JPS61257729A - Article clamping apparatus - Google Patents
Article clamping apparatusInfo
- Publication number
- JPS61257729A JPS61257729A JP9874885A JP9874885A JPS61257729A JP S61257729 A JPS61257729 A JP S61257729A JP 9874885 A JP9874885 A JP 9874885A JP 9874885 A JP9874885 A JP 9874885A JP S61257729 A JPS61257729 A JP S61257729A
- Authority
- JP
- Japan
- Prior art keywords
- article
- compressed air
- clamping
- gripping
- cylinder tube
- 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.)
- Pending
Links
Landscapes
- Jigs For Machine Tools (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は異なる２つの物品を把持する物品把持装置に関
するものである。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an article gripping device for gripping two different articles.
従来の技術
従来のこの種物品把持［ｆｆは、例えば第４図＜Ａ）（
Ｂ）に示すような２つの装置が知られている。第４図（
Ａ＞に示す装置は装置本体１と、この装置本体１により
矢印ａ方向にビン２を中心に開閉される把持爪３からな
り、この把持爪３により物品４を把持するようになって
いる。第４図（Ｂ）に示す装置は物品５を把持する把持
爪６と、この把持爪６を矢印す方向に移動させることに
よりｒ１６ｍ可能とするスリーブ７からなっていた。2. Description of the Related Art Conventionally, this type of article gripping [ff is, for example, FIG. 4<A) (
Two devices as shown in B) are known. Figure 4 (
The device shown in A> consists of a device main body 1 and a gripping claw 3 that is opened and closed by the device main body 1 in the direction of arrow a centering on a bottle 2, and the gripping claw 3 grips an article 4. The device shown in FIG. 4(B) consists of a gripping claw 6 for gripping the article 5, and a sleeve 7 that can move the gripping claw 6 in the direction indicated by the arrow.
発明が解決しようとする問題点
このような従来の構成ｔは、２つの異なる物品を把持す
るために、各々の物品に対応した物品把持装置が必要と
なり、コストアップになる他、第４図に示すような２つ
の異なる物品４，５が組み合わされ、個々に分解した形
態で他へ挿入づる場合、一旦物品４を第４図（Ａ）の把
持装置で把持し、この物品４を所定の位置に挿入した後
、前記把持装置を物品４より外部へ移動させ、更に第４
図（Ｂ）の把持装置にて物品５を把持し、他の所定の位
置に挿入するため、設備自体の動作が複雑になるととも
に、スペースが広くなるという問題があった。Problems to be Solved by the Invention With such a conventional configuration, in order to grasp two different articles, an article gripping device corresponding to each article is required, which increases the cost and, as shown in FIG. When two different articles 4 and 5 as shown are combined and inserted into another in an individually disassembled form, the article 4 is once grasped by the gripping device shown in FIG. 4(A), and the article 4 is held at a predetermined position After inserting the gripping device into the article 4, the gripping device is moved to the outside of the article 4, and the fourth
Since the article 5 is gripped by the gripping device shown in Figure (B) and inserted into another predetermined position, there are problems in that the operation of the equipment itself becomes complicated and the space becomes large.
本発明はこのような問題点を解決するもので、動作の簡
単化及び小スペース化を計り、安価な物品把持装置を提
供することを目的とするものである。The present invention is intended to solve these problems, and aims to provide an inexpensive article gripping device that simplifies the operation and takes up less space.
問題点を解決するための手段
この問題点を解決するために本発明は、シリンダーチュ
ーブと、ＷＡｗ１可能な第１の把持爪と、この把持爪を
開閉させ物品を把持可能とすべく前記シリンダーチュー
ブ内に摺動可能に保持されるビ。Means for Solving the Problems In order to solve this problem, the present invention includes a cylinder tube, a first gripping claw capable of WAw1, and a first gripping claw capable of opening and closing the cylinder tube so as to be able to grip an article. Bi held slidably within.
ストンと、外部より圧縮空気を供給し前記ピストンを移
動可能にする圧縮空気供給口と、前記第１の把持爪を圧
縮空気減時に閉状態に保持する圧縮ばねと、前記第１の
把持爪を開方向に力を与える開放ばねと、前記物品とは
異なる物品を把持すべく前記シリンダーチューブ外側で
摺動可能に保持される第２の把持爪と、この第２の把持
爪をｒ＃閑させるスリーブとを備えたものである。a compressed air supply port that supplies compressed air from the outside to enable the piston to move; a compression spring that holds the first gripping claw in a closed state when the compressed air is reduced; an opening spring that applies a force in the opening direction; a second gripping pawl slidably held outside the cylinder tube to grip an article different from the article; and releasing the second gripping pawl. It is equipped with a sleeve.
