JP6489428B2 - Centering gripping method and centering gripping device for cylindrical article - Google Patents

Centering gripping method and centering gripping device for cylindrical article Download PDF

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JP6489428B2
JP6489428B2 JP2015040297A JP2015040297A JP6489428B2 JP 6489428 B2 JP6489428 B2 JP 6489428B2 JP 2015040297 A JP2015040297 A JP 2015040297A JP 2015040297 A JP2015040297 A JP 2015040297A JP 6489428 B2 JP6489428 B2 JP 6489428B2
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cylindrical article
centering
gripping
peripheral surface
outer peripheral
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JP2016159394A (en
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由 長谷川
由 長谷川
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Dai Nippon Printing Co Ltd
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Dai Nippon Printing Co Ltd
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Description

本発明は、シート状製品を巻き取って筒状にしたもの、食料品や衣料品を筒状に包装したもの等の筒状物品のセンタリングと把持を行う方法及び装置に関するものである。   The present invention relates to a method and an apparatus for centering and gripping cylindrical articles such as those obtained by winding a sheet-like product into a cylindrical shape, and wrapping food or clothing in a cylindrical shape.

シート状製品を巻き取って筒状にしたものを排出し、あるいは、食料品や衣料品を筒状に包装して排出する生産装置においては、連続的に排出される製品（筒状物品）を製品置場（製品保管スペース）まで移動させる必要がある。この製品の移動は、従来人手に頼っていたが、近年、人手不足等により自動化されてきている。
生産装置から排出される筒状物品を製品置場まで自動で移動させるのは、通常ロボット等を使用して行われる。具体的には、生産装置の排出部より排出され、底面を下にして直立状態で床に置かれた筒状物品に対して、ロボットアームの先端に取付けられた把持装置により、この筒状物品をその外周面を把持して持ち上げ、ロボットアームを製品置場まで移動させて、所定の位置で筒状物品の把持を解除して筒状物品を落下させ、筒状物品の移動を終了する。
この場合、上記把持装置は、円周方向に等間隔で配置された複数の把持爪と、この複数の把持爪を円の中心に向けて同時に移動させる機構を備え、筒状物品のセンタリングを行った後、その筒状物品の外周面を把持することができるようになっている。
そして、特開平５−２１２６４４号公報（特許文献１）には、作業対象物のセンタリングを確実に行ってその作業対象物を把持するツール位置決め装置が開示されている。 In production equipment that winds up sheet-like products and discharges them into cylinders, or wraps and discharges food and clothing in cylinders, products that are continuously discharged (tubular articles) It is necessary to move to the product storage (product storage space). The movement of this product has conventionally relied on manual labor, but has recently been automated due to lack of human resources.
The cylindrical article discharged from the production apparatus is automatically moved to the product place using a robot or the like. Specifically, the cylindrical article is discharged from the discharge unit of the production apparatus and placed on the floor in an upright state with the bottom face down, by a gripping device attached to the tip of the robot arm. Is gripped and lifted, the robot arm is moved to the product place, the grip of the cylindrical article is released at a predetermined position, the cylindrical article is dropped, and the movement of the cylindrical article is finished.
In this case, the gripping device includes a plurality of gripping claws arranged at equal intervals in the circumferential direction and a mechanism for simultaneously moving the plurality of gripping claws toward the center of the circle, and performs centering of the cylindrical article. After that, the outer peripheral surface of the cylindrical article can be gripped.
Japanese Patent Laid-Open No. 5-212644 (Patent Document 1) discloses a tool positioning device that reliably performs centering of a work object and grips the work object.

ところで、上記のような筒状物品の中には、柔軟で変形しやすいものもあり、把持する際の把持圧（把持爪を筒状物品の外周面に押し付ける圧力）をあまり高くできない。このため、把持爪で把持した筒状物品が把持爪から滑り落ちないように、筒状物品の外周面に対して摩擦係数が大きい外面を有する把持爪を使用する必要がある。
しかしながら、把持爪の外面と筒状物品の外周面との摩擦係数を大きくすると、把持爪を移動させて筒状物品のセンタリングを行う際に、把持爪の外面に対して筒状物品の外周面が滑らず、筒状物品のセンタリングが不確実となり、センタリングされない状態で筒状物品が把持され、筒状物品を持ち上げて移動できないという問題が生じていた。 By the way, some of the cylindrical articles as described above are flexible and easily deformed, and the gripping pressure at the time of gripping (pressure for pressing the gripping claws against the outer peripheral surface of the cylindrical article) cannot be increased too much. For this reason, it is necessary to use a gripping claw having an outer surface with a large friction coefficient with respect to the outer peripheral surface of the cylindrical article so that the cylindrical article gripped by the gripping claw does not slide off from the gripping claw.
However, when the coefficient of friction between the outer surface of the gripping claw and the outer peripheral surface of the cylindrical article is increased, the outer peripheral surface of the cylindrical article is moved relative to the outer surface of the gripping claw when the gripping claw is moved to center the cylindrical article. Does not slip, the centering of the cylindrical article becomes uncertain, the cylindrical article is gripped in a state where the cylindrical article is not centered, and the cylindrical article cannot be lifted and moved.

