JPS62102987A - Handling device - 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 [Technical Field of the Invention] The present invention relates to a handling device for gripping an article used in a robot or the like.

[Technical background of the invention and its problems]

For example, robots are used in the manufacturing process of various products to automate the manufacturing work. Some of these robots have a handling device that is driven in the X, Y, and θ directions, and the handling device takes out an article from a predetermined position and supplies it to a target position.

By the way, if the article to be held by the handling device is small or does not require highly accurate positioning, it is sufficient to transport the article by a handling device having a pair of holding parts. However, if the item is large or requires highly accurate positioning, the pair of gripping parts may not be able to hold the item.
A problem arises in that the clamped article swings in a direction perpendicular to the clamping direction, making it impossible to position it with high precision.

Therefore, in order to eliminate this problem, the handling device is equipped with two pairs of clamping parts, that is, a total of four clamping parts, so that it can grip large objects and prevent the clamped objects from swinging. ing. However, conventionally, when two pairs of clamping parts are provided, the clamping parts of each phase are driven to open and close by separate drive sources.

Therefore, two drive sources are required, resulting in high costs and
This causes inconveniences such as an increase in the size and weight of the device.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a handling device in which, when two sets of each pair of clamping parts are provided, these clamping parts can be driven to open and close by one drive source.

[Summary of the invention]

This invention provides a pair of supporting bodies facing each other at both ends along one direction of this base, and a sliding body is provided to be slidably supported on each supporting body, and the above-mentioned supporting body of these sliding bodies is provided with a pair of supporting bodies facing each other. A clamping part is provided at one end protruding outward, and one end of the link is pivotally connected to the other end of each slide body, while a drive source that is extendable and retractable is provided at both ends of the drive source disposed along one direction of the base. By pivoting the other ends of each pair of links located on one end side and the other end side in one direction of the base, the single drive source can drive
The clamping parts of the set are driven to open and close.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings.

Reference numeral 1 in FIG. 1 is a robot arm that is driven in the x, y, z, and θ directions. A base 2 of a handling device is fixed to this arm 1 via a mounting body 2a.

The base 2 has a rectangular plate shape, and at its four corners, that is, at both ends along one direction of the base 2, a pair of supporting bodies 3 are provided facing each other and fixed at one end.

Each support body 3 has a first support hole 5 into which a bearing 4 is fitted;
A second support hole 6 is formed along a direction perpendicular to one direction of the base 2. A ring-shaped slide body 7 is slidably supported by the bearing 4 of the first support hole 5, and an interlocking shaft 8 is slidably inserted into the second support hole 6. At one end of the slide body 7 and the interlocking shaft 8 that protrudes toward the outer surface of the support body 3, a clamping portion 9 made of a plate-shaped body is provided.
But the installation is fixed. A claw 11 is provided on the inner surface of the holding portion 9 in a protruding manner. Further, one end of the link 12 is attached to a bin 13 at the other end of each pair of corresponding slide bodies 7.
A tension spring 14 is tensioned between the other ends of the pair of interlocking shafts 8.

On the other hand, the base 2 has a drive 1Ill along one direction.
A cylinder 15 as a source is provided. A connecting member 19 having a 'f418 formed therein is attached to the rear end of the main body 16 of the cylinder 15 and the tip of the rod 17, respectively. The other end of each pair of links 12 is pivotally attached to the groove 18 of each connecting member by a pin 21, respectively. When the rod 17 of the cylinder 15 protrudes from the main body 16, that is, when the cylinders 15 are aligned, each pair of corresponding links 12 becomes substantially in a straight line. From this state, when the rod 17 is driven in the direction of recessing into the main body 16 and the total length of the cylinder 15 is reduced, each pair of links 12
rotates in the direction shown by the arrow in FIG. 3 with the bin 21 as a fulcrum. Therefore, since each pair of corresponding slide bodies 7 slide in the direction toward each other, the claws 11 of the four clamping parts 9 provided on each pair of slide bodies 7 in total
The article 22 can be gripped with four-point support.

Also, at this time, the restoring force of the tension spring 14 stretched between each pair of interlocking shafts 8 acts on the slide body 7, so that
This facilitates the sliding of the slide body 7 in the approach direction.

Furthermore, when the cylinder 15 is driven from the extended state to the contracted direction, each link 12 rotates in the opposite direction and the slide body 7 also slides in the opposite direction, so that each pair of clamping parts 9 The article 22 is driven in the opening direction, and the article 22 gripped by these gripping parts 9 is released.

According to the handling device having such a structure, each pair of two-phase clamping portions 9 can be driven to open and close by one cylinder 15. Therefore, the structure of the entire device can be simplified compared to the case where the holding portions 9 of 2111 are driven by separate drive sources. Further, the article 22 is held in a state of four-point support by claws 11 provided on each of the four holding parts 9.

Therefore, unlike in the case of two-point support, the article 22 gripped by the clamping portions 9 does not swing, so the article 22 can be positioned and fed to a desired position with high precision.

Note that the drive source in this invention is not limited to a cylinder;
For example, a pair of racks may be linearly driven in the telescopic direction by a pinion rotated by a motor, and the slide body may be driven by these racks via a link.In short, it is sufficient that the racks are driven in the telescopic direction. .

(Effects of the Invention) As described above, in the present invention, a pair of supports are provided at both ends of the base in one direction, and a slide body slidably supported by each support is extendable and retractable via a link. Accordingly, the two sets of clamping parts can be opened and closed using one drive source, and the product is clamped by the clamping parts provided on these supports. Not only can it be constructed at a low cost, but the 1111 construction can also be simplified.Roughly speaking, since the four clamping parts can securely clamp an article without shaking it, the article can be positioned with high precision. It has advantages such as being able to

[Brief explanation of drawings]

The drawings show one embodiment of the invention, with FIG. 1 being a front view, FIG. 2 being a side view, and FIG. 3 being a plan view of the base. 2... Base, 3... Support body, 7... Slide body, 9... Holding part, 12... Link, 15... Cylinder (drive source).

Claims (1)

[Claims] A base, a pair of supports provided opposite to each other at both ends along one direction of the base, and a clamping portion at one end that is slidably supported by each support and protrudes toward the outside of the support. a slide body provided with a slide body, a link having one end pivotally attached to the other end of each slide body, and a link that is extendable and retractable and is disposed along one direction of the base and has a link at one end side in the one direction of the base at both ends thereof. and a driving source pivotally connected to the other ends of each pair of links located on the other end side.