JPS63139675A - 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 (Field of Industrial Application) The present invention relates to a gripping device, and more particularly to an operating mechanism of the gripping device.

(Prior Art) FIG. 3 shows a manipulator that performs loading and unloading work (palletizing work) under the control of an operator. This manipulator A is equipped with a gripping device C at the tip of an arm B, and this gripping device C is
It has a hand body and a pair of finger members E and F that are swingably provided on the hand body. The finger members E and F are operated by a drive cylinder G and a drive cylinder H, respectively, and grip and hold the cargo I by moving the finger members E and F closer to each other.

(Problems to be Solved by the Invention) By the way, since the gripping device C includes two drive cylinders G and H, its weight is large. An increase in the weight of the grasping device results in a corresponding reduction in the weight of the workpiece (cargo) that can be grasped, which has led to a reduction in the working capacity of the manipulator A. Further, by providing a plurality of drive cylinders, there is a risk that control becomes complicated and costs increase. In order to solve the above-mentioned problem, the gripping device J shown in FIG. A link arm N and a link arm 0 are interposed between the drive cylinder and the finger member M, respectively, and the operating mechanism thereof is complicated. A complicated mechanism may cause a failure, and there is also a risk that the gripping device will become larger due to the link arms N and O being interposed between the drive cylinder and the finger member M.

SUMMARY OF THE INVENTION In view of the above circumstances, it is an object of the present invention to provide a gripping device that is lightweight, has a simple structure, and can be prevented from increasing in size as much as possible.

(Means and effects for solving the problem) Therefore, in the present invention, one finger member is directly pin-coupled to the hand body, and the other finger member is pin-coupled to the hand body via a link arm. and further by pin-coupling both finger members to each other and operating one drive cylinder interposed between any one of the one finger member, the other finger member, and the link arm and the hand body. The one finger member and the other finger member are configured to operate in conjunction with each other to open and close.

(Example) Hereinafter, a specific configuration of the present invention will be described in detail based on drawings showing one example.

1 and 2 show a gripping device according to the present invention, and this gripping device 1 is provided at the tip of an arm of a manipulator (not shown). The hand main body 2 in the gripping device 1 is constituted by a pair of side plates 2a, 2a, an end plate 2b, and an end plate 2c, and has a box-like shape. A drive cylinder 4 is swingably supported within the hand body 2 via a support shaft 3 provided approximately at the center of the side plates 2a, 2a. Further, one finger member 6 (hereinafter referred to as a first finger 6) is supported at the lower right corner of the hand body 2 in the figure via a pin 5. The first finger 6
is supported at its central portion 6a by a pin 5,
Further, the rod 4a of the drive cylinder 4 is supported by a pin 7 at the base end 6b of the first finger 6. On the other hand, a base end 9a of a link arm 9 is supported at the upper right corner of the hand body 2 via a pin 8, and a base end 9a of a link arm 9 is supported via a pin 10. and the other finger member 11 (hereinafter referred to as the second finger 11).
is supported. The second finger 11 has its central portion 11a supported by the pin 10, and the base end 11b of the second finger 11 is connected to the base end 6b of the first finger 6 via the pin 12. They are connected to each other in a swinging manner. The distance from this pin 12 to the pin 5 that supports the first finger 6 and the distance from the pin 12 to the pin 10 that supports the second finger 11 are set to be equal to each other.

When the first finger 6 and the second finger 11 are in the open position shown in FIG. 1, the axis XX of the drive cylinder 4 extends along the left-right direction in the figure.

The pins 7 and 12 described above are also located approximately on the axis XX, and the longitudinal direction of the link arm 9 also extends approximately along the axis XX. Furthermore, the pin 5 and the pin 10 mentioned above face each other with the axis XX, in other words, the pin 12 interposed therebetween.