特開平５−２１２６４４号公報JP-A-5-212644

本発明が解決しようとする課題は、柔軟で変形しやすい筒状物品に対してもセンタリングと把持を確実に行なえるようにすることである。   The problem to be solved by the present invention is to make it possible to reliably perform centering and gripping even on a flexible and easily deformable tubular article.

本発明は、水平面上のセンタリング中心から外れた位置に底面を下にして直立状態で置かれた筒状物品の周囲に、前記センタリング中心に対して円周方向に一定の間隔で複数の押し部材及び把持部材を配置し、前記複数の押し部材を前記センタリング中心方向に移動させて、前記複数の押し部材の外面を前記筒状物品の外周面に押し付け、前記筒状物品の横断面の中心が前記センタリング中心に一致するように前記筒状物品を移動させるセンタリング工程と、このセンタリング工程を行った後、前記複数の把持部材を前記センタリング中心方向に移動させ、前記複数の把持部材の外面を前記筒状物品の外周面に押し付け、前記筒状物品の外周面を把持する把持工程とを備え、前記複数の押し部材の外面と前記筒状物品の外周面との摩擦係数は、前記複数の把持部材の外面と前記筒状物品の外周面との摩擦係数より小さい筒状物品のセンタリング把持方法を提供して、上記課題を解決するものである。   The present invention provides a plurality of pressing members around a cylindrical article placed in an upright state with the bottom face down at a position deviating from the centering center on a horizontal plane at regular intervals in the circumferential direction with respect to the centering center. And the gripping member, the plurality of pressing members are moved in the centering center direction, the outer surface of the plurality of pressing members is pressed against the outer peripheral surface of the cylindrical article, and the center of the cross section of the cylindrical article is A centering step of moving the cylindrical article so as to coincide with the centering center, and after performing the centering step, the plurality of gripping members are moved toward the centering center, and the outer surfaces of the plurality of gripping members are A gripping step of pressing the outer peripheral surface of the cylindrical article and gripping the outer peripheral surface of the cylindrical article, and the friction coefficient between the outer surface of the plurality of pressing members and the outer peripheral surface of the cylindrical article is Providing a centering holding method of a small cylindrical article than the friction coefficient between the outer surface and the outer peripheral surface of the tubular article of the plurality of gripping members, it is intended to solve the above problems.

本発明は、水平面上のセンタリング中心から外れた位置に底面を下にして直立状態で置かれた筒状物品の周囲に、前記センタリング中心に対して円周方向に一定の間隔で配置された複数の押し部材を備え、該複数の押し部材を前記センタリング中心方向に移動させて、前記複数の押し部材の外面を前記筒状物品の外周面に押し付け、前記筒状物品の横断面の中心が前記センタリング中心に一致するように前記筒状物品を移動させてセンタリングを行うセンタリング手段と、前記センタリング中心に対して円周方向に一定の間隔で配置された複数の把持部材を備え、前記センタリング手段による前記筒状物品のセンタリングを行った後、前記複数の把持部材を前記センタリング中心方向に移動させ、前記複数の把持部材の外面を前記筒状物品の外周面に押し付け、前記筒状物品の外周面を把持する把持手段とを備え、前記複数の押し部材の外面と前記筒状物品の外周面との摩擦係数は、前記複数の把持部材の外面と前記筒状物品の外周面との摩擦係数より小さい筒状物品のセンタリング把持装置を提供して、上記課題を解決するものである。   The present invention provides a plurality of cylindrical articles arranged in a circumferential direction with respect to the centering center around a cylindrical article placed in an upright state with the bottom face down at a position off the centering center on a horizontal plane. And pressing the outer surface of the plurality of pressing members against the outer peripheral surface of the cylindrical article, the center of the cross-section of the cylindrical article being the center Centering means for moving the cylindrical article so as to coincide with the centering center and performing centering; and a plurality of gripping members arranged at regular intervals in the circumferential direction with respect to the centering center; After centering the cylindrical article, the plurality of gripping members are moved in the centering center direction, and outer surfaces of the plurality of gripping members are moved to the cylindrical article. Gripping means that presses against the peripheral surface and grips the outer peripheral surface of the cylindrical article, and the coefficient of friction between the outer surface of the plurality of pressing members and the outer peripheral surface of the cylindrical article is the outer surface of the plurality of gripping members. A centering gripping device for a cylindrical article having a smaller coefficient of friction with the outer peripheral surface of the cylindrical article is provided to solve the above problems.

