JPS6031986B2 - Grasping device - Google Patents

Grasping device

Info

Publication number
JPS6031986B2
JPS6031986B2 JP3119281A JP3119281A JPS6031986B2 JP S6031986 B2 JPS6031986 B2 JP S6031986B2 JP 3119281 A JP3119281 A JP 3119281A JP 3119281 A JP3119281 A JP 3119281A JP S6031986 B2 JPS6031986 B2 JP S6031986B2
Authority
JP
Japan
Prior art keywords
claw
gripping
gear
gripping claw
bracket
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
Application number
JP3119281A
Other languages
Japanese (ja)
Other versions
JPS57147443A (en
Inventor
誠一 坂戸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SAKADO KOSAKUSHO KK
Original Assignee
SAKADO KOSAKUSHO KK
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SAKADO KOSAKUSHO KK filed Critical SAKADO KOSAKUSHO KK
Priority to JP3119281A priority Critical patent/JPS6031986B2/en
Publication of JPS57147443A publication Critical patent/JPS57147443A/en
Publication of JPS6031986B2 publication Critical patent/JPS6031986B2/en
Expired legal-status Critical Current

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  • Manipulator (AREA)
  • Crushing And Grinding (AREA)
  • Working Measures On Existing Buildindgs (AREA)

Description

【発明の詳細な説明】 本発明は、主に構造物や自動車等の解体作業に使用する
もので、その構成が簡易で極めてコンパクトに製作でき
、その作業能率を著しく向上させることができる掴み装
置に関する。
DETAILED DESCRIPTION OF THE INVENTION The present invention provides a gripping device which is mainly used in dismantling structures, automobiles, etc., and which has a simple structure, can be manufactured extremely compactly, and can significantly improve the work efficiency. Regarding.

最近、騒音、振動公害の少ない破砕装置や掴み装置が種
々開発されている。
Recently, various crushing devices and gripping devices with less noise and vibration pollution have been developed.

従釆のプレー力等よりは作業能率の点でもかなり優れて
いるが、より作業性の向上が望まれている。また、その
破砕、掴み装置の爪の開閉機構が複雑で、トラブルが起
きやすかったり、或は大型化する等の不都合があつた。
そこで、本発明は、外蓮内に上部掴み爪及び下部掴み爪
の基部を鞠支し、夫々の基部には上部歯車、下部歯車を
固着し、その相互を噛合させ、該噛合状態で上部掴み爪
及び下部掴み爪を開閉自在とし、その上部掴み爪及び下
部掴み爪の何れか一方の基部に爪開閉用リンクを突設し
、該爪開閉用リンク端の前記外蓮内に設けた内部油圧シ
リンダのピストンロッド端に軸支したり、或は、前記の
機構において、その外隆の外面にブラケットを固着し、
そのブラケットの一端を油圧機構にて屈伸するアームの
先端に鍋承し、そのブラケットの他端はアームの中間に
設けた油圧シリンダのピストンロッド端に鞠支したこと
により、上部歯車、下部歯車の噛合で、上部掴み爪及び
下部掴み爪を両方同時、且つ確実に開閉でき作業性が良
好となるし、その両掴み爪の開閉機構は両歯車であり、
その機構が簡易であるし、コンパクトに製作できるし、
さらに本体を角度調節する油圧シリンダを駆動させると
、現場の適宜な物等に対して所望角度に迅速且つ確実に
セットでき一層作業能率を向上させることができ前記の
不都合等を解消したものである。
Although it is considerably superior in terms of work efficiency compared to the playing power of subordinates, further improvements in workability are desired. In addition, the opening and closing mechanism of the claws of the crushing and gripping device is complicated, which tends to cause trouble, or increases the size of the device.
Therefore, in the present invention, the bases of the upper gripping claw and the lower gripping claw are supported in the outer lotus, the upper gear and the lower gear are fixed to the respective bases, and the gears are meshed with each other, and in this meshed state, the upper gripping claw is The claw and the lower gripping claw can be opened and closed freely, and a claw opening/closing link is provided protruding from the base of either the upper grasping claw or the lower grasping claw, and an internal hydraulic pressure is provided within the outer lotus at the end of the claw opening/closing link. Pivotally supported on the end of the piston rod of the cylinder, or in the above mechanism, a bracket is fixed to the outer surface of the outer ridge,
One end of the bracket is mounted on the tip of an arm that is bent and extended by a hydraulic mechanism, and the other end of the bracket is mounted on the piston rod end of a hydraulic cylinder installed in the middle of the arm. By meshing, both the upper gripping claw and the lower gripping claw can be opened and closed simultaneously and reliably, resulting in good workability, and the opening/closing mechanism for both gripping claws is a dual gear.
The mechanism is simple and can be manufactured compactly,
Furthermore, by driving the hydraulic cylinder that adjusts the angle of the main body, it can be quickly and reliably set to the desired angle for appropriate objects on the site, further improving work efficiency and eliminating the above-mentioned inconveniences. .

