the ball receiving member 9 with a bolt 12. A spring 13 is disposed within the upper opening of the main body 11, and an operating shaft 14 urged upward by the spring 13 is mounted via a collar 15 so as to be able to reciprocate in the axial direction. . The upper end of the operating shaft 14 and the lower end of the piston 6 are always in contact with each other due to the biasing force of the spring 13.
前記把持本体１１の中心内方部の空間１６には
前記作動軸１４の下端部が延在し、該下端部には
ピン１７を介してテーパ部材１８が枢着されてい
る（第２図参照）。一方、前記把持本体１１の下
端部には枢支ピン１９を介して一対のアーム２
０，２１が開閉可能に枢着され、これらアーム２
０，２１の上端部にはローラ２２，２３がそれぞ
れ枢着されている。両ローラ２２，２３はスプリ
ング２４，２５により前記テーパ部材１８のテー
パ面に当接する如くに付勢されている。 The lower end of the actuating shaft 14 extends into a space 16 at the inner center of the gripping body 11, and a tapered member 18 is pivotally attached to the lower end via a pin 17 (see FIG. 2). ). On the other hand, a pair of arms 2 are connected to the lower end of the grip main body 11 via a pivot pin 19.
0 and 21 are pivotally connected so that they can be opened and closed, and these arms 2
Rollers 22 and 23 are pivotally attached to the upper end portions of rollers 0 and 21, respectively. Both rollers 22 and 23 are urged by springs 24 and 25 so as to come into contact with the tapered surface of the tapered member 18.
また前記アーム２０，２１の下方曲折延在端に
はピン２６，２７により把持爪２８，２９がアー
ム２０，２１の開閉方向にほぼ平行な面内で首振
り可能に枢着され、前記把持本体１１の下端部に
は第２図，第３図のように２個の固定爪１１ａ，
１１ｂが把持爪２８，２９を挾んで相対向する如
くに形成されている。尚、第２図における小ネジ
３０は枢支ピン１９の軸方向移動を防止するため
のものである。 Furthermore, gripping claws 28 and 29 are pivotally attached to the downwardly bent extending ends of the arms 20 and 21 by pins 26 and 27 so as to be swingable in a plane substantially parallel to the opening and closing direction of the arms 20 and 21, and At the lower end of 11, there are two fixing claws 11a, as shown in FIGS. 2 and 3.
11b are formed so as to sandwich the gripping claws 28 and 29 and face each other. Note that the machine screw 30 in FIG. 2 is for preventing the pivot pin 19 from moving in the axial direction.
また第２図の如く、枢支ピン１９の両端に近接
した位置にはスプリング３１，３２により下方に
付勢された保持軸３３，３４が配設されている
が、これは後述の如く把持すべき物品W1，W2の
表面に当該軸３３，３４の下端面を最初に当接せ
しめて物品W1，W2を傾かないように把持しうる
ようにするために設けられているものである。 Further, as shown in FIG. 2, holding shafts 33 and 34, which are urged downward by springs 31 and 32, are disposed close to both ends of the pivot pin 19, and these are used for gripping as will be described later. This is provided so that the lower end surfaces of the shafts 33 and 34 are first brought into contact with the surfaces of the objects W 1 and W 2 to be held, so that the objects W 1 and W 2 can be gripped without tilting. be.
かかる構成において、２個の物品W1，W2を把
持する場合は、第１図の如くに把持ユニツトＡを
ツール取付部材２の円筒状延在部２ａにセツトし
た状態で、ロボツトの手首部１を下降させること
によつて前記ツール取付部材２及び把持本体１１
を一体的に下降させ、先ず保持軸３３，３４の下
端面３３ａ，３４ａをそれぞれの把持物品W1，
W2の表面に当接せしめる。そして、さらに前記
取付部材２と把持本体１１との一体物が前記保持
軸３３，３４を付勢しているスプリング３１，３
２に抗して下降すると、物品W1，W2の外周面に
近接した位置に固定爪１１ａ，１１ｂの内周面１
１ｃ，１１ｄ（第３図）が位置することとなる。
この場合、把持爪２８，２９の物品W1，W2と当
接する４箇所の端面２８ａ，２８ｂ，２９ａ，２
９ｂと各物品W1，W2の外周面との間には未だ隙
間が存在する。 In such a configuration, when gripping two articles W 1 and W 2 , the gripping unit A is set on the cylindrical extension portion 2a of the tool attachment member 2 as shown in FIG. 1 by lowering the tool mounting member 2 and the gripping body 11.
are lowered integrally, and first the lower end surfaces 33a and 34a of the holding shafts 33 and 34 are held together with the respective gripped articles W 1 and
Bring it into contact with the surface of W 2 . Further, springs 31 and 3, which are integrated with the mounting member 2 and the grip main body 11, bias the holding shafts 33 and 34.
2, the inner peripheral surfaces 1 of the fixing claws 11a and 11b are located close to the outer peripheral surfaces of the articles W 1 and W 2 .
