JPS62865Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] In the present invention, a gripping tool for grasping a plate-shaped object, etc. is placed on standby at a predetermined position in advance, and the plate-shaped object, etc. being conveyed is held at that predetermined position. The present invention relates to a handling device for grasping and suspending by operating a grasping tool.

[Technical background of the invention and its problems]

Traditionally, metal plates, non-metal plates, etc., were grabbed using a gripping tool in a factory with a poor work atmosphere due to heat, dust, gas, etc., and the gripping tool was manually operated when preparing to move it to the next process. However, from the viewpoint of the working environment, it is desired to automate and save labor in handling such gripping tools.

[Purpose of invention]

The present invention was developed in view of these circumstances, and uses a group of cams to automatically perform actions similar to those of the human hand.It is reliable in the working environment, and is durable. It is an object of the present invention to provide a gripping tool handling device that has the following features.

[Summary of the idea]

The structure of the present invention is that the upper ends of both arms are rotatably connected via a connecting shaft to both ends of links on both sides rotatably connected by a fulcrum shaft supported by a conveying means, The lower parts of the arms on both sides are rotatably connected by the arm support shaft and crossed.
A device main body is provided so as to be able to move forward and backward with respect to the stopping position of the gripping tool, which has a pair of gripping ends at the lower ends of the arms on both sides that open and close as the arms open and close. a fulcrum shaft holding mechanism that holds the arm in a fixed position by a piece and a presser piece that is rotatable with respect to the receiving piece; an arm holding mechanism that grips the arm with respect to the fulcrum shaft in the fixed position and moves up and down; A positioning body is provided that is inserted into the gap between the pair of gripping ends of the arms on both sides that are opened by the rise of the arm gripping mechanism, and pushes up the gripping ends to a certain level, and a group of cams that actuate these. The gripping force of the mechanism is set to such a level that the gripped arm can be raised and lowered in one piece, does not hinder the opening and closing of the arm and the gripping end, and cannot resist the pushing up force of the positioning body. This invention relates to the structure of a gripping tool handling device characterized by the following: After the fulcrum shaft of the gripping tool is fixed by the fulcrum shaft holding mechanism, the arm gripping mechanism lightly preliminarily holds the arm of the gripping tool. By gripping and rising, the gap between the pair of gripping ends is opened, and then the gripping end of the gripping tool is pushed up to a predetermined level by the positioning body against the light gripping force of this arm gripping mechanism, and then the arm The gripping mechanism is fully tightened to fix the gripping tool at the receiving position of the plate-like object, guide the plate-like object into the gap between the pair of gripping ends, and grip the arm in synchronization with the lowering of the plate-like object. The mechanism is lowered to close the pair of gripping ends, and the plate-shaped object or the like is suspended from the gripping tool.

[Example of idea]

Hereinafter, the present invention will be described in detail with reference to embodiments shown in the drawings.

In FIG. 1, a cam unit box as the main body of the device is shown in a position relative to a stopping position of a gripping tool 3 suspended via a hanging fitting 2 by a hoist hook 1 conveyed by a conveying means (not shown). 4 is provided so as to be freely movable forward and backward along two parallel guides 5. 5a is a stopper at the tip of the guide 5.
A cam group 6 consisting of five cams is provided inside the cam unit box 4, and a motor 7 for driving this cam group 6 is provided at the top.The motor 7 is controlled by the upper end of a motor shaft 8. The photo sensor 1 detects the phase of the equally spaced slits on the rotary plate 9 provided in the
This is done by detecting by 0.

The guide 5 projects from the fixed frame 11 , and rotatably supports the center of the cam 14 on the upper part of the fixed frame 11 via the shaft 13 of the support section 12 . The upper end of the swing arm 17 is rotatably supported, and a cam follower 18 provided in the middle of the swing arm 17 and a cam groove 19 formed in the cam 14 are provided.
furthermore, the pin 20 provided at the lower end of the swing arm 17 and the vertical elongated hole of the connecting piece 21 protruding from the upper part of the cam unit box 4 are slidably fitted; Also cam 1
The drive mechanism 4 includes a shaft 23 rotated by a motor 22 fixed to the lower part of the fixed frame 11.
The upper end of the cam 14 is connected to a shaft 13 integral with the cam 14 via a bevel gear or the like.