作用
この構成により、２つの異なる物品を２つの把持爪を持
つ１つの把持装置で単独に把持できる。Effect: With this configuration, two different articles can be independently gripped by one gripping device having two gripping claws.
実施例
以下、本発明の一実施例について、図面（第１図〜第３
図）に基づいて説明する。EXAMPLE Below, an example of the present invention will be explained using the drawings (Figs. 1 to 3).
The explanation will be based on Figure).
図において、１１は簿個片の把持爪で、４つ対角方向に
取付けられており、この把持爪１１の匂配部１２にピス
トン１３が常時接触し、シリンダーチューブ１４とブロ
ック１５に固定されるシャフト１６との閣で摺動可能に
保持される。このピストン１３は常時圧縮ばね１７によ
り矢印Ｃ方向に力が与えられている。又、このピストン
１３は圧縮空気供給０１８より圧縮空気を矢印ｄ方向に
供給することにより矢印ｅ方向へ移動される。更にピス
トン１３を矢印Ｃ方向へ移動させるために圧縮空気供給
口１９が設けられている。２０はブロック１５をシリン
ダーチューブ１４に締結するボルトである。前記把持爪
１１に常時外方向く矢印ｆ方向）に移動させる力を与え
る開放ばね２２が満２３内に設けられている。シリンダ
ーチューブ１４の外周には先端部２４がコレットチャッ
クとなっている別の把持爪２５がシリンダーチューブ２
６を介し摺動可能に保持されている。把持爪′２５は圧
縮空気供給口２７より矢印Ｑ方向に圧縮空気を供給する
ことにより矢印ｅ方向へ移動される。又、この把持爪２
５は圧縮ばね２８により常時矢印Ｃ方向へ力が与えられ
ている。更に前記把持爪２５の外周には把持爪２５を矢
印り方向に開閉可能にするスリーブ２９がシリンダーチ
ューブ３０を介し摺動可能に保持される。スリーブ２９
は圧縮ばね３１により常時矢印Ｃ方向へ力が与えられて
いる。このスリーブ２９は圧縮空気供給口３２より圧縮
空気を供給することにより矢印ｅ方向に移動される。更
にスリーブ２９を矢印Ｃ方向へ移動させるために圧縮空
気供給口３３が設けられている。前記３つのシリンダー
チューブ１４．２６．３０はボルト３４にて固定的に締
結される。又、−圧縮ばね１７．２８．３１は夫々圧縮
空気供給口１８．２７．３２より供給される圧縮空気の
力より弱い力となっている。更に各々°の圧縮空気供給
経路にはシール３５が設けられている。前ｉシャフト１
６の内周にはストリッパー３Ｇがエアーシリンダー３７
により摺動可能に保持されている。In the figure, reference numeral 11 indicates gripping claws for individual book pieces, and four of them are installed diagonally.A piston 13 is constantly in contact with the guide portion 12 of the gripping claws 11, and is fixed to a cylinder tube 14 and a block 15. The shaft 16 is slidably held in a cabinet with the shaft 16. A force is constantly applied to this piston 13 in the direction of arrow C by a compression spring 17. Further, the piston 13 is moved in the direction of the arrow e by supplying compressed air in the direction of the arrow d from the compressed air supply 018. Furthermore, a compressed air supply port 19 is provided to move the piston 13 in the direction of arrow C. A bolt 20 fastens the block 15 to the cylinder tube 14. A release spring 22 is provided in the spring 23 for applying a force to the gripping claw 11 to constantly move it outward (in the direction of arrow f). On the outer periphery of the cylinder tube 14, another gripping claw 25 whose tip 24 is a collet chuck is attached to the cylinder tube 2.
6 and is slidably held there. The gripping claw '25 is moved in the direction of arrow e by supplying compressed air from the compressed air supply port 27 in the direction of arrow Q. Also, this gripping claw 2
5 is constantly applied with a force in the direction of arrow C by a compression spring 28. Furthermore, a sleeve 29 is slidably held on the outer periphery of the gripping claw 25 via a cylinder tube 30, which allows the gripping claw 25 to be opened and closed in the directions shown by the arrows. sleeve 29
A force is constantly applied in the direction of arrow C by the compression spring 31. This sleeve 29 is moved in the direction of arrow e by supplying compressed air from the compressed air supply port 32. Furthermore, a compressed air supply port 33 is provided for moving the sleeve 29 in the direction of arrow C. The three cylinder tubes 14, 26, 30 are fixedly fastened with bolts 34. Moreover, the compression springs 17, 28, 31 have a force weaker than the force of the compressed air supplied from the compressed air supply ports 18, 27, 32, respectively. Furthermore, a seal 35 is provided on each compressed air supply path. front i shaft 1
The stripper 3G is connected to the air cylinder 37 on the inner circumference of 6.
