JPH0744474Y2 - Electromagnetic gripper for can lid - Google Patents
Electromagnetic gripper for can lidInfo
- Publication number
- JPH0744474Y2 JPH0744474Y2 JP1102490U JP1102490U JPH0744474Y2 JP H0744474 Y2 JPH0744474 Y2 JP H0744474Y2 JP 1102490 U JP1102490 U JP 1102490U JP 1102490 U JP1102490 U JP 1102490U JP H0744474 Y2 JPH0744474 Y2 JP H0744474Y2
- Authority
- JP
- Japan
- Prior art keywords
- lid
- electromagnets
- electromagnet
- gripper
- fixed
- 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 - Lifetime
Links
Landscapes
- Container Filling Or Packaging Operations (AREA)
Description
【考案の詳細な説明】 (産業上の利用分野) 本考案は、缶詰用のブリキ製の缶蓋を多数円柱状に重ね
たものを、まとめてロボットにより箱詰め又は取出しを
行なう際に用いるグリッパに関する。[Detailed Description of the Invention] (Industrial field of application) The present invention relates to a gripper used when a plurality of tin can lids for canning are piled up in a columnar shape and collectively boxed or taken out by a robot. .
(従来の技術) 従来の缶蓋用グリッパは、一定の長さを有する一対の樋
状のグリップ片を開閉自在に蝶着し、該グリップ片を磁
石又は空圧で開閉させるようにして、円柱状に重ねた缶
体を該グリップ片の円弧面で把持するようにしている。(Prior Art) In a conventional can lid gripper, a pair of gutter-shaped grip pieces each having a fixed length are hinged to be openable and closable, and the grip pieces are opened or closed by a magnet or air pressure. The can bodies stacked in a column shape are gripped by the arc surface of the grip piece.
(考案が解決しようとする課題) 通常使用される缶蓋には、ブリキ製とアルミ製とがある
が、ブリキ製の蓋は、重量が大きく表面が滑り易いので
多数を一度に把持することはむずかしい。缶蓋は、その
平面部を垂直にして多数も重ね合わせてV溝形の載置面
上に置かれるので、缶蓋を把持する際にグリップ片と該
載置面をもつ部材との干渉が生じ易く、グリップ片の円
弧の長さをあまり長くすることはできない。(Problems to be solved by the invention) There are tin cans and aluminum cans that are commonly used. However, since tin cans have a large weight and the surface is slippery, it is not possible to hold many cans at once. It's difficult. Since the can lid is placed on the V-groove-shaped mounting surface with the planar portion thereof being vertically placed, a large number of the lids are placed on the V-groove-shaped mounting surface. It easily occurs, and the arc length of the grip piece cannot be made too long.
このため、従来のグリップでは把持が不充分になり勝ち
で握り損うことがあり、また開閉運動が頻繁に行なわれ
るため、長期にわたって使用していると蝶番部の摩耗が
生じ把持力の低下につながる場合がある。For this reason, the conventional grip may be insufficiently gripped and may fail to be gripped.Furthermore, since the opening and closing movement is frequently performed, the hinge part may be worn and the gripping force may be reduced if it is used for a long period of time. It may be connected.
したがって、本考案はこのような難点のないグリッパを
得ることを課題とする。Therefore, it is an object of the present invention to obtain a gripper without such drawbacks.
(課題を解決するための手段) 本考案における前記課題の解決手段は、一対の電磁石の
下面に電磁石の移動方向に伸びる一連の凹状の吸着面を
設け、該一対の電磁石の一方を他方に対して接離可能に
支持し、両電磁石の吸着面に互いに係合する凹部と凸部
を前記移動方向に設け、吸着面の外側端面に該端面を閉
じるゲート板を設けたことを特徴とする。(Means for Solving the Problems) The means for solving the above problems in the present invention is to provide a series of concave attracting surfaces extending in the moving direction of the electromagnets on the lower surfaces of the pair of electromagnets, and to set one of the pair of electromagnets to the other. In this configuration, a concave portion and a convex portion that engage with each other on the attraction surfaces of both electromagnets are provided in the moving direction, and a gate plate that closes the end surfaces is provided on the outer end surface of the attraction surfaces.