Further, as shown in FIG. 1, from the cam unit box 4, the clamp upper arm 29 and the clamp lower arm of the clamp jaw 28 as a fulcrum shaft holding mechanism that holds the fulcrum shaft 27 between the upper links 26 of the gripping tool 3 in a fixed position. 30 is provided protrudingly, and an operating rod 33 of the clamp 32 as an arm gripping mechanism that grips the arm 31 of the gripping tool 3 and moves up and down is also protruded,
Furthermore, a push rod 3 of a positioning pawl 35 is inserted into the gap between the pair of gripping ends 34 of the gripping tool 3 and serves as a positioning body for pushing up the gripping ends 34 to a certain level.
The clamp jaw 28, clamp 32, and positioning pawl 35 are operated by the cam group 6.

Further, as shown in FIG. 2, the gripping tool 3 is
A connecting portion 39 to the hanging fitting 2 is rotatably supported by a fulcrum shaft 27 that rotatably connects the links 26 on both sides, and both sides of the fulcrum shaft 27 are connected to the connecting portion 39.
The upper ends of the arms 31 on both sides are rotatably connected to both ends of the links 26 on both sides via connection shafts 40, and the arms 31 on both sides are made to protrude more.
1 are rotatably connected and intersected by an arm support shaft 41, and U-shaped grip portions 42 welded to the lower ends of the arms 31 on both sides are opposed to each other so as to be freely openable and closable with the arm support shaft 41 as a fulcrum. . right arm 31
A stopper 43 is fixed to the left arm 31, and when the gripping end 34 at the tip of the gripping portion 42 is narrowed to a predetermined gap, the tip 44 of the stopper 43 will close to the left arm 31.
so that it touches the

As shown in FIG. 3, when the links 26 on both sides are in a straight line, the arms 31 on both sides are opened to the maximum, the gap 45 between the gripping ends 34 is also maximized, and the fulcrum shaft 27 is held in a fixed position. When the arm 31 is lowered, the arm 31 is slightly closed around the arm support shaft 41, and the gap 45 between the gripping ends 34 is also narrowed.

Further, as shown in FIG. 4, the two guides 5
are movably held by upper and lower bearings 49 in a holder 48 fixed to the upper part of the box 4. A drive shaft 51 connected to the motor shaft 8 of the motor 7 by a coupling 50 is rotatably supported by bearings 54 and 55 of upper and lower shaft support plates 52 and 53 fixed to the box 4. A worm 56 is integrally fitted to the lower part of the drive shaft 51, and a worm wheel 57 that meshes with the worm 56 is integrally fitted to a camshaft 58 rotatably installed on the box 4. The camshaft 58 is rotatably supported by a pair of bearings 59 fixed to opposite sides of the box 4, as shown in FIG.

Further, as shown in FIG. 4, a guide body 62 is fixed to the upper left side surface of the box 4, and the upper clamp arm 29 is slidably fitted to the upper part of the guide body 62, and the lower clamp arm 30 is fitted to the lower part of the guide body 62. A link 65 is fixed to the distal end of the clamp upper arm 29 via a bolt 63 and a connecting member 64 as shown in FIG.
6 rotatably connects the second stage member 67, links 69 are fixed to both sides of the second stage member 67 with bolts 68, and each link 69 has a rotation shaft 70 at its tip. As shown in FIG. 4, one inverted dog-shaped presser piece 71 of the clamp jaw 28 is rotatably connected, and intermediate members 75, 76 are connected to the tip of the lower clamp arm 30 by bolts 72, 73, 74. via clamp jyo 28
The other two receiving pieces 77 are fixed, and the intermediate portion of the presser piece 71 is rotatably supported by the rotating shaft 79 of the upper convex portion 78 of each receiving piece 77. Further, a roller fitting part 80 is fixed to the rear end of the clamp upper arm 29, and a roller 82 at the upper end of a lever 81 is fitted to this roller fitting part 80. The lower end is rotatably supported by a lever shaft 84 provided through a lever shaft 83, and the upper part is urged rightward in FIG. 4 by a spring 85 provided between the box 4 and the lever shaft 84. A cam follower (not shown) provided at the level of the camshaft 58 of 81 is pressed by a spring 85 against the outer peripheral surface of a cam 86 integral with the camshaft 58 shown in FIGS. 5 to 7.