It is slidably held by.
以上のように構成された物品把持装置の動作について第
３図に基づき説明する。The operation of the article gripping device configured as above will be explained based on FIG. 3.
第３図（Ａ）は物品２Ｂと物品３９が組み合わされて、
把持爪１１と把持爪２５が把持可能な状態で待機する状
態を示し、圧縮空気供給口１８．２７．３２より圧縮空
気が供給されピストン１３と把持爪２５とスリーブ２９
は矢印ｅ方向へ移動させられている。第３図（８）は第
３図（Ａ）より更に工程が進行し、物品把持装置が第３
図（Ａ）の状態で物品３８．３９側に移動した状態を示
す。第３図（Ｃ）は第３図（Ｂ）より更に工程が進行し
た状態を示し、圧縮 。FIG. 3(A) shows that article 2B and article 39 are combined,
The gripping claw 11 and the gripping claw 25 are shown in a standby state in which they can be gripped, and compressed air is supplied from the compressed air supply port 18, 27, and 32, and the piston 13, the gripping claw 25, and the sleeve 29
is moved in the direction of arrow e. In FIG. 3(8), the process has progressed further than in FIG. 3(A), and the article gripping device is in the third position.
The state shown in Figure (A) has been moved to the article 38 and 39 side. FIG. 3(C) shows a state in which the process has progressed further than in FIG. 3(B), and the compression is completed.
空気供給口１９より圧縮空気を供給することによりピス
トン１３が矢印Ｃ方向へ移動し、匂配部１２により把持
爪１１を矢印ｉ方向へ移動させることにより物品３８を
把持している。この状態で物品３８を所定の位置に挿入
することが可能となる。第３図（Ｄ）は第３図（Ｃ）よ
り更に゛工程が進行した状態を示し、把持爪２５が圧縮
空気供給口２７より圧縮空気を抜き取ることにより圧縮
ばね２８により物品３９を把持可能な位置まで移動する
。第３図（Ｅ）は第３図（Ｄ）より更に工程が進行した
状態を示し、圧縮空気供給口３２より圧縮空気を供給す
ることによりスリーブ２９を矢印Ｃ方向へ移動させ、こ
れにより把持爪２５が矢印り方向に移動して物品３９を
把持する。又、この動作と同時にピストン１３を矢印ｅ
方向に移動させることにより把持爪１１が物品３８を開
放している。第３図（Ｆ）は第３図（Ｅ）より更に工程
が進行した状態を示し、把持爪２５にて物品３９を物品
３８より抜き取るとともに物品３８をストリッパー３６
にて押えて物品把持装置の中心に保持している。この第
３図（Ｆ）の状態で物品３９のみを所定の位置に挿入す
る。By supplying compressed air from the air supply port 19, the piston 13 moves in the direction of the arrow C, and the gripping claw 11 is moved in the direction of the arrow i by the distributor 12, thereby gripping the article 38. In this state, the article 38 can be inserted into a predetermined position. FIG. 3(D) shows a state in which the process has progressed further than in FIG. 3(C), in which the gripping claws 25 are able to grip the article 39 by the compression spring 28 by extracting compressed air from the compressed air supply port 27. Move to position. FIG. 3(E) shows a state in which the process has further progressed from FIG. 3(D), and the sleeve 29 is moved in the direction of arrow C by supplying compressed air from the compressed air supply port 32, thereby causing the gripping claws to move in the direction of arrow C. 25 moves in the direction of the arrow to grip the article 39. Also, at the same time as this operation, the piston 13 is moved by the arrow e.
By moving in the direction, the gripping claws 11 release the article 38. FIG. 3(F) shows a state in which the process has progressed further than in FIG.
The object is held in the center of the object gripping device by pressing the object. In this state shown in FIG. 3(F), only the article 39 is inserted into a predetermined position.
以上のように本実施例によれば、２つの異なる組み合わ
された物品を１つの把持装置で単独に把持できるととも
に、２つの異なる物品を分解することが可能となる。又
、１つの装置内に２つの把持機能と分解機能を内蔵して
いるため、コンパクトで動作も簡素化できる。又、実施
例においては組み合わされた２つの異なる物品の把持を
行なっているが、分解された状態でランダムに流れる２
つの異なる物品の把持もできる。As described above, according to this embodiment, two different combined articles can be individually held by one gripping device, and two different articles can be disassembled. Furthermore, since two gripping functions and a disassembly function are built into one device, it is compact and the operation can be simplified. In addition, in the embodiment, two different articles are grasped in combination, but two different articles that are disassembled and randomly flowing are grasped.