本発明の筒状物品のセンタリング把持方法は、水平面上のセンタリング中心から外れた位置に底面を下にして直立状態で置かれた筒状物品の周囲に、前記センタリング中心に対して円周方向に一定の間隔で複数の押し部材及び把持部材を配置し、前記複数の押し部材を前記センタリング中心方向に移動させて、前記複数の押し部材の外面を前記筒状物品の外周面に押し付け、前記筒状物品の横断面の中心が前記センタリング中心に一致するように前記筒状物品を移動させるセンタリング工程と、このセンタリング工程を行った後、前記複数の把持部材を前記センタリング中心方向に移動させ、前記複数の把持部材の外面を前記筒状物品の外周面に押し付け、前記筒状物品の外周面を把持する把持工程とを備え、前記複数の押し部材の外面と前記筒状物品の外周面との摩擦係数は、前記複数の把持部材の外面と前記筒状物品の外周面との摩擦係数より小さくなっているため、前記センタリング工程において、前記複数の押し部材の外面を前記筒状物品の外周面に押し付けて前記筒状物品を前記センタリング中心まで移動させる際に、前記複数の押し部材の外面と前記筒状物品の外周面が滑り、前記筒状物品のセンタリングを確実に行うことができ、前記把持工程において、前記複数の把持部材で前記筒状物品の外周面を確実に把持できるという効果を奏する。   The centering gripping method for a cylindrical article according to the present invention includes a cylindrical article placed in an upright position with the bottom face down at a position off the centering center on a horizontal plane, and circumferentially with respect to the centering center. A plurality of pressing members and gripping members are arranged at regular intervals, the plurality of pressing members are moved in the centering center direction, and the outer surfaces of the plurality of pressing members are pressed against the outer peripheral surface of the cylindrical article. A centering step of moving the cylindrical article so that the center of the cross section of the shaped article coincides with the centering center, and after performing the centering step, the plurality of gripping members are moved toward the centering center, A gripping step of pressing the outer surfaces of the plurality of gripping members against the outer peripheral surface of the cylindrical article and gripping the outer peripheral surfaces of the cylindrical articles, The friction coefficient with the outer peripheral surface of the cylindrical article is smaller than the friction coefficient between the outer surface of the plurality of gripping members and the outer peripheral surface of the cylindrical article. Is pressed against the outer peripheral surface of the cylindrical article to move the cylindrical article to the centering center, and the outer surface of the plurality of pressing members and the outer peripheral surface of the cylindrical article slip, thereby centering the cylindrical article. This can be performed reliably, and in the gripping step, there is an effect that the outer peripheral surface of the cylindrical article can be securely gripped by the plurality of gripping members.

本発明の筒状物品のセンタリング把持装置は、水平面上のセンタリング中心から外れた位置に底面を下にして直立状態で置かれた筒状物品の周囲に、前記センタリング中心に対して円周方向に一定の間隔で配置された複数の押し部材を備え、該複数の押し部材を前記センタリング中心方向に移動させて、前記複数の押し部材の外面を前記筒状物品の外周面に押し付け、前記筒状物品の横断面の中心が前記センタリング中心に一致するように前記筒状物品を移動させてセンタリングを行うセンタリング手段と、前記センタリング中心に対して円周方向に一定の間隔で配置された複数の把持部材を備え、前記センタリング手段による前記筒状物品のセンタリングを行った後、該複数の把持部材を前記センタリング中心方向に移動させ、前記複数の把持部材の外面を前記筒状物品の外周面に押し付け、前記筒状物品の外周面を把持する把持手段とを備え、前記複数の押し部材の外面と前記筒状物品の外周面との摩擦係数は、前記複数の把持部材の外面と前記筒状物品の外周面との摩擦係数より小さいため、前記センタリング手段が、前記複数の押し部材の外面を前記筒状物品の外周面に押し付けて前記筒状物品を前記センタリング中心まで移動させるンタリングを行う際に、前記複数の押し部材の外面と前記筒状物品の外周面が滑り、前記筒状物品のセンタリングを確実に行うことができ、前記把持手段において、前記複数の把持部材で前記筒状物品の外周面を確実に把持できるという効果を奏する。   The cylindrical article centering gripping device of the present invention is provided in a circumferential direction with respect to the centering center around the cylindrical article placed in an upright state with the bottom face down at a position off the centering center on the horizontal plane. A plurality of pressing members arranged at regular intervals, the plurality of pressing members are moved in the centering center direction, and the outer surfaces of the plurality of pressing members are pressed against the outer peripheral surface of the cylindrical article; Centering means for moving the cylindrical article so that the center of the cross section of the article coincides with the centering center, and a plurality of grips arranged at regular intervals in the circumferential direction with respect to the centering center A plurality of gripping members are moved in the centering center direction after the cylindrical article is centered by the centering means. A gripping means for pressing the outer surface of the holding member against the outer peripheral surface of the cylindrical article and gripping the outer peripheral surface of the cylindrical article, and the coefficient of friction between the outer surface of the plurality of pressing members and the outer peripheral surface of the cylindrical article Is smaller than the coefficient of friction between the outer surfaces of the plurality of gripping members and the outer peripheral surface of the cylindrical article, so that the centering means presses the outer surfaces of the plurality of pressing members against the outer peripheral surface of the cylindrical article. When performing the interleaving to move the cylindrical article to the centering center, the outer surface of the plurality of pushing members and the outer peripheral surface of the cylindrical article can slip, and the cylindrical article can be reliably centered. In the above, there is an effect that the outer peripheral surface of the cylindrical article can be reliably gripped by the plurality of gripping members.