Further, as shown in FIG. 7, a lifting guide 90 is fixed to the left side of the box 4 via a mounting member 89, and a slide plate 92 is fitted into the dovetail groove 91 of this lifting guide 90 so as to be vertically movable. Slide board 92
The operating rod 33 is horizontally slidably fitted and held by a holding plate 93, and a wedge 95 is provided at the tip of the operating rod 33 via a connecting member 94. Further, as shown in FIG. 4, an L-shaped mounting plate 96 is fixed to the lower part of the slide board 92, and a pair of presser plates 101, 102 are attached to the upper surface of the top end of the mounting plate 96 by a shaft 97 as shown in FIG. The pivot support 98 is rotatably mounted, and the pair of presser plates 101, 1
The wedge 95 is fitted into the gap 99 between the right side parts of the clamp 32, and the compression coil spring 100 is installed between the opposite side parts via the shaft 97.
By pressing the wedge 95 in the opening direction and pushing the wedge 95 into the gap 99, the pair of presser plates 10
1 and 102, the arms 31 on both sides of the gripping tool 3 are clamped. Further, as shown in FIG. 4, the operating rod 33 of the clamp 32 is biased to the right by a spring 103 provided between the rear end and the box 4, and A roller 105 that is pivotally supported is brought into contact with the upper end of the lever 104 across the lower receiving portion 33a. This lever 1
04 rotatably fits and supports the lower end of the lever shaft 84 at the bottom of the box 4, and
A cam follower (not shown) in the intermediate portion provided at the level of the camshaft 58 is attached to a spring 1 on the outer peripheral surface of a cam 106 that is integral with the camshaft 58 shown in FIGS. 5 to 7.
It is pressed by 03. Further, as shown in FIG. 4, the right end of a lever 108 is rotatably fitted and supported by a shaft 107 in the upper part of the box 4, and the left end of the lever 108 is projected outside the box 4. As shown in FIG. 4, the roller 109 at the tip of this lever 108 is fitted into the elongated hole 110 on the side of the slide plate 92, and the slide plate 92 is attached to a mounting plate 111 fixed to the left side of the box 4. The lever 108 is biased downward by a spring 112 between the levers 108 and 113.
The upper end of the actuating lever 114 is rotatably connected to the actuating lever 114, and the actuating lever 114 has an elongated hole 115 provided in the middle part that fits into a fixed position pin 116, and a cam follower (provided in the lower end part). The spring 112 (not shown) is attached to the outer peripheral surface of the cam 117 that is integral with the camshaft 58 shown in FIGS. 5 to 7.
It is pressed by.

Further, as shown in FIG. 4, an elevating guide 120 is fixed to the left side of the box 4 via a mounting member, and a slide plate 122 is fitted into the dovetail groove 121 of the elevating guide 120 so as to be movable up and down. The press rod 36 is horizontally slidably fitted to the plate 122 and held by a press plate 123, and the press rod 36 is
is biased to the right by a spring 124 provided between the rear end and the box 4, and this push rod 36
A roller 126 that is pivotally supported is brought into contact with the upper end of the lever 125 from the rear end to the lower receiving part 36a. This lever 125 has its lower end rotatably fitted to and supported by the lever shaft 84 at the bottom of the box 4, and a cam follower 127 provided at the level of the cam shaft 58 in the middle part is attached to the cam 1 integrated with the cam shaft 58.
28 by a spring 124. Further, as shown in FIG. 4, the right end of the lever 130 is rotatably fitted and supported by the shaft 129 of the box 4, and the left end of the lever 130 is made to protrude outside the box 4. A roller 131 provided at the tip of this lever 130 is fitted into a long hole 132 on the side of the slide board 122, and this slide board 122 is attached downward by a spring 133 between it and the mounting plate 111 below. At the same time, a projecting piece 13 is attached to the intermediate portion of the lever 130.
4 is fixed, a cam follower 135 is provided at the tip of this projecting piece 134, and this cam follower 135 is pressed by a spring 133 against the outer peripheral surface of a cam 136 that is integrated with the cam shaft 58.

Figure 8 shows each cam 86, 106, 177, 1
28,136 cam curves and timing are shown.

Next, the operation of this embodiment will be explained in its entirety based on FIG.

(A) When the gripping tool 3 is carried suspended from the hoist hook 1 via the hanging fitting 2, the cam unit box 4 is gripped by the swing arm 17 operated by the cam 14 driven by the motor 22. Move forward toward tool 3.

(B) Clamp the fulcrum shaft 27 of the tool 3 with the clamp jaw 28.

(C) The clamp 32 lightly preliminarily tightens the center part of the arm 31 of the tool 3.

(D) This clamp 32 rises. At this time, since the fulcrum shaft 27 of the tool 3 is fixed at a fixed position by the clamp jaw 28, the gap 45 between the gripping ends 34 of the gripping tool 3 is opened to the maximum.