(作用) 以上の構成を備えるから、円柱状に重ね合わせた缶蓋の
円弧面に向けて、グリッパを下降させて吸着面を缶蓋に
接触させ、両側のゲート板を下降して両電磁石の励磁を
行なうことにより、多数の缶蓋は電磁石の吸着面に垂直
に保持され、ロボットアームの移動により移送され、両
電磁石の消勢により放出される。(Operation) With the above configuration, the gripper is lowered toward the arc surface of the cylindrical can lids so that the adsorption surface contacts the can lid, and the gate plates on both sides are lowered to move both electromagnets. By carrying out the excitation, a large number of can lids are held perpendicular to the attracting surface of the electromagnets, transferred by the movement of the robot arm, and released by deenergizing both electromagnets.
(実施例) 以下、図面を参照して本考案の実施例を説明する。第1
図ないし第4図において、Aは本考案のグリッパ、1は
その直線ガイドレール、2、3は該レール1に案内され
てその長手方向に移動自在のガイド部材であり、該ガイ
ド部材2、3を下向きにした姿勢で使用される。直線ガ
イドレール1の上面には連結板4が固定され、該連結板
4の4個のねじ穴5は、図外のロボットアームに連結す
るために用いられる。また他の4個の取付穴6は下面の
ブラケット7、8の固定に用いられ、該ブラケット6、
7の下端に固定電磁石9が固定され、その内部にはコイ
ル10、10が取付けられている。Embodiment An embodiment of the present invention will be described below with reference to the drawings. First
In FIG. 4 to FIG. 4, A is a gripper of the present invention, 1 is a linear guide rail thereof, 2 and 3 are guide members which are guided by the rail 1 and are movable in the longitudinal direction thereof, and the guide members 2, 3 It is used in a posture with the face down. A connecting plate 4 is fixed to the upper surface of the linear guide rail 1, and the four screw holes 5 of the connecting plate 4 are used for connecting to a robot arm (not shown). The other four mounting holes 6 are used for fixing the brackets 7 and 8 on the lower surface.
A fixed electromagnet 9 is fixed to the lower end of 7, and coils 10, 10 are mounted inside the fixed electromagnet 9.
図中12は箱形のブラケットで、箱部から前記ブラケット
7側に突出する上下の突部13を有し、これらの上部に前
記ガイド部材2、3が固定され、下部には可動電磁石14
が固定される。該電磁石の内部には前記と同じコイル1
0、10が取付けられている。Reference numeral 12 in the figure denotes a box-shaped bracket, which has upper and lower protrusions 13 protruding from the box portion toward the bracket 7 side, the guide members 2 and 3 are fixed to the upper portions thereof, and the movable electromagnet 14 is attached to the lower portion thereof.
Is fixed. Inside the electromagnet, the same coil 1 as above
0 and 10 are installed.
両電磁石9、14の下面には第3図に示すように側方から
見て凹状で一連の吸着面15、16が設けられて缶蓋Wの外
周部を吸着するようになっており、また該電磁石9、14
の下部には第1図、第4図に示すように食い違い状に伸
びる凹部17と凸部18が形成されており、電磁石9、14が
第5図(a)(b)のように離間しても吸着面15、16が
連続した状態に維持される。As shown in FIG. 3, a series of attraction surfaces 15 and 16 which are concave when viewed from the side are provided on the lower surfaces of both electromagnets 9 and 14 to attract the outer peripheral portion of the can lid W. The electromagnets 9, 14
As shown in FIGS. 1 and 4, concave portions 17 and convex portions 18 extending in a staggered manner are formed in the lower part of the electromagnets 9 and 14 as shown in FIGS. 5 (a) and 5 (b). Even so, the suction surfaces 15 and 16 are maintained in a continuous state.
そして、可動電磁石14を固定電磁石9に対して接近又は
密着させたり、前記凹部17と凸部18の係合範囲内で離間
させるために、ブラケット8と12を空圧シリンダ19で接
続している。The brackets 8 and 12 are connected by a pneumatic cylinder 19 in order to bring the movable electromagnet 14 close to or in close contact with the fixed electromagnet 9 or to separate the movable electromagnet 14 from the engagement range of the concave portion 17 and the convex portion 18. .
