JPS5937083A - Grasper - Google Patents

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【発明の詳細な説明】 この発明は物品の生産、加工の工程において物品を機械
的に掴持しようとする場合、単一の動力源による往復動
作によって指の昇降および開閉を行うことのできる簡易
な掴持装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION When attempting to mechanically grip an article in the production or processing process of the article, the present invention provides a simple device that can lift, lower, open and close the fingers by reciprocating motion using a single power source. This invention relates to a gripping device.

物品の生産加工のロボット化に伴い、工程中の掴持動作
も機械的に行われるようになってきたが、掴持動作は物
品を掴む指を被掴持物に接近させる動作、指を閉じて物
品を掴む動作、指を開いて物品を放す動作、指を上昇ま
たは後退させる動作から成り立つため、指の昇降または
進退と指の開閉は別系流の動力源によって別々に動作す
ることになり、掴持装置を複雑かつ高価なものにしてい
た。As the production and processing of articles becomes more robotized, grasping operations during the process are also performed mechanically. Since it consists of the action of grasping an object, the action of opening the fingers to release the object, and the action of raising or retreating the fingers, the raising and lowering or advancing and retreating of the fingers and the opening and closing of the fingers are operated separately by separate power sources. This made the gripping device complicated and expensive.

この発明は従来の掴持装置の複雑性、高価性を改め、指
の昇降および開閉を一元化することによって簡素で安価
な掴持装置を得ることを目的とする。The object of the present invention is to improve the complexity and high cost of conventional gripping devices, and to provide a simple and inexpensive gripping device by unifying the lifting, lowering, and opening/closing of fingers.

次に図面にもとづき、本発明の１実施例について構成お
よび作用を説明する。なお、実施例はこの装置を縦位置
に使用した場合を採用したので用語も昇降、上、下等の
表現を用いたが横位置や斜位置に使用することもあるの
で、それらの場合は用語は改められるものとする。Next, the structure and operation of one embodiment of the present invention will be explained based on the drawings. In addition, since the example adopted the case where this device is used in the vertical position, the terms such as up/down, up, down, etc. are used, but since it may also be used in the horizontal or diagonal position, the terms are used in those cases. shall be amended.

機枠または腕木等に固定した外筒（１）に退部（２）を
内接させる。退部はそれ自体に刻設したキーみぞ（３）
と外筒より貫通するキー（４）により回転を抑止されて
いるが、長手方向へのスライドは自在である。退部は図
示のように下方約５分の１の部分を上方より小径に形成
し、この小径部に多少の面取り（５，５）を平行に施す
。退部底面より上方へ向けて中心をよぎる切割（６）を
設け、切割内に上方にＲをとった１対の開閉指（７）を
揺動自在にピン止めし、両相をピン下の部位においてス
プリング（８）をもって連結する。下部にＶ字形の斜面
を形成し、上部にっば（９）を形成したくさび棒（１０
）を退部の内部に挿入し、くさび棒に巻装したスプリン
グ（１１）をっば（９）を天井として退部内の広濶部に
弾入する。くさび棒挿入後退筒内周の上端にリンクナラ
Ｉ−（１２）を螺合し、くさび棒をエアシリンダのピス
トンロット（１３）に接続する。A retracted part (2) is inscribed in an outer cylinder (1) fixed to a machine frame or arm. The exit is a key groove engraved on itself (3)
Rotation is restrained by a key (4) penetrating from the outer cylinder, but it is free to slide in the longitudinal direction. As shown in the figure, the lower part of the recessed part is formed to have a smaller diameter than the upper part, and some chamfers (5, 5) are applied in parallel to this small diameter part. A cut (6) passing through the center upwards from the bottom of the retracted part is provided, and a pair of opening/closing fingers (7) with an upward radius are pinned in the cut so that they can swing freely. The parts are connected using springs (8). A wedge bar (10) with a V-shaped slope at the bottom and a nib (9) at the top.
) is inserted into the inside of the recess, and the spring (11) wound around the wedge rod is used as a ceiling to inject the spring (9) into the wide part of the recess. A link nut I-(12) is screwed onto the upper end of the inner periphery of the wedge rod insertion and retraction cylinder, and the wedge rod is connected to the piston rod (13) of the air cylinder.