次にその構造を図面について説明する。Next, the structure will be explained with reference to the drawings.

1は掴み装置の外鐘であって、全体が中空状に形成され
、この下部には膨大部laが構成されている。
Reference numeral 1 denotes an outer bell of the gripping device, which is formed entirely in a hollow shape, and an enlarged portion la is formed at the bottom thereof.

該膨大部laの表面側(第5図において右側)に開口部
2が設けられている。3は上部掴み爪で、複数本(実施
例では爪3a,3b,3cの3本)が等間隔に設けられ
、その基部側の連結村で固着され、この連結村よりブラ
ケット等を介して上部掴み爪3の基部となる一対の軸受
が、前記外鰹1の膨大部la内に設けた上部爪軸4に鞠
支されている。
An opening 2 is provided on the surface side (right side in FIG. 5) of the enlarged portion la. Reference numeral 3 designates upper gripping claws, in which a plurality of claws (three claws 3a, 3b, and 3c in the embodiment) are provided at equal intervals, and are fixed at a connecting village on the base side, and from this connecting village via a bracket or the like, the upper gripping claws are provided. A pair of bearings forming the base of the gripping claws 3 are supported by an upper claw shaft 4 provided within the enlarged portion la of the outer bonito 1.

5は下部掴み爪であって、これも複数本(実施例では5
a,5bの2本)で、前記の上部掴み爪3の爪3a,3
b,3cの間隔と同等に形成され、その基部側は連結村
で固着され、この連結杵よりブラケット等を介して、下
部掴み爪5の基部となる一対の軸受が、前記外蟹1の膨
大部la内に設けた下部爪軸6に軸支されている。
5 is a lower gripping claw, which is also a plurality of claws (in the example, 5
a, 5b), and the claws 3a, 3 of the upper gripping claw 3.
b and 3c, and the base side thereof is fixed by a connecting hole, and from this connecting punch, via a bracket, etc., a pair of bearings, which will become the base of the lower gripping claw 5, are attached to the bulge of the outer crab 1. It is pivotally supported by a lower claw shaft 6 provided in part la.

7は上部歯車、8は下部歯車であって、両方共に、その
中央に貴孔が穿設され、且つ同一歯数、同一モジュール
で形成され、その上部歯車7は上部掴み爪3の基部の一
対の軸受間に蕨入されてピン等にて固着されている。
7 is an upper gear, and 8 is a lower gear, both of which have a hole in the center and are formed with the same number of teeth and the same module; It is inserted between the bearings and fixed with pins, etc.