(E) The positioning pawl 35 enters the gap between the gripping ends 34 and pushes up the gripping ends 34 of the tool 3 to the correct position against the light gripping force of the clamp 32.

(F) The clamp 32 firmly tightens (finally tightens) the central portion of the arm 31 of the gripping tool 3.

(G) The positioning claw 35 retreats to the standby position.

(H) The plate-shaped body 141 conveyed by a conveying means (not shown) rises and grips the gripping end 3 of the gripping tool 3.
Enter the gap between 4.

(I) The clamp 32 is lowered in synchronization with the lowering of the plate-shaped body 141. At this time, since the fulcrum shaft 27 is fixed at a fixed position by the clamp jaw 28, the gripping end 34 is closed and the upper part of the plate-shaped body 141 is gripped by the tool 3.

(J) Release the clamp 32 and clamp jaw 28 and move the cam unit box 4 backward.

(K) The tool 3 holding the plate-like object 141 is moved to the next process by the hoist hook 1.

(L) The clamp jaw 28, the clamp 32, and the positioning pawl 35 are all operated by the cam group 6 rotated by the motor 7 via the levers and the like.

Next, cams 86, 106, 117, 128, 1
36, the clamp jaw 28, the clamp 32, and the positioning claw 35 will be described in detail. Note that the alphanumeric code in this explanation is the 8th
Match the diagram.

(a) As the cam unit box 4 moves forward, the space between the pair of receiving pieces 77 of the clamp jaw 28 and the pair of holding plates 101, 1 of the clamp 32 in the open state
The gripping tool 3 is inserted between 02.

(b) When the fulcrum shaft 27 of this gripping tool 3 reaches the receiving piece 77, the clamp upper arm 29 of the clamp jaw 28, which had been in the retracted state until then, is moved by the cam 86.
This movement causes the lever 81 to move forward and rotate the presser piece 71 counterclockwise, thereby fixing the fulcrum shaft 27 of the gripping tool 3.

(c) Next, from the open state, the clamp 32 advances the operating rod 33 via the lever 104 as the cam 106 rotates, thereby advancing the wedge 95 provided at the tip of the operating rod 33. By doing so, the presser plates 101 and 102 are closed, and the center portion of the arm 31 of the tool 3 is preliminarily and lightly fixed.

(d) Next, in order to slide the slide plate 92 holding the clamp 32 upward, the lever 108 engaged with the elongated hole 110 of the slide plate 92 is moved upward as the cam 117 rotates via the lever 114. By moving to , the slide plate 92 is raised and the clamp 32 is moved upward. At this time, the fulcrum shaft 27 of the tool 3 is fixed at a fixed position by the clamp jaw 28, so the arm 31 of the tool 3, which rises together with the clamp 32, is attached to the links 26 on both sides, as shown in FIG.
As the tool 3 opens to 180 degrees, it opens around the arm support shaft 41 within the lightly tightened clamp 32, and the gap 45 between the gripping ends 34 of the tool 3 becomes the third
The maximum value is shown in the figure.

(e) Next, the positioning claw 35 moves forward via the lever 125 and the push rod 36 as the cam 128 rotates, and further moves the slide plate 122 holding the push rod 36 as the cam 136 rotates. At the same time, the tool 3 is pushed upward by the lever 130, the positioning pawl 35 engages with the gap 45 between the gripping ends 34 of the tool 3, and the tool 3 is further pushed up to a predetermined height.
Since the clamp 32 lightly holds the tool 3,
The claw 35 is pushed up and the tool 3 is clamped 3.
2 to obtain a predetermined height.

(f) Next, the clamp 32 advances the operating rod 33 via the lever 104 in accordance with the differential movement of the cam 106, further advances the wedge 95, and moves the presser plate 1.
01 and 102, the arm 31 of the tool 3 is strongly tightened (finally tightened).

(g) The positioning pawl 35 lowers the slide plate 122 via the lever 130 as the cam 136 rotates, and also moves the push rod 36 backward via the lever 125 as the cam 128 rotates. Return to position.

(h) Next, the plate-shaped body 141 transported by a transport means (not shown) rises, and the gap 45 of the tool 3 is raised.
When inserted into the clamp 3 by the cam 106
Slightly loosen the tightening of 2. At this time, the plate-shaped body 14
1 is held by the conveying means.