本発明の筒状物品のセンタリング把持装置の一実施形態の要部を示す平面図である。It is a top view which shows the principal part of one Embodiment of the centering holding | grip apparatus of the cylindrical article of this invention. 図１に示すセンタリング把持装置の押し部材と把持部材の駆動機構を拡大して示す斜視図である。It is a perspective view which expands and shows the drive mechanism of the pushing member and holding member of the centering holding apparatus shown in FIG. （ａ）は図１に示すセンタリング把持装置の押し部材の外面を上にした状態の斜視図であり、（ｂ）は図１に示すセンタリング把持装置の把持部材の外面を上にした状態の斜視図である。(A) is a perspective view of the centering gripping device shown in FIG. 1 with its outer surface facing upward, and (b) is a perspective view of the centering gripping device shown in FIG. 1 with its gripping member facing upward. FIG. 図１に示すセンタリング把持装置の作業対象となる筒状物品を底面を下にして直立状態にした斜視図である。It is the perspective view which made the cylindrical article used as the operation | work object of the centering holding | grip apparatus shown in FIG. 1 into the upright state by making the bottom face down. 図１に示すセンタリング把持装置の押し部材と把持部材の駆動機構の変形例を示す斜視図である。It is a perspective view which shows the modification of the drive mechanism of the pushing member and holding member of the centering holding apparatus shown in FIG. 図１に示すセンタリング把持装置が筒状物品のセンタリングを行う前の状態を示す平面図である。It is a top view which shows the state before the centering holding | grip apparatus shown in FIG. 1 performs centering of a cylindrical article. 図１に示すセンタリング把持装置が筒状物品のセンタリングを行った後の状態を示す平面図である。It is a top view which shows the state after the centering holding | grip apparatus shown in FIG. 1 centered a cylindrical article. 図１に示すセンタリング把持装置が筒状物品を把持した状態を示す平面図である。It is a top view which shows the state which the centering holding | grip apparatus shown in FIG. 1 hold | gripped the cylindrical article.

［センタリング把持装置の構成］
まず、本発明のセンタリング把持装置の構成について説明する。
図１は、本発明の筒状物品のセンタリング把持装置の一実施形態の要部を示す平面図であり、図２は、図１に示すセンタリング把持装置の押し部材と把持部材の駆動機構を拡大して示す斜視図である。図中、１はセンタリング把持装置、２は押し部材と把持部材の駆動機構、３は押し部材、４は把持部材、５はＬ字状のロッド、６、７はエアシリンダ、Ｃはセンタリング中心である。
図１に示すように、センタリング把持装置１においては、センタリング中心Ｃに対して円周方向に、３個の駆動機構２が、押し部材と把持部材の外面をセンタリング中心Ｃに向けて、等間隔で配置されている。これら３個の駆動機構２は、互いに連結されてロボットアーム（図示せず）の先端に取り付けられている。本実施形態では、駆動機構の数は３としているが、駆動機構２は複数であればよく、作業対象である筒状物品の大きさ、重量等に応じて適宜駆動機構２の数は決められる。また、各駆動機構２の配置は、等間隔が望ましいが、これに限定するものではなく、一定の間隔であればよい。
図２に示すように、駆動機構２においては、押し部材３がＬ字状のロッド５を介してエアシリンダ６のピストンロッド６ａに連結され、エアシリンダ６を作動させることにより、押し部材３がセンタリング中心Ｃの方向に移動する。把持部材４はエアシリンダ７のピストンロッド７ａに連結され、エアシリンダ７を作動させることにより、把持部材４がセンタリング中心Ｃの方向に移動する。また、ロッド５にはエアシリンダ７が連結され、エアシリンダ６を作動させることにより、押し部材３と共に把持部材４もエアシリンダ７と一体となってセンタリング中心Ｃの方向に移動する。 [Configuration of centering gripping device]
First, the configuration of the centering gripping device of the present invention will be described.
FIG. 1 is a plan view showing a main part of an embodiment of a centering gripping device for a cylindrical article according to the present invention, and FIG. 2 is an enlarged view of a pushing member and a driving mechanism for the gripping member of the centering gripping device shown in FIG. It is a perspective view shown. In the figure, 1 is a centering gripping device, 2 is a drive mechanism of a pushing member and a gripping member, 3 is a pushing member, 4 is a gripping member, 5 is an L-shaped rod, 6 and 7 are air cylinders, and C is a centering center. is there.
As shown in FIG. 1, in the centering gripping device 1, three drive mechanisms 2 are arranged at equal intervals in the circumferential direction with respect to the centering center C with the outer surface of the pressing member and the gripping member facing the centering center C. Is arranged in. These three drive mechanisms 2 are connected to each other and attached to the tip of a robot arm (not shown). In the present embodiment, the number of drive mechanisms is three, but the number of drive mechanisms 2 only needs to be plural, and the number of drive mechanisms 2 is appropriately determined according to the size, weight, etc. of the cylindrical article that is the work target. . In addition, the arrangement of the drive mechanisms 2 is preferably an equal interval, but is not limited to this, and may be a fixed interval.
As shown in FIG. 2, in the drive mechanism 2, the push member 3 is connected to the piston rod 6 a of the air cylinder 6 via the L-shaped rod 5, and the push member 3 is operated by operating the air cylinder 6. Move in the direction of the centering center C. The gripping member 4 is connected to the piston rod 7a of the air cylinder 7, and the gripping member 4 moves in the direction of the centering center C by operating the air cylinder 7. In addition, an air cylinder 7 is connected to the rod 5, and by operating the air cylinder 6, the holding member 4 together with the push member 3 moves in the direction of the centering center C together with the air cylinder 7.