また、下部歯車8も、下部掴み爪5の基部に前記同様に
固着されている(第3図、第4図参照)。その上部歯車
7下部歯車8は、その上部爪軸4下部爪軸6に夫々回転
自在に設けられ、且つ相互が噛合している。これによっ
て、上部掴み爪3下部掴み爪5は仮想垂直面上(第5図
の紙面と同一面)を、その上部爪軸4下部爪軸6を中心
に揺動自在に構成され、その上部掴み爪3の爪3a,3
b,3cは下部掴み爪5の爪5a,5bと交互に位置し
、且つ閉じるとその上下の爪の先端は交叉するようにし
、その上部掴み爪3下部掴み爪5の大部分は閉口部2よ
り突出している。9は爪開閉用リンクであって、上部掴
み爪3や下部掴み爪5の基部の何れか一方に突設されて
いる。
Further, the lower gear 8 is also fixed to the base of the lower gripping pawl 5 in the same manner as described above (see FIGS. 3 and 4). The upper gear 7 and the lower gear 8 are rotatably provided on the upper claw shaft 4 and the lower claw shaft 6, respectively, and are in mesh with each other. As a result, the upper gripping claw 3 and the lower gripping claw 5 are configured to be able to swing freely on a virtual vertical plane (the same plane as the plane of the paper in FIG. 5) around the upper claw shaft 4 and the lower claw shaft 6. Claw 3 of Claw 3, 3
b and 3c are alternately located with the claws 5a and 5b of the lower gripping claw 5, and when closed, the tips of the upper and lower claws intersect, and most of the upper gripping claw 3 and the lower gripping claw 5 are located in the closing part 2. more prominent. Reference numeral 9 denotes a claw opening/closing link, which is protruded from either the base of the upper gripping claw 3 or the lower gripping claw 5.

実施例では下部掴み爪5の基部に設けられている(第3
図、第5図参照)。10は内部油圧シリンダで、外蟹1
に内蔵され、この中間は、外篭1上部板の突片に鞠支さ
れ、下側には、油圧力により適宜昇降するピストンロッ
ド11が設けられ、該シリンダロッド11の先端(下端
)は、その爪開閉用リンク9の先端に鞠支され、そのシ
リンダロッド11の昇降により爪開閉用リンク9を介し
て上部掴み爪3下部掴み爪5が適宜開閉する。
In the embodiment, it is provided at the base of the lower gripping claw 5 (the third
(see Figure 5). 10 is an internal hydraulic cylinder, and 1 is an external hydraulic cylinder.
The cylinder rod 11 is built in, and its intermediate portion is supported by a protrusion on the upper plate of the outer casing 1, and a piston rod 11 is provided on the lower side that moves up and down as appropriate by hydraulic pressure, and the tip (lower end) of the cylinder rod 11 is The upper gripping claw 3 and the lower gripping claw 5 are supported on the tip of the claw opening/closing link 9, and as the cylinder rod 11 moves up and down, the upper gripping claw 3 and the lower grasping claw 5 open and close as appropriate via the claw opening/closing link 9.

12は歯カバーで、その上部歯車7下部歯車8が閉口部
2から露出するのを覆うもので、外崖1の膨大部laに
固着されている。
A tooth cover 12 covers the upper gear 7 and lower gear 8 exposed from the closed part 2, and is fixed to the enlarged part la of the outer cliff 1.

13はブラケットで、その一端(第1図、第5図におい
て下側)に第1軸受部13aが、その他端(第1図、第
5図において上側)に第2軸受部13bが夫々形成され
、そのブラケツト13が、前記外萱1の外面に固着され
ている。
Reference numeral 13 denotes a bracket, with a first bearing portion 13a formed at one end (lower side in FIGS. 1 and 5) and a second bearing portion 13b formed at the other end (upper side in FIGS. 1 and 5). , whose bracket 13 is fixed to the outer surface of the outer shell 1.

14はアームであって、ショベルローダ等のブームの先
端に油圧機構にて適宜屈伸するように設けられている。
Reference numeral 14 denotes an arm, which is provided at the tip of a boom of a shovel loader or the like so as to be flexed and extended as appropriate by a hydraulic mechanism.