1c and 11d (Fig. 3) will be located.
In this case, the end surfaces 28a, 28b, 29a , 2 of the gripping claws 28 , 29 are in contact with the articles W1, W2 at four locations.
A gap still exists between 9b and the outer circumferential surface of each article W 1 and W 2 .
この状態においてエアシリンダ４を含むアクチ
ユエータが作動してピストン６が下降し、作動軸
１４が下降せしめられる。この作動軸１４の下降
により、テーパ部材１８のテーパ面によつてロー
ラ２２，２３が互いに離れる方向（外側方向）に
押圧され、アーム２０，２１はピン１９の軸心回
りに回動し該アーム２０，２１下端の把持爪２
８，２９は互いに間隙が狭まる方向に押動せしめ
られる。この結果、物品W1，W2はその外周部が
固定爪１１ａ，１１ｂ，の内周部１１ｃ，１１ｄ
と把持爪２８，２９の端面２８ａ，２９ａ，２８
ｂ，２９ｂとによつて把持される。そして、ロボ
ツトの手首部１が動くことにより物品W1，W2が
所定の場所に運搬される。 In this state, the actuator including the air cylinder 4 is operated, the piston 6 is lowered, and the operating shaft 14 is lowered. As the operating shaft 14 descends, the tapered surface of the tapered member 18 presses the rollers 22, 23 in a direction away from each other (outward direction), and the arms 20, 21 rotate around the axis of the pin 19, causing the arms 20, 21 to rotate around the axis of the pin 19. 20, 21 Lower end gripping claw 2
8 and 29 are pushed toward each other in a direction that narrows the gap. As a result, the outer peripheries of the articles W 1 and W 2 are the inner peripheries 11c and 11d of the fixed claws 11a and 11b.
and end surfaces 28a, 29a, 28 of gripping claws 28, 29
b, 29b. By moving the robot's wrist 1, the articles W 1 and W 2 are transported to a predetermined location.
尚、前記把持爪２８，２９の端面２８ａ，２８
ｂ，２９ａ，２９ｂの形状は、直線状又は物品
W1，W2の凸形状と逆の側に凸となつた形状（つ
まり、互いに凸部が向い合う構成）が好ましい。
なぜなら、物品W1，W2の種類が変わつて外径が
多少変わつても適確に把持できるべく、また前記
端面２８ａ，２８ｂ，２９ａ，２９ｂと物品
W1，W2の外周との接触は別段曲面接触でなくて
も良くむしろ点接触である方が適確に把持できる
からである。ここで、把持爪２８，２９は既述の
如くピン２６，２７により枢着されているため、
把持爪２８，２９はピン２６，２７の軸心回りに
揺動自在である。このため、物品W1，W2の外径
値が多少異なつていても両物品W1，W2を均等な
把持力で適確に把持することができる。 Note that the end surfaces 28a, 28 of the gripping claws 28, 29
The shape of b, 29a, 29b is linear or article
It is preferable to have a convex shape on the side opposite to the convex shapes of W 1 and W 2 (that is, a configuration in which the convex portions face each other).
This is because the end surfaces 28a, 28b, 29a, 29b and the articles are designed to be able to be gripped properly even if the types of articles W1 and W2 change and their outer diameters change slightly.
The reason for this is that the contact with the outer periphery of W 1 and W 2 does not necessarily have to be a curved surface contact, and rather a point contact allows for more accurate gripping. Here, since the gripping claws 28 and 29 are pivotally mounted by the pins 26 and 27 as described above,
The gripping claws 28 and 29 are swingable around the axes of the pins 26 and 27. Therefore, even if the outer diameter values of the articles W 1 and W 2 are slightly different, both articles W 1 and W 2 can be accurately gripped with equal gripping force.
尚、上記実施例においては作動軸１４下端のテ
ーパ部材１８はピン１７により枢着されているわ
けであるが、これは作動を円滑にするために枢着
連結となつているのであつて、別段、テーパ部材
１８は作動軸１４の下端に固定されていても作動
しないというものではない。 In the above embodiment, the taper member 18 at the lower end of the operating shaft 14 is pivotally connected by the pin 17, but this is a pivot connection for smooth operation, and there is no need to specify otherwise. Even if the tapered member 18 is fixed to the lower end of the operating shaft 14, it does not mean that it does not operate.