［押し部材、把持部材］
図３（ａ）は押し部材３の斜視図、同図（ｂ）は把持部材４の斜視図である。
同図（ａ）に示すように、押し部材３は、アルミ等の金属やプラスチックの板をくの字状折り曲げたものからなっている。そして、角度の小さい側の面である外面３ａが、作業対象となる筒状物品に向き合う面となる。また、外面３ａの傾斜角度は、５〜３０度の範囲で筒状物品の大きさ（直径）に応じて適宜決められる。
同図（ｂ）に示すように、把持部材４は、支持板４ｃ上に台形ブロック４ａ、４ｂが傾斜面を上にして対称に固着され、台形ブロック４ａ、４ｂの傾斜面にはゴムシート４ｄ、４ｅが固着されている。そして、ゴムシート４ｄ、４ｅの表面である外面４ｄｓ、４ｅｓが、作業対象となる筒状物品に向き合う面となる。台形ブロック４ａ、４ｂ、支持板４ｃは、金属やプラスチック等の剛性のある材料からなっている。また、外面４ｄｓ、４ｅｓ（台形ブロック４ａ、４ｂ）の傾斜角度は、押し部材３の外面３ａの傾斜角度と同様に、５〜３０度の範囲で筒状物品の大きさ（直径）に応じて適宜決められる。 [Pushing member, gripping member]
FIG. 3A is a perspective view of the pressing member 3, and FIG. 3B is a perspective view of the gripping member 4.
As shown in FIG. 2A, the pressing member 3 is formed by bending a metal plate such as aluminum or a plastic plate into a dogleg shape. And the outer surface 3a which is a surface of a small angle side turns into a surface which faces the cylindrical article used as a work object. Further, the inclination angle of the outer surface 3a is appropriately determined in accordance with the size (diameter) of the cylindrical article within a range of 5 to 30 degrees.
As shown in FIG. 4B, the gripping member 4 has trapezoidal blocks 4a and 4b fixed symmetrically on the support plate 4c with the inclined surfaces facing upward, and the rubber sheet 4d is attached to the inclined surfaces of the trapezoidal blocks 4a and 4b. 4e is fixed. The outer surfaces 4ds and 4es, which are the surfaces of the rubber sheets 4d and 4e, are surfaces facing the cylindrical article to be worked. The trapezoidal blocks 4a and 4b and the support plate 4c are made of a rigid material such as metal or plastic. Further, the inclination angle of the outer surfaces 4ds, 4es (trapezoidal blocks 4a, 4b) is in the range of 5 to 30 degrees according to the size (diameter) of the cylindrical article, similarly to the inclination angle of the outer surface 3a of the push member 3. It is decided appropriately.

［筒状物品］
図４は筒状物品の斜視図である。
図４に示すように、筒状物品１０は、縦長の円筒形状をしており、底面１０ｂを下にして直立状態に置かれている。本実施形態においては、筒状物品１０は、プラスチックシートの巻取りをクラフト紙で包装したものであり、柔軟で変形しやすいものとなっている。本発明においては、筒状物品はこのプラスチックシートの巻取りに限定されず、食料品や衣料品を筒状に包装したもの等、筒状の形態である物品であればよい。また、筒状物品の横断面は円に限定されず、多角形であってもよい。 [Cylindrical articles]
FIG. 4 is a perspective view of the cylindrical article.
As shown in FIG. 4, the cylindrical article 10 has a vertically long cylindrical shape, and is placed in an upright state with the bottom surface 10b facing down. In the present embodiment, the cylindrical article 10 is a plastic sheet wound with kraft paper, and is flexible and easily deformed. In the present invention, the cylindrical article is not limited to the winding of the plastic sheet, and may be any article having a cylindrical shape, such as a food or clothing packaged in a cylindrical shape. Moreover, the cross section of the cylindrical article is not limited to a circle, and may be a polygon.

［押し部材・把持部材と筒状物品間の摩擦係数］
筒状物品１０はクラフト紙で包装されているため、その外周面１０ａは平滑性が高くなっている。そして、押し部材３の外面３ａも平滑な面となっており、外面３ａと外周面１０ａとの摩擦係数は小さくなっている。一方、把持部材４の外面４ｄｓ、４ｅｓは、ゴムシートの表面であって平滑性がなく、外面４ｄｓ、４ｅｓと外周面１０ａとの摩擦係数は大きくなっている。
すなわち、押し部材３の外面３ａと筒状物品１０の外周面１０ａとの摩擦係数は、把持部材４の外面４ｄｓ、４ｅｓと筒状物品１０の外周面１０ａとの摩擦係数よりも小さくなっている。
このため、押し部材３の外面３は、筒状物品１０の外周面１０ａに対して滑りやすくなっているが、把持部材４の外面４ｄｓ、４ｅｓは、筒状物品１０の外周面１０ａに対して滑りにくくなっている。 [Friction coefficient between push member / gripping member and cylindrical article]
Since the cylindrical article 10 is packaged with kraft paper, the outer peripheral surface 10a has high smoothness. And the outer surface 3a of the pushing member 3 is also a smooth surface, and the friction coefficient between the outer surface 3a and the outer peripheral surface 10a is small. On the other hand, the outer surfaces 4ds, 4es of the holding member 4 are the surface of the rubber sheet and are not smooth, and the friction coefficient between the outer surfaces 4ds, 4es and the outer peripheral surface 10a is large.
That is, the friction coefficient between the outer surface 3 a of the push member 3 and the outer peripheral surface 10 a of the cylindrical article 10 is smaller than the friction coefficient between the outer surfaces 4 ds and 4 es of the gripping member 4 and the outer peripheral surface 10 a of the cylindrical article 10. .
For this reason, the outer surface 3 of the push member 3 is easily slipped with respect to the outer peripheral surface 10 a of the cylindrical article 10, but the outer surfaces 4 ds and 4 es of the gripping member 4 are relative to the outer peripheral surface 10 a of the cylindrical article 10. It is hard to slip.