そのブラケット13の一端(第1軸受部13a)がアー
ム14の先端に軸承され、該アーム14の途中に設けた
油圧シリンダ15のピストンロッド16先端がブラケツ
ト13の他端(第2軸受部13b)に軸支されている。
その油圧シリンダ15はショベルローダ等に予め設けら
れている。また、図示しないが、外錘1のプラケット1
3を前記アーム14先端に固着して使用することもある
。この場合には、油圧シリンダー5は駆動しない。前述
の上部、下部の概念は、第1図に対してのもので、実際
には、上下にならない場合もある。また、前述の歯車は
、円形にしないで、噛合する範囲の扇形状にすることも
ある。次に作用効果について説明する。
One end of the bracket 13 (first bearing portion 13a) is supported by the tip of an arm 14, and the tip of a piston rod 16 of a hydraulic cylinder 15 provided in the middle of the arm 14 is the other end of the bracket 13 (second bearing portion 13b). It is pivoted on.
The hydraulic cylinder 15 is previously installed in a shovel loader or the like. Also, although not shown, the placket 1 of the outer weight 1
3 may be used by being fixed to the tip of the arm 14. In this case, the hydraulic cylinder 5 is not driven. The above-mentioned concept of upper and lower parts is with respect to FIG. 1, and in reality, the upper and lower parts may not be the same. Furthermore, the aforementioned gears may not be circular, but may be fan-shaped within the meshing range. Next, the effects will be explained.

特許請求の範囲第1項記載の発明においては、外錘1内
に上部掴み爪3及び下部掴み爪5の基部を軸支し、夫々
の基部には、上部歯車7下部歯車8を固着し、その相互
を噛合させ、該噛合状態で上部掴み爪3下部掴み爪5を
開閉自在とし、その上部掴み爪3下部掴み爪5の何れか
一方の基部に爪開閉用リンク9を突設し、該爪開閉用リ
ンク9端に前記外陰1内に設けた内部油圧シリンダー0
のピストンロッド11端に麹支したことにより、その外
錘1を、ショベルローダ等のアーム先端に固着して使用
すると、その上部歯車7下部歯車8の噛合することで、
上部掴み爪3及び下部掴み爪5は、その両方を同時に同
一の角度に開閉できるし、且つ噛合のため両方を確実に
開閉でき、一方のみが開く従来の装置に比較して掴み、
破砕等の作業繰作がしやすく、その作業能率を良好する
ことができる。
In the invention described in claim 1, the bases of the upper gripping pawl 3 and the lower gripping pawl 5 are pivotally supported within the outer weight 1, and the upper gear 7 and the lower gear 8 are fixed to the respective bases, The upper gripping claws 3 and the lower gripping claws 5 can be opened and closed freely in the meshed state. A claw opening/closing link 9 is provided protruding from the base of one of the upper gripping claws 3 and the lower grasping claws 5. An internal hydraulic cylinder 0 provided in the external genitalia 1 at the end of the claw opening/closing link 9
By supporting the piston rod 11 at the end of the piston rod 11, when the outer weight 1 is fixed to the end of the arm of a shovel loader, etc., the upper gear 7 and the lower gear 8 mesh with each other.
Both of the upper gripping claw 3 and the lower gripping claw 5 can be opened and closed at the same angle at the same time, and because of their meshing, both can be opened and closed reliably.
It is easy to carry out operations such as crushing, and the efficiency of the operations can be improved.