(i) Next, in synchronization with the lowering of the plate-shaped body 141, the slide plate 92 holding the clamp 32 is moved to the levers 114, 10 as the cam 117 rotates.
8 to lower the arm 31. At this time, since the fulcrum shaft 27 is held in place by the clamp jaw 28, the gap 45 between the gripping ends 34 of the tool 3 is closed and the plate-shaped body 141 is gripped, completing the gripping operation. From then on,
The more the arm 31 is pulled downward by the weight of the plate-like body 141, the more the arm 31 and the gripping end 34 tend to close, so that the grip on the plate-like body 141 can be maintained.

(j) Release the holding piece 71 of the clamp jaw 28 and the holding plates 101 and 102 of the clamp 32 as the respective cams 86 and 106 rotate, and then move the box 4 backward to open the respective operating parts. Return to initial position.

(k) The plate-shaped body 141 suspended by the hoist hook 1 via the hanging fitting 2 and the tool 3 is conveyed to the next step by a conveying means (not shown).

[Effect of idea]

According to the present invention, the fulcrum shaft holding mechanism that holds the fulcrum shaft located at the upper end of the gripping tool in a fixed position, the arm gripping mechanism that lifts and lowers by gripping the arm related to opening and closing of the gripping tool, and the fulcrum shaft holding mechanism that holds the fulcrum shaft located at the upper end of the gripping tool in a fixed position; Since a positioning body that is inserted into the gap between a pair of positioned gripping ends and pushes up the gripping ends to a certain level is provided on each of the main body of the device that moves forward and backward with respect to the stopping position of the gripping tool, transportation of the gripping tool is facilitated. For example, even if it is done with an unstable and easily shaken means such as a chain, the fulcrum shaft of the gripping tool is first fixed by the above-mentioned fulcrum shaft holding mechanism, and then the gripping end is freely set at a predetermined position by the arm gripping mechanism and positioning body. Therefore, it has good followability, and it is possible to accurately grip a predetermined position of a plate-shaped object or the like while keeping the gripping tool stable. In addition, since the fulcrum shaft holding mechanism, arm gripping mechanism, and positioning body are operated by a group of cams, the operation timing of each part can be set smoothly, positioning accuracy is high, and reliability is high. Because it can be made thinner and smaller without compromising the strength of other parts, it can be made extremely compact compared to conventional systems using air cylinders, hydraulic cylinders, etc. Even when it is desired to arbitrarily change the gripping position of the same plate-like object, the gap between the devices can be reduced and the gripping accuracy can be improved. Furthermore, even in places with poor working atmospheres such as heat, dust, gas, etc., durability can be maintained without suffering from the adverse effects of these conditions, and it has become possible to position the gripping tool and automate the gripping work.

[Brief explanation of the drawing]

The figures relate to an embodiment of the present invention, in which Fig. 1 is a front view of the handling device, Fig. 2 is a perspective view of the gripping tool, Fig. 3 is a front view thereof, and Fig. 4 is a front cross section of the handling device. Figure 5 is the plan view,
Fig. 6 is a side sectional view thereof, Fig. 7 is a plan sectional view thereof,
FIG. 8 is a graph showing the relationship between the cam curve and timing of the cam group. 3... Grasping tool, 4... Cam unit box as device main body, 6... Cam group, 27... Fulcrum shaft, 28... Clamp jaw as fulcrum shaft holding mechanism, 31... Arm, 32... Arm gripping Clamp as a mechanism, 34... gripping end, 35... positioning claw as a positioning body, 45... gap.

Claims (1)

[Scope of utility model registration request] The upper ends of both arms are rotatably connected via a connecting shaft to both ends of the links on both sides which are rotatably connected by a fulcrum shaft supported by a conveyance means, and the lower ends of the arms on both sides are are rotatably connected and intersected by an arm support shaft, and the lower ends of both arms are provided with a pair of gripping ends that open and close in response to the opening and closing of the arms. A fulcrum shaft holding mechanism is provided on the main body of the device, and the fulcrum shaft holding mechanism is held in a fixed position by the above-mentioned fulcrum shaft receiving piece and a presser piece that is rotatable with respect to this receiving piece; an arm gripping mechanism that grips the arm and moves up and down, and a positioning body that is inserted into a gap between a pair of gripping ends of the arms on both sides that are opened as the arm gripping mechanism rises and pushes the gripping ends to a certain level. , and a group of cams that actuate these, and the gripping force of the arm gripping mechanism can raise and lower the gripped arm in one piece, without interfering with the opening and closing of the arm and the gripping end, and without pushing up the positioning body. A gripping tool handling device characterized in that the force is set to an extent that the force cannot be resisted.