一方、両電磁石9、14の上面外端寄りには、ブラケット
20、21が固定され、その上部に空圧シリンダ22、23が軸
24、25で枢着され、該ブラケット20、21の中間部に枢着
された上下二対ずつのレバー26、27の先端にゲート板2
8、29が連結されて平行四辺形リンクを構成し、レバー2
6、27の各一つにシリンダ22、23の駆動部が接続されて
いる。On the other hand, a bracket is provided near the outer ends of both electromagnets 9 and 14.
20 and 21 are fixed, and pneumatic cylinders 22 and 23 are on top of them.
The gate plate 2 is attached to the tip ends of two upper and lower pairs of levers 26 and 27 that are pivotally attached to the brackets 20 and 21 and are pivotally attached to the brackets 20 and 21.
8 and 29 are connected to form a parallelogram link, lever 2
The drive units of the cylinders 22 and 23 are connected to the respective units 6 and 27.
以上により、可動電磁石14を固定電磁石9から離間させ
た状態で吸着面15、16を円柱状の缶蓋群Wの円弧面に当
接し、シリンダ22、23を作動してゲート28、29を下降さ
せて凹状該吸着面15、16の外端を閉じ、コイル10に通電
して吸着面15、16に各缶蓋を吸着し、シリンダ19を作動
して可動電磁石14を固定電磁石9側へ引き寄せれば、缶
蓋群を挾持でき、ロボットアームを動かして所定場所に
搬送することができる。そして前記のシリンダ19、22、
23を復原させコイル10を消磁すればグリッパAから缶蓋
Wは放出される。As described above, with the movable electromagnet 14 separated from the fixed electromagnet 9, the attraction surfaces 15 and 16 are brought into contact with the circular arc surface of the cylindrical can lid group W, the cylinders 22 and 23 are operated, and the gates 28 and 29 are lowered. Then, the outer ends of the concave attracting surfaces 15 and 16 are closed, the coil 10 is energized to attract each can lid to the attracting surfaces 15 and 16, and the cylinder 19 is operated to draw the movable electromagnet 14 toward the fixed electromagnet 9 side. Then, the can lid group can be held, and the robot arm can be moved to be transported to a predetermined place. And the cylinders 19, 22,
When the coil 23 is restored and the coil 10 is demagnetized, the can lid W is discharged from the gripper A.
この操作において、両電磁石9、14を互いに引寄せて缶
蓋群を挾持させているが、缶蓋が小径で軽量の場合は、
両電磁石9、14を引寄せず吸着面15、16の磁力のみで保
持し、ゲート板28、29は磁力により缶蓋が傾斜するのを
規制するだけでよい。In this operation, both electromagnets 9 and 14 are attracted to each other to hold the can lid group. If the can lid is small in diameter and lightweight,
The two electromagnets 9 and 14 are not attracted and are held only by the magnetic force of the attraction surfaces 15 and 16, and the gate plates 28 and 29 only have to restrict the inclination of the can lid by the magnetic force.
また、段ボール箱等に箱詰めされた缶蓋を1列ずつ取出
す場合は、空圧シリンダ19を作動して可動電磁石14を固
定電磁石9側へ引寄せた状態でグリッパAを該段ボール
箱に入れ、再度空圧シリンダ19を作動して、両電磁石
9、14の間を拡げて缶蓋の列の全長を覆い、コイル10に
通電して吸着面15、16に各缶蓋を吸着し、箱の口まで上
昇させてからシリンダ22、23を作動してゲート板28、29
を下降させて缶蓋の傾斜を防止しながら搬送する。When the can lids packed in a cardboard box or the like are taken out one row at a time, the pneumatic cylinder 19 is operated and the movable electromagnet 14 is pulled toward the fixed electromagnet 9 and the gripper A is inserted into the cardboard box. Operate the pneumatic cylinder 19 again to expand the space between the electromagnets 9 and 14 to cover the entire length of the row of can lids, energize the coil 10 to attract each can lid to the adsorption surfaces 15 and 16, After raising to the mouth, the cylinders 22 and 23 are activated to operate the gate plates 28 and 29.
Is conveyed to prevent the can lid from tilting.