第１図は本発明の作動前の状態である。ピストンロット
は収縮、くさび棒は上死点に達し、っば（９）がリング
ナラｌ−（１２）を介して退部（２）を持ち上げ、退部
全体を外筒（１）内に収容している。くさび棒（１０）
は開閉指（７）から離脱しており、開閉指はスプリング
（８）の張力により開の状態にある。FIG. 1 shows the state of the present invention before operation. The piston rod contracts, the wedge rod reaches the top dead center, and the valve (9) lifts the retracted part (2) through the ring nut l-(12), housing the entire retracted part in the outer cylinder (1). ing. Wedge rod (10)
has been separated from the opening/closing finger (7), and the opening/closing finger is in an open state due to the tension of the spring (8).

第２図はピストンロット（１３）が第１段の伸張を行っ
た状態を示す。この伸張は開閉指を開の状態のまま被掴
持物に接近させることを目的とするものであり、ピスト
ンロットの伸張に伴ってくさび棒（１０）が下降し、つ
ば（９）がスプリング（１１）を介して退部を押し下げ
、退部の大径部の底面が外筒（１）の底に達して停止す
る。このとき退部の小径部は外筒底の欠除を通って下降
し、開閉指（７）を掴持位置に案内する。第３図はピス
トンロット（１３）が第２段の伸張を行った状態を示す
。この伸張は開閉指に閉の動作を行わせて被掴持物を掴
持させることを目的とするものであり、退部は第１段の
下降によって外筒底に達しているので２段目のピストン
下降に際しては退部は動かず、くさび棒（１０）のみが
スプリング（１１）を圧縮しながら下降し、斜面部が開
閉指（７）のＲ部に割り込んで両相先を閉じさせる。両
相を連結するスプリング（８）の張力はくさび棒の押圧
力より弱く、押圧力が働いている間スプリング（８）は
圧縮されている。FIG. 2 shows the piston rod (13) in its first stage of expansion. The purpose of this extension is to approach the object to be grasped with the opening/closing fingers open, and as the piston rod extends, the wedge rod (10) descends and the collar (9) moves toward the spring (11). ), and the bottom surface of the large diameter part of the recessed part reaches the bottom of the outer cylinder (1) and stops. At this time, the small diameter part of the retracted part descends through the cutout in the bottom of the outer cylinder and guides the opening/closing finger (7) to the gripping position. FIG. 3 shows the piston rod (13) in its second stage of expansion. The purpose of this extension is to make the opening/closing fingers perform a closing action to grasp the object to be grasped, and since the retraction part has reached the bottom of the outer cylinder by the descent of the first stage, the second stage When the piston descends, the retreating part does not move, and only the wedge rod (10) moves down while compressing the spring (11), and the slope part cuts into the R part of the opening/closing finger (7) to close both phase tips. The tension of the spring (8) connecting both phases is weaker than the pressing force of the wedge bar, and the spring (8) is compressed while the pressing force is working.

掴持を終えて被掴持物を解き放すときは上記とは逆の動
作が行われる。始めの短い上昇（第３図→第２図）でく
さび棒（１０）は開閉指（７）から抜は出し、スプリン
グ（８）が張力を回復して両相を開き、掴持を解除する
。ピストンロットが引き続き収縮してくさび棒が上昇す
ると、つば（９）も上昇してリングナツト（１２）を介
して退部（２）を持ち上げ、作動前の状態（第１図）に
戻す。ピストンロット゛およびくさび棒の第１段の下降
と第２段の下降の間には区切りがあるわけてはなく、１
連の動作として行われ、第１段の上昇と第２段の上昇も
同様である。When the grasping is finished and the grasped object is released, the operation opposite to the above is performed. During the initial short rise (Fig. 3 → Fig. 2), the wedge rod (10) is removed from the opening/closing finger (7), the spring (8) recovers its tension, opens both phases, and releases the grip. . As the piston rod continues to contract and the wedge bar rises, the collar (9) also rises, lifting the recess (2) through the ring nut (12) and returning it to its pre-actuation condition (FIG. 1). There is no separation between the lowering of the first stage and the lowering of the second stage of the piston rod and wedge rod.
This is done as a series of movements, and the raising of the first stage and the raising of the second stage are similar.