さらにその開閉させる装置は、噛合する歯車機構のため
、リンク機構等に比較して複雑にならず、極めて構成が
簡易で、トラブル等が発生しにくいものであるし、また
、コンパクトに製作できるものである。また、本発明の
装置は、開閉させることで掴み、破砕等を行なうので、
振動、騒音公害等が起ないことは勿論である。また、こ
の装置は構造物や自動車(主に廃車)等解体ができるの
みならず、木材等の運搬にも利用できる。次いで、特許
請求の範囲第2項記載の発明においては、第1項の発明
の構成に加えて、前記外錘1の外面にブラケツト13を
固着し、そのブラケット13の一端を油圧機構にて屈伸
するアーム14の先端に軸承し、そのブラケット13の
池端はアーム14の中間に設けた油圧シリンダ15のピ
ストンロッド16端に鼠支したことにより、そのアーム
15の角度を変えなくとも、油圧シリンダー5の駆動で
掴み装置本体の適宜な角度調節ができ、構造物や物(自
動車等)を最も掴みやすい状態に迅速にセットできるし
、さらに運搬等をするときにも、持ち上げ、放てきに対
して、その本体を所望の角度に迅速にセットできる。
Furthermore, since the opening/closing device is a meshing gear mechanism, it is less complicated than a link mechanism, has an extremely simple configuration, is less prone to trouble, and can be manufactured compactly. It is. Furthermore, since the device of the present invention grasps, crushes, etc. by opening and closing,
Of course, vibrations, noise pollution, etc. do not occur. In addition, this device can not only dismantle structures and automobiles (mainly junk cars), but can also be used to transport wood and other materials. Next, in the invention set forth in claim 2, in addition to the structure of the invention set forth in claim 1, a bracket 13 is fixed to the outer surface of the outer weight 1, and one end of the bracket 13 is bent and extended by a hydraulic mechanism. The end of the bracket 13 is supported on the end of the piston rod 16 of the hydraulic cylinder 15 provided in the middle of the arm 14, so that the hydraulic cylinder 5 can be moved without changing the angle of the arm 15. The gripping device itself can be adjusted to an appropriate angle by driving the device, allowing structures and objects (such as automobiles) to be quickly set in the state that is most easily gripped. , the main body can be quickly set at the desired angle.

即ち、アーム14の屈曲調節を徒にすることなくその本
体の角度調節が迅速にでき、掴み、破砕、運搬等の作業
を一層能率的に行なうことができる。その他の構成は第
1項発明の構成と同等であり、同様の作用効果を奏する
That is, the angle of the main body can be quickly adjusted without wasting the bending adjustment of the arm 14, and operations such as grasping, crushing, and transportation can be performed more efficiently. The other configurations are equivalent to the configuration of the first aspect of the invention, and produce similar effects.

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

図面は本発明の−実施例を示すものであって、その第1
図は本発明の斜視図、第2図は本発明の平面図、第3図
は爪開閉用リンク及び下部歯車を備えた下部掴み爪の斜
視図、第4図は第3図W−W線断面図、第5図は作動状
態を示す本発明の一部断面とした側面図である。 1・・・・・・外誓、3・・・・・・上部掴み爪、5・
・・・・・下部掴み爪、7・・・・・・上部歯車、8・
・・・・・下部歯車、9・・・・・・爪開閉用リンク、
10・・・・・・内部油圧シリンダ、11,16……ピ
ストンロッド、13……ブラケツト、14・・・・・・
アーム、15・・・…油圧シリンダ。 第1図第4図 第2図 第3図 図 船
The drawings show an embodiment of the invention, the first embodiment of which is shown in FIG.
The figure is a perspective view of the present invention, Figure 2 is a plan view of the present invention, Figure 3 is a perspective view of a lower gripping claw equipped with a link for opening and closing the claw and a lower gear, and Figure 4 is taken along the line W-W in Figure 3. FIG. 5 is a partially sectional side view of the present invention showing an operating state. 1... external oath, 3... upper gripping claw, 5.
...Lower gripping claw, 7...Upper gear, 8.
...Lower gear, 9...Claw opening/closing link,
10... Internal hydraulic cylinder, 11, 16... Piston rod, 13... Bracket, 14...
Arm, 15... Hydraulic cylinder. Figure 1 Figure 4 Figure 2 Figure 3 Figure Boat