このように本考案は、アクチユエータの作動で
軸方向に往復動自在であり下端にテーパ部材を有
する作動軸を把持本体に設け、該把持本体に付勢
手段の付勢力により前記テーパ部材に常時当接し
前記作動軸の軸方向移動により開閉運動する一対
のアームを枢支し、前記把持本体の下端に前記ア
ームの開閉方向と直角な方向に該アームを挟んで
互いに相対向する如く複数の固定爪を設け、前記
アームの各先端部に把持爪を前記作動軸に略平行
な軸線のまわりに揺動可能に枢着し、これら把持
爪の各両側に前記アームの開閉運動により複数の
物品に当接して各物品を前記各固定爪との間で同
時に把持する把持面を形成してなる構成としたの
で、複数の物品を単一の駆動装置により、しかも
均等な把持力で同時に把持することができる。ま
た、一対のアームの開閉運動と把持爪の揺動運動
による簡単な機構によつて物品を確実に杷持する
ことができる。このため、従来装置に比べコスト
ダウンにも貢献することができる。 In this way, the present invention provides a grip main body with an operating shaft that can freely reciprocate in the axial direction by the actuation of an actuator and has a tapered member at the lower end, and that the grip main body is constantly pressed against the taper member by the urging force of the urging means. A pair of arms are pivotally supported in contact with each other and are moved to open and close by the axial movement of the operating shaft, and a plurality of fixed claws are provided at the lower end of the gripping body so as to face each other across the arms in a direction perpendicular to the opening and closing direction of the arms. gripping claws are pivotally attached to each tip of the arm so as to be able to swing around an axis substantially parallel to the operating axis, and gripping claws are provided on each side of each of the gripping claws to touch a plurality of articles by opening and closing movement of the arm. Since the structure is such that a gripping surface is formed to simultaneously grip each article in contact with each of the fixing claws, it is possible to grip a plurality of articles at the same time with a single drive device and with an even gripping force. can. Further, the article can be securely held by a simple mechanism consisting of the opening/closing movement of the pair of arms and the swinging movement of the gripping claws. Therefore, it can contribute to cost reduction compared to conventional devices.
第１図は本考案の一実施例を示す縦断面図、第
２図は第１図−線矢視断面図、第３図は第２
図の方向から見た裏面図である。
４……エアシリンダ、１１……把持本体、１４
……作動軸、１７，１９……ピン、２０，２１…
…アーム、２２，２３……ローラ、２８，２９…
…把持爪、３３，３４……保持軸、１１ａ，１１
ｂ……固定爪。
Fig. 1 is a longitudinal sectional view showing one embodiment of the present invention, Fig. 2 is a sectional view taken along the line shown in Fig.
It is a back view seen from the direction of a figure. 4... Air cylinder, 11... Gripping body, 14
...Operating axis, 17, 19...Pin, 20, 21...
...Arm, 22, 23...Roller, 28, 29...
...Gripping claw, 33, 34...Holding shaft, 11a, 11
b...Fixed claw.
Claims (1)
あり下端にテーパ部材を有する作動軸を把持本体
に設け、該把持本体に付勢手段の付勢力により前
記テーパ部材に常時当接し前記作動軸の軸方向移
動により開閉運動する一対のアームを枢支し、前
記把持本体の下端に前記アームの開閉方向と直角
な方向に該アームを挟んで互いに相対向する如く
複数の固定爪を設け、前記アームの各先端部に把
持爪を前記作動軸に略平行な軸線のまわりに揺動
可能に枢着し、これら把持爪の各両側に前記アー
ムの開閉運動により複数の物品に当接して各物品
を前記各固定爪との間で同時に把持する把持面を
形成してなる物品把持装置。 An actuating shaft that is reciprocating in the axial direction by the actuation of an actuator and has a tapered member at the lower end is provided in the gripping body, and the gripping body is always in contact with the tapered member by the urging force of the urging means, and the actuating shaft is moved in the axial direction of the actuating shaft. A pair of arms that move to open and close by movement are pivotally supported, and a plurality of fixed claws are provided at the lower end of the grip main body so as to face each other across the arms in a direction perpendicular to the opening and closing direction of the arms, and each of the arms Gripping claws are pivotally attached to the tip of the gripping claws so as to be able to swing around an axis substantially parallel to the operating axis, and each of the gripping claws is brought into contact with a plurality of articles by the opening/closing movement of the arm on each side of each of the grasping claws, so that each of the articles is An article gripping device formed with a gripping surface that grips at the same time as a fixed claw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13714082U JPS5942888U (en) | 1982-09-09 | 1982-09-09 | Article gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13714082U JPS5942888U (en) | 1982-09-09 | 1982-09-09 | Article gripping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5942888U JPS5942888U (en) | 1984-03-21 |
| JPS6144794Y2 true JPS6144794Y2 (en) | 1986-12-16 |
Family
ID=30308128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13714082U Granted JPS5942888U (en) | 1982-09-09 | 1982-09-09 | Article gripping device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5942888U (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03165702A (en) * | 1989-11-24 | 1991-07-17 | Asahi Corp | Antiskid sole |
| JP3292927B2 (en) * | 1991-07-25 | 2002-06-17 | ヤマハ発動機株式会社 | Tool holding device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS50113975A (en) * | 1974-02-19 | 1975-09-06 |
-
1982
- 1982-09-09 JP JP13714082U patent/JPS5942888U/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS50113975A (en) * | 1974-02-19 | 1975-09-06 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5942888U (en) | 1984-03-21 |
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