上記の実施例は板紙、樹脂シート、合板等の薄材の掴持
用として構成したものであるが、本発明の原理は丸棒そ
の他異形の物品の掴持にも応用することができる。この
場合は開閉指の数を３本または４本とし、これに応じて
退部下部の切割の形を変え、くさび棒の斜面を３面また
は４面とすればよい。Although the above-described embodiments are designed for gripping thin materials such as paperboard, resin sheets, and plywood, the principles of the present invention can also be applied to gripping round bars and other irregularly shaped articles. In this case, the number of opening/closing fingers may be three or four, the shape of the cut at the lower part of the retracted portion may be changed accordingly, and the slopes of the wedge bar may be formed on three or four sides.

本発明の特色は単一の動力、例えば１個のエアシリンダ
により開閉指の下降と掴持、掴持の解除と開閉指の上昇
をそれぞれエアシリンダの１対作をもって行い得ること
である。そのため作業時間が短縮され、また形状および
機構が簡素であるため管理がしやすく、かつ低コストで
ある等の利点を有する。A feature of the present invention is that the lowering and gripping of the opening/closing fingers, the release of gripping, and the raising of the opening/closing fingers can be performed by a single actuation of a single pair of air cylinders, for example, by one air cylinder. Therefore, the working time is shortened, and since the shape and mechanism are simple, it is easy to manage and has advantages such as low cost.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は作動前の本発明の状態をあられす１部所面図、
第２図は第１段の下降時の状態図、第３図は第２段の下
降時の状態図、第４図は退部の正面図、第５図は退部の
底面図、第６図は退部の側面断面図である。 １は外筒、２は退部、３はキーみぞ、４はキー、５は面
取り部、６は切割、７は開閉指、８はスプリング、９は
つば、１０はくさび棒、１１はスプリング、１２はリン
クナツト、１３はピストンロッド。 特許出願代理人　　　加々美　敬　司 第　　１　　図　　　　　　　　第　　２　　図　　　
　　　　　第　　３１λ嘗鴎４し？］第６１？コ 第　　５　　［りFigure 1 is a partial view showing the state of the present invention before operation;
Fig. 2 is a state diagram when the first stage is lowered, Fig. 3 is a state diagram when the second stage is lowered, Fig. 4 is a front view of the retracted part, Fig. 5 is a bottom view of the retracted part, and Fig. 6 is a diagram of the state when the first stage is lowered. The figure is a side sectional view of the retracted part. 1 is an outer cylinder, 2 is a recessed part, 3 is a key groove, 4 is a key, 5 is a chamfered part, 6 is a cutout, 7 is an opening/closing finger, 8 is a spring, 9 is a collar, 10 is a wedge bar, 11 is a spring, 12 is a link nut, 13 is a piston rod. Patent Application Agent Keiji Kagami Figure 1 Figure 2
31st lambda 4th? ] No. 61? 5th [ri]

Claims (1)

【特許請求の範囲】[Claims] 筒体の約５分の１をやや小径に形成゛してこの部分に平
行面取りを施し、筒体下部に切割（６）を設けた遊筒（
２）と、該遊筒をスライド可能、回転不可能に内接させ
、底部に遊筒の小径部が出入し得る欠除を設けた外筒（
１）と、前記切割内に枢着され、下部をスプリング（８
）で連結された１対の開閉指（７）と、エアシリンダの
ピストンロッド（１３）に接続して遊筒内に挿入された
くさび棒（１０）と、該くさび棒の上部に形成したつば
（９）を天井としてくさび棒に巻装する形て遊筒内に封
入したスプリング（１１）と、遊筒内周の上端に螺合し
たリングナラｌ−（１２）から成ることを特徴とする掴
持装置。About one-fifth of the cylinder is formed into a slightly smaller diameter, this part is parallel chamfered, and a cut (6) is provided at the bottom of the cylinder.
2) and an outer cylinder in which the idler cylinder is slidably but non-rotatably inscribed, and a cutout is provided at the bottom through which the small diameter part of the idler cylinder can enter and exit.
1), which is pivoted in the cutout, and whose lower part is fitted with a spring (8).
), a wedge rod (10) connected to the piston rod (13) of the air cylinder and inserted into the idler cylinder, and a collar formed on the upper part of the wedge rod. The grip is characterized by consisting of a spring (11) enclosed in a play cylinder by winding it around a wedge rod with (9) as a ceiling, and a ring nut l-(12) screwed onto the upper end of the inner periphery of the play cylinder. Holding device.