Claims (1)

【特許請求の範囲】 1 外筐内に上部掴み爪及び下部掴み爪の基部を軸支し
、夫々の基部には上部歯車、下部歯車を固着し、その相
互を噛合させ、該噛合状態で上部掴み爪及び下部掴み爪
を開閉自在とし、その上部掴み爪及び下部掴み爪の何れ
か一方の基部に爪開閉用リンクを突設し、該爪開閉用リ
ンク端を前記外筐内に設けた内部油圧シリンダのピスト
ンロツド端に軸支したことを特徴とした掴み装置。 2 外筐内に上部掴み爪及び下部掴み爪の基部を軸支し
、夫々の基部には上部歯車、下部歯車を固着し、その相
互を噛合させ、該噛合状態で上部掴み爪及び下部掴み爪
を開閉自在とし、その上部掴み爪及び下部掴み爪の何れ
か一方の基部に爪開閉用リンクを突設し、該爪開閉用リ
ンク端を前記外筐内に設けた内部油圧シリンダのピスト
ンロツド端に軸支し、外筐の外面にブラケツトを固着し
、そのブラケツトの一端を油圧機構にて屈伸するアーム
の先端に軸承し、そのブラケツトの他端はアームの中間
に設けた油圧シリンダのピストンロツド端に軸支したこ
とを特徴とした掴み装置。
[Scope of Claims] 1. The bases of an upper gripping claw and a lower gripping claw are pivotally supported in an outer casing, an upper gear and a lower gear are fixed to the bases of each, and the gears are engaged with each other. The interior includes a gripping claw and a lower gripping claw that can be freely opened and closed, a claw opening/closing link protruding from the base of either the upper grasping claw or the lower grasping claw, and an end of the claw opening/closing link provided within the outer casing. A gripping device characterized by being pivotally supported on the piston rod end of a hydraulic cylinder. 2 The bases of the upper gripping claw and the lower gripping claw are pivotally supported within the outer casing, the upper gear and the lower gear are fixed to the respective bases, and the gears are meshed with each other, and in this meshed state, the upper gripping claw and the lower gripping claw are It can be opened and closed freely, and a claw opening/closing link is provided protruding from the base of either the upper grasping claw or the lower grasping claw, and the end of the claw opening/closing link is connected to the piston rod end of the internal hydraulic cylinder provided in the outer casing. A bracket is fixed to the outer surface of the outer casing, one end of the bracket is supported on the tip of an arm that is bent and extended by a hydraulic mechanism, and the other end of the bracket is attached to the piston rod end of a hydraulic cylinder provided in the middle of the arm. A gripping device characterized by being pivoted.
JP3119281A 1981-03-06 1981-03-06 Grasping device Expired JPS6031986B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP3119281A JPS6031986B2 (en) 1981-03-06 1981-03-06 Grasping device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP3119281A JPS6031986B2 (en) 1981-03-06 1981-03-06 Grasping device

Publications (2)

Publication Number Publication Date
JPS57147443A JPS57147443A (en) 1982-09-11
JPS6031986B2 true JPS6031986B2 (en) 1985-07-25

Family

ID=12324557

Family Applications (1)

Application Number Title Priority Date Filing Date
JP3119281A Expired JPS6031986B2 (en) 1981-03-06 1981-03-06 Grasping device

Country Status (1)

Country Link
JP (1) JPS6031986B2 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0487922A (en) * 1990-07-31 1992-03-19 Nambu Electric Co Ltd Grip releaser for goods transferring device
DE102007039398B4 (en) * 2007-08-21 2009-11-12 Saadat, Mohammad Mohsen, Prof. Dr.-Ing. Gripping mechanism for robots, machines and handling devices
DE102007039399B4 (en) * 2007-08-21 2010-05-12 Saadat, Mohammad Mohsen, Prof. Dr.-Ing. Gripping mechanism with three-piece gear shaft

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