［押し部材と把持部材の駆動機構の変形例］
図５は、押し部材と把持部材の駆動機構２の変形例を示す斜視図である。
図２に示す押し部材と把持部材の駆動機構２は、押し部材３と把持部材４が上下方向に配置されているが、図５に示す押し部材と把持部材の駆動機構１２は、押し部材１３と把持部材１４が水平方向に配置されている。そして、駆動機構１２においては、押し部材１３には窓孔１３ａ、１３ｂが設けられ、支持板１４ｃに台形ブロック１４ａ、１４ｂが固着された把持部材１４には貫通孔１４ｄが設けられている。このため、把持部材１４のみをセンタリング中心Ｃの方向に移動させても、押し部材１３と把持部材１４が干渉せず、台形ブロック４ａ、４ｂが窓孔１３ａ、１３ｂを通過して、筒状物品を把持することができる。
また、駆動機構１２においては、駆動機構２と同様に、把持部材１４は、把持部材駆動用エアシリンダ（図示せず）のピストンロッド１７ａに連結され、押し部材１３と把持部材駆動用エアシリンダはロッド１５を介して押し部材駆動用エアシリンダ（図示せず）のピストンロッドに連結されている。よって、駆動機構１２においては、駆動機構２と同様に、押し部材駆動用エアシリンダを作動させることにより、押し部材１３及び把持部材１４がセンタリング中心Ｃの方向に移動し、把持部材駆動用エアシリンダを作動させることにより、把持部材１４のみがセンタリング中心Ｃの方向に移動する。
なお、把持部材１４の台形ブロック１４ａ、１４ｂの傾斜面には、把持部材４と同様にゴムシート（図示せず）が固着されている。 [Modified example of drive mechanism of push member and grip member]
FIG. 5 is a perspective view showing a modification of the drive mechanism 2 for the push member and the gripping member.
The push member and gripping member drive mechanism 2 shown in FIG. 2 has a push member 3 and a gripping member 4 arranged in the vertical direction, but the push member and gripping member drive mechanism 12 shown in FIG. The gripping member 14 is arranged in the horizontal direction. In the drive mechanism 12, the push member 13 is provided with window holes 13a and 13b, and the holding member 14 having the trapezoidal blocks 14a and 14b fixed to the support plate 14c is provided with a through hole 14d. For this reason, even if only the gripping member 14 is moved in the direction of the centering center C, the pressing member 13 and the gripping member 14 do not interfere with each other, and the trapezoidal blocks 4a and 4b pass through the window holes 13a and 13b, thereby Can be gripped.
In the drive mechanism 12, similarly to the drive mechanism 2, the gripping member 14 is connected to a piston rod 17 a of a gripping member driving air cylinder (not shown), and the pressing member 13 and the gripping member driving air cylinder are The rod 15 is connected to a piston rod of a push member driving air cylinder (not shown). Therefore, in the drive mechanism 12, similarly to the drive mechanism 2, by operating the push member driving air cylinder, the push member 13 and the gripping member 14 move in the direction of the centering center C, and the gripping member drive air cylinder. By actuating, only the gripping member 14 moves in the direction of the centering center C.
A rubber sheet (not shown) is fixed to the inclined surfaces of the trapezoidal blocks 14 a and 14 b of the gripping member 14 in the same manner as the gripping member 4.