なお、前記操作においてはゲート板28、29を上下動させ
ているが、グリッパAの移動の際に他物との干渉が生じ
ない状態であれば下降させたままでもよいし、固定のも
のであってもよい。Although the gate plates 28 and 29 are moved up and down in the above-mentioned operation, they may be moved down as long as they do not interfere with other objects when the gripper A is moved, or they may be fixed. It may be.
また、缶蓋Wを放出する際に、コイル10に瞬間的に逆方
向の電流を流してS/N極を反転させるようにすれば、缶
蓋が磁化していても反発力が作用し瞬時に放出すること
ができる。Also, when the can lid W is discharged, if a current in the opposite direction is momentarily applied to the coil 10 to reverse the S / N pole, the repulsive force acts even if the can lid is magnetized, and the moment Can be released to.
前記電磁石は一方を固定、他方を可動としているが、両
方を可動とすることもできるし、ゲート板を備えない固
定電磁石の両側に可動電磁石を配置した構造にすること
もできる。One of the electromagnets is fixed and the other is movable, but both may be movable, or the movable electromagnets may be arranged on both sides of the fixed electromagnet without the gate plate.
(考案の効果) 本考案は、以上のように缶蓋を磁石で吸着すると共にゲ
ート板で該缶蓋の傾斜を防止するから、保持が確実に行
なわれて握り損いがなく、移動中も缶蓋が動揺せず脱落
することもなく、缶蓋を垂直の姿勢で放出できる利点を
有する。(Effect of the Invention) According to the present invention, since the can lid is attracted by the magnet and the tilt of the can lid is prevented by the gate plate as described above, the holding is ensured and the grip is not lost, and the can lid is not moved. There is an advantage that the can lid can be discharged in a vertical posture without being shaken and falling off.
第1図は本考案の実施例の正面図、第2図は平面図、第
3図は第1図のIII−III線断面図、第4図は電磁石の底
面図、第5図(a)は電磁石の離間時の正面図、(b)
は同じく底面図である。 1…直線ガイドレール 2、3…ガイド部材、9、14…電磁石 15、16…吸着面、17…凹部 18…凸部、28、29…ゲート1 is a front view of an embodiment of the present invention, FIG. 2 is a plan view, FIG. 3 is a sectional view taken along line III-III of FIG. 1, FIG. 4 is a bottom view of an electromagnet, and FIG. 5 (a). Is a front view when the electromagnets are separated, (b)
Is also a bottom view. 1 ... Straight guide rail 2, 3 ... Guide member, 9, 14 ... Electromagnet 15, 16 ... Adsorption surface, 17 ... Recessed portion 18 ... Convex portion, 28, 29 ... Gate
Claims (1)
伸びる一連の凹状の吸着面を設け、該一対の電磁石の一
方を他方に対して接離可能に支持し、両電磁石の吸着面
に互いに係合する凹部と凸部を前記移動方向に設け、吸
着面の外側端面に該端面を閉じるゲート板を設けたこと
を特徴とする缶蓋用電磁石グリッパ。1. A series of concave attracting surfaces extending in the moving direction of the electromagnets are provided on the lower surfaces of the pair of electromagnets, and one of the pair of electromagnets is supported so as to be able to come into contact with and separate from the other electromagnet. An electromagnet gripper for a can lid, characterized in that a concave portion and a convex portion engaging with each other are provided in the moving direction, and a gate plate for closing the end face is provided on an outer end face of the attracting face.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1102490U JPH0744474Y2 (en) | 1990-02-08 | 1990-02-08 | Electromagnetic gripper for can lid |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1102490U JPH0744474Y2 (en) | 1990-02-08 | 1990-02-08 | Electromagnetic gripper for can lid |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH03103186U JPH03103186U (en) | 1991-10-25 |
JPH0744474Y2 true JPH0744474Y2 (en) | 1995-10-11 |
Family
ID=31514568
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1102490U Expired - Lifetime JPH0744474Y2 (en) | 1990-02-08 | 1990-02-08 | Electromagnetic gripper for can lid |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0744474Y2 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108731773A (en) * | 2018-05-03 | 2018-11-02 | 江苏方天电力技术有限公司 | A kind of ultrasonic level gage probe fixing device |
-
1990
- 1990-02-08 JP JP1102490U patent/JPH0744474Y2/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JPH03103186U (en) | 1991-10-25 |
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