Now, when the drive cylinder 4 is actuated to move the rod 4a backward, the drive cylinder 4 tilts in the direction of the arrow Q and the base end 6b of the first finger 6 moves in the direction of the arrow R with the pin 5 as the center. Thus, the tip 6c of the first finger 6 swings in the direction of arrow S, in other words, in the direction approaching the tip lie of the second finger 11. Also, the first finger 6
The pin 1 provided at the base end 6b of the moves in the direction of arrow R on a circular arc trajectory centered on pin 5. At this time, the base end 11b of the second finger 11, which is connected to the base end 6b via the pin 12, moves following the movement of the pin 12. Furthermore, at this time, the base end portion 11b
is pin 10 moving on a circular arc trajectory centered on pin 8.
It swings in the direction of arrow T by the movement of the pin 12 with the center at .

Thus, the tip 11c of the second finger 11 is directed in the direction of arrow U,
In other words, it swings in a direction approaching the tip 6c of the first finger 6. As the rod 4a in the drive cylinder 4 retreats, the tip 6c of the first finger 6 and the second finger 1
The distal end portions 11c of the two protrusions 11c come closer to each other and are in the open position shown in FIG. In order to return the first finger 6 and the second finger 11 from the open position to the open position, it is sufficient to extend the rod 4a of the drive cylinder 4.

As a result, the first finger 6, the link arm 9, and the second finger 11 behave in the completely opposite direction to the above-described operation mode, and the tip 6c of the first finger 6 and the tip 11c of the second finger 11
and move away from each other and return to the open position. As described above, the gripping device 1 uses one drive cylinder 4 and a simple link mechanism to open and close the first finger stone and the second finger 11. Furthermore, in the gripping device 1, the drive cylinder 4 is housed inside the box-shaped hand main body 2, so the drive cylinder 4 and its piping are effectively protected.

In this example, the rod 4a of the drive cylinder 4 and the base end 11c of the second finger 11 are separately pin-coupled to the base end 6C of the first finger 6 using pins 7 and 12, respectively. However, it is of course possible to connect the rod 4a and the base end 11c to the base end 6C of the first finger 6 with one pin. Furthermore, the object of the present invention can also be effectively achieved by connecting the rod 4a of the drive cylinder 4 to the second finger 11 or the link arm 9 with a pin. Further, in this example, the gripping device according to the present invention is configured as a gripping device for a manipulator, but it goes without saying that the present invention can be effectively applied to gripping devices for various industrial robots.

(Effects of the Invention) As described above in detail, according to the gripping device according to the present invention, since only one drive cylinder is used, the weight of the device can be reduced. Furthermore, since the present invention employs a simple link mechanism that uses only one link arm,
The structure is simplified, adjustment etc. are easy, and failures are less likely to occur.

Furthermore, since there is only one link arm, the operating mechanism is small, and the device can therefore be miniaturized.

[Brief explanation of the drawing]

FIG. 1 is a side view showing a state in which the finger members are opened in a gripping device according to the present invention, FIG. 1 is an overall perspective view of a manipulator employing a gripping device;
FIG. 4 is a conceptual side view showing another conventional gripping device. DESCRIPTION OF SYMBOLS 1... Gripping device, 2... Hand body, 4... Drive cylinder, 4a... Rod, 5, 7.8, 10.12
... Pin, 6... One finger member, 6a... Center part, 6b... Base end part, 9... Link arm, 11...
- The other finger member, 11a...center part, llb...base end part. Figure 1 Figure 2

Claims (1)

[Claims] A pair of finger members is provided on the hand body so as to be swingable, and a drive cylinder is interposed between the hand body and the finger members, and the pair of finger members are brought close to each other by operation of the drive cylinder. In the gripping device for gripping and holding an object between the finger members, the central portion of one finger member and the hand body are connected to each other with a pin, and the central portion of the other finger member and the hand body are linked. the one finger member, the other finger member, and the link; A gripping device characterized in that one drive cylinder is interposed between any one of the arms and the hand body.