［筒状物品のセンタリング把持方法］
次に、センタリング把持装置１を使用した筒状物品のセンタリング把持方法について説明する。
図６は、センタリング把持装置１が筒状物品１０のセンタリングを行う前の状態を示す平面図、図７は、センタリング把持装置１が筒状物品１０のセンタリングを行った後の状態を示す平面図、図８は、センタリング把持装置１が筒状物品１０を把持した状態を示す平面図である。
図６に示すように、筒状物品１０は、横断面の中心がセンタリング中心Ｃから外れた位置に、底面１０ｂを下にして直立状態で水平面（床面）上に置かれている。そして、センタリング把持装置１の３個の駆動機構２が、センタリング中心Ｃに対して円周方向に、押し部材３の外面３ａと把持部材４の外面４ｄｓ、４ｅｓをセンタリング中心Ｃに向けて、等間隔に配置されている。
まず、エアシリンダ６を作動させ、押し部材３と把持部材４を同時にセンタリング中心Ｃの方向に移動させる。筒状物品１０は、右側の駆動機構２寄りに位置しているため、最初に右側の駆動機構２の押し部材３の外面３ａが筒状物品１０の外周面１０ａに接触し、次いで左側の駆動機構２の押し部材３の外面３ａが筒状物品１０の外周面１０ａに接触し、最後に中央の駆動機構２の押し部材３の外面３ａが筒状物品１０の外周面１０ａに接触する。このとき、押し部材３の外面３ａと筒状物品１０の外周面１０ａとの摩擦係数は小さいため、押し部材３の外面３ａと筒状物品１０の外周面１０ａは滑りやすく、筒状物品１０は、押し部材３に押されてセンタリング中心Ｃの方向に移動し、図７に示すように、センタリング中心Ｃと筒状物品１０の横断面の中心が一致し、センタリングが確実に行われる。
このようにセンタリング中心Ｃと筒状物品１０の横断面の中心が一致した状態（センタリングされた状態）（図７）で、エアシリンダ６の作動を停止し、エアシリンダ７を作動させ、把持部材４の外面４ｄｓ、４ｅｓを筒状物品１０の外周面１０ａに押し付け、把持部材４で筒状物品１０を把持する（図８）。このとき、把持部材４の外面４ｄｓ、４ｅｓ筒状物品１０外面３ａと外周面１０ａとの摩擦係数は、押し部材３の外面３ａと筒状物品１０の外周面１０ａとの摩擦係数より大きいため、把持部材４の外面４ｄｓ、４ｅｓと筒状物品１０の外周面１０ａは滑りにくくなっている。このため、把持部材４の筒状物品１０に対する押付け圧力（把持圧）をそれほど強くしなくても、把持した状態で筒状物品１０を持ち上げることができ、筒状物品１０を変形させずに確実に把持することができる。 [Centering gripping method for cylindrical articles]
Next, a centering gripping method for a cylindrical article using the centering gripping device 1 will be described.
FIG. 6 is a plan view showing a state before the centering gripping device 1 performs centering of the cylindrical article 10, and FIG. 7 is a plan view showing a state after the centering gripping apparatus 1 performs centering of the cylindrical article 10. FIG. 8 is a plan view showing a state in which the centering gripping device 1 grips the cylindrical article 10.
As shown in FIG. 6, the tubular article 10 is placed on a horizontal surface (floor surface) in an upright state with the bottom surface 10 b facing down at a position where the center of the cross section deviates from the centering center C. Then, the three drive mechanisms 2 of the centering gripping device 1 are arranged in the circumferential direction with respect to the centering center C, the outer surface 3a of the pushing member 3 and the outer surfaces 4ds, 4es of the gripping member 4 are directed toward the centering center C, etc. Arranged at intervals.
First, the air cylinder 6 is operated, and the pushing member 3 and the gripping member 4 are simultaneously moved in the direction of the centering center C. Since the cylindrical article 10 is located closer to the right drive mechanism 2, the outer surface 3a of the pushing member 3 of the right drive mechanism 2 first contacts the outer peripheral surface 10a of the cylindrical article 10, and then the left drive. The outer surface 3 a of the push member 3 of the mechanism 2 contacts the outer peripheral surface 10 a of the cylindrical article 10, and finally the outer surface 3 a of the push member 3 of the central drive mechanism 2 contacts the outer peripheral surface 10 a of the cylindrical article 10. At this time, since the friction coefficient between the outer surface 3a of the pressing member 3 and the outer peripheral surface 10a of the cylindrical article 10 is small, the outer surface 3a of the pressing member 3 and the outer peripheral surface 10a of the cylindrical article 10 are slippery. Then, it is pushed by the pushing member 3 and moves in the direction of the centering center C, and as shown in FIG. 7, the centering center C and the center of the cross section of the tubular article 10 coincide with each other, and the centering is performed reliably.
Thus, in the state where the centering center C and the center of the cross section of the cylindrical article 10 coincide (centered state) (FIG. 7), the operation of the air cylinder 6 is stopped, the air cylinder 7 is operated, and the gripping member 4 outer surfaces 4ds, 4es are pressed against the outer peripheral surface 10a of the cylindrical article 10, and the cylindrical article 10 is held by the holding member 4 (FIG. 8). At this time, since the friction coefficient between the outer surface 4ds of the gripping member 4 and the outer surface 3a of the 4es cylindrical article 10 and the outer peripheral surface 10a is larger than the friction coefficient between the outer surface 3a of the pressing member 3 and the outer peripheral surface 10a of the cylindrical article 10, The outer surfaces 4ds, 4es of the holding member 4 and the outer peripheral surface 10a of the cylindrical article 10 are difficult to slip. For this reason, the cylindrical article 10 can be lifted in the gripped state without making the pressing force (gripping pressure) of the gripping member 4 against the cylindrical article 10 so strong, and the tubular article 10 is reliably deformed without being deformed. Can be gripped.

本発明の筒状物品のセンタリング把持方法及びセンタリング把持装置は、柔軟で変形しやすい筒状物品に対しても、センタリングが確実に行え、また、筒状物品を変形させずに確実に把持することができる。   The centering gripping method and centering gripping device for a cylindrical article according to the present invention can reliably center a cylindrical article that is flexible and easily deformed, and can securely grip the cylindrical article without deformation. Can do.

１ センタリング把持装置
２、１２ 押し部材と把持部材の駆動機構
３、１３ 押し部材
３ａ 外面
４、１４ 把持部材
４ａ、４ｂ、１４ａ、１４ｂ 台形ブロック
４ｃ、１４ｃ 支持板
４ｄ、４ｅ ゴムシート
４ｄｓ、４ｅｓ 外面
５、１５ ロッド
６、７ エアシリンダ
６ａ、７ａ、１７ａ ピストンロッド
１０ 筒状物品
１０ａ 外周面
１０ｂ 底面
Ｃ センタリング中心

DESCRIPTION OF SYMBOLS 1 Centering holding device 2, 12 Push member and holding member drive mechanism 3, 13 Push member 3a Outer surface 4, 14 Holding member 4a, 4b, 14a, 14b Trapezoid block 4c, 14c Support plate 4d, 4e Rubber sheet 4ds, 4es Outer surface 5, 15 Rod 6, 7 Air cylinder 6a, 7a, 17a Piston rod 10 Cylindrical article 10a Outer peripheral surface 10b Bottom surface C Centering center

Claims (2)

水平面上のセンタリング中心から外れた位置に底面を下にして直立状態で置かれた筒状物品の周囲に、前記センタリング中心に対して円周方向に一定の間隔で複数の押し部材及び把持部材を配置し、
前記複数の押し部材を前記センタリング中心方向に移動させて、前記複数の押し部材の外面を前記筒状物品の外周面に押し付け、前記筒状物品の横断面の中心が前記センタリング中心に一致するように前記筒状物品を移動させるセンタリング工程と、
前記センタリング工程を行った後、前記複数の把持部材を前記センタリング中心方向に移動させ、前記複数の把持部材の外面を前記筒状物品の外周面に押し付け、前記筒状物品の外周面を把持する把持工程とを備え、
前記複数の押し部材の外面と前記筒状物品の外周面との摩擦係数は、前記複数の把持部材の外面と前記筒状物品の外周面との摩擦係数より小さいことを特徴とする筒状物品のセンタリング把持方法。 A plurality of pressing members and gripping members are arranged at regular intervals in the circumferential direction with respect to the centering center around a cylindrical article placed in an upright position with the bottom face down at a position off the centering center on the horizontal plane. Place and
The plurality of pressing members are moved in the centering center direction so that the outer surfaces of the plurality of pressing members are pressed against the outer peripheral surface of the cylindrical article so that the center of the cross section of the cylindrical article coincides with the centering center. A centering step of moving the cylindrical article to
After performing the centering step, the plurality of gripping members are moved toward the centering center, the outer surfaces of the plurality of gripping members are pressed against the outer peripheral surface of the cylindrical article, and the outer peripheral surface of the cylindrical article is gripped. A gripping process,
A cylindrical article characterized in that a friction coefficient between an outer surface of the plurality of pressing members and an outer peripheral surface of the cylindrical article is smaller than a friction coefficient between an outer surface of the plurality of gripping members and an outer peripheral surface of the cylindrical article. Centering gripping method. 水平面上のセンタリング中心から外れた位置に底面を下にして直立状態で置かれた筒状物品の周囲に、前記センタリング中心に対して円周方向に一定の間隔で配置された複数の押し部材を備え、該複数の押し部材を前記センタリング中心方向に移動させて、前記複数の押し部材の外面を前記筒状物品の外周面に押し付け、前記筒状物品の横断面の中心が前記センタリング中心に一致するように前記筒状物品を移動させてセンタリングを行うセンタリング手段と、
前記センタリング中心に対して円周方向に一定の間隔で配置された複数の把持部材を備え、前記センタリング手段による前記筒状物品のセンタリングを行った後、前記複数の把持部材を前記センタリング中心方向に移動させ、前記複数の把持部材の外面を前記筒状物品の外周面に押し付け、前記筒状物品の外周面を把持する把持手段とを備え、
前記複数の押し部材の外面と前記筒状物品の外周面との摩擦係数は、前記複数の把持部材の外面と前記筒状物品の外周面との摩擦係数より小さいことを特徴とする筒状物品のセンタリング把持装置。 A plurality of pushing members arranged at regular intervals in the circumferential direction with respect to the centering center around a cylindrical article placed in an upright state with the bottom face down at a position off the centering center on the horizontal plane The plurality of pressing members are moved toward the centering center, and the outer surfaces of the plurality of pressing members are pressed against the outer peripheral surface of the cylindrical article, and the center of the cross section of the cylindrical article coincides with the centering center. Centering means for moving the cylindrical article to perform centering,
A plurality of gripping members arranged at regular intervals in the circumferential direction with respect to the centering center, and after centering the cylindrical article by the centering means, the plurality of gripping members are moved in the centering center direction. A gripping means that moves, presses the outer surface of the plurality of gripping members against the outer peripheral surface of the cylindrical article, and grips the outer peripheral surface of the cylindrical article;
A cylindrical article characterized in that a friction coefficient between an outer surface of the plurality of pressing members and an outer peripheral surface of the cylindrical article is smaller than a friction coefficient between an outer surface of the plurality of gripping members and an outer peripheral surface of the cylindrical article. Centering gripping device.
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