It can also hold two different objects.
発明の効果
以上のように本発明によれば、２つの把持爪を１つの把
持装置内に設けることにより、設備自体の動作の簡素化
及び小スペース化を計れるとともにコスト面において極
めて有利である。又、組み合せられた物品以外にも適用
でき、把持爪の交換、或いは把持装置の交換なしで２つ
の異なる物品を把持することができる。Effects of the Invention As described above, according to the present invention, by providing two gripping claws in one gripping device, the operation of the equipment itself can be simplified and the space taken up can be reduced, and it is extremely advantageous in terms of cost. Furthermore, it can be applied to items other than combined items, and two different items can be gripped without replacing the gripping claws or the gripping device.
第１図〜第３図は本発明の一実施例を示し、第１図は物
品把持装置の縦断面図、第２図は把持爪の底面図、第３
図（Ａ）〜（Ｆ）は工程図、第４図（Ａ）及び（Ｂ）は
従来の物品把持装置の断面図である。
１１・・・把持爪、１３・・・ピストン、１４・・・シ
リンダーチューブ、１１・・・圧縮ばね、１８．１９・
・・圧縮空気供給口、２２・・・開放ばね、２５・・・
把持爪、２６・・・シリンダーチューブ、２７・・・圧
縮空気供給口、２８・・・圧縮ばね、２９・・・スリー
ブ、３０・・・シリンダーチューブ、３１・・・圧縮ば
ね、３２．３３・・・圧縮空気供給口、３Ｇ・・・スト
リッパー、３８、３９・・・物品
代理人 森 本 義 弘
１１−・−１ｆｆ持久
第３
３８−物品
Ｊ９−物品
第４
（Ｂン1 to 3 show one embodiment of the present invention, in which FIG. 1 is a longitudinal sectional view of the article gripping device, FIG. 2 is a bottom view of the gripping claw, and FIG.
Figures (A) to (F) are process diagrams, and Figures 4 (A) and (B) are sectional views of a conventional article gripping device. 11... Gripping claw, 13... Piston, 14... Cylinder tube, 11... Compression spring, 18.19.
...Compressed air supply port, 22...Opening spring, 25...
Gripping claw, 26... Cylinder tube, 27... Compressed air supply port, 28... Compression spring, 29... Sleeve, 30... Cylinder tube, 31... Compression spring, 32.33. ... Compressed air supply port, 3G... Stripper, 38, 39... Goods agent Yoshihiro Morimoto 11--1ff Endurance No. 3 38- Goods J9- Goods No. 4 (B
Claims (1)
、この把持爪を開閉させ物品を把持可能とすべく前記シ
リンダーチューブ内に摺動可能に保持されるピストンと
、外部より圧縮空気を供給し前記ピストンを移動可能に
する圧縮空気供給口と、前記第１の把持爪を圧縮空気減
時に閉状態に保持する圧縮ばねと、前記第１の把持爪を
開方向に力を与える開放ばねと、前記物品とは異なる物
品を把持すべく前記シリンダーチューブ外側で摺動可能
に保持される第２の把持爪と、この第２の把持爪を開閉
させるスリーブとを備えた物品把持装置。1. A cylinder tube, a first gripping claw that can be opened and closed, a piston that is slidably held within the cylinder tube so that the gripping claw can be opened and closed to grip an article, and compressed air is supplied from the outside. a compressed air supply port that allows the piston to move; a compression spring that holds the first gripping claw in a closed state when the compressed air decreases; and an opening spring that applies force in the opening direction of the first gripping claw. . An article gripping device comprising: a second gripping claw slidably held outside the cylinder tube to grip an article different from the above article; and a sleeve for opening and closing the second gripping claw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9874885A JPS61257729A (en) | 1985-05-08 | 1985-05-08 | Article clamping apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9874885A JPS61257729A (en) | 1985-05-08 | 1985-05-08 | Article clamping apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61257729A true JPS61257729A (en) | 1986-11-15 |
Family
ID=14228086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9874885A Pending JPS61257729A (en) | 1985-05-08 | 1985-05-08 | Article clamping apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61257729A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014237194A (en) * | 2013-06-07 | 2014-12-18 | 株式会社椿本チエイン | Work chuck device |
-
1985
- 1985-05-08 JP JP9874885A patent/JPS61257729A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014237194A (en) * | 2013-06-07 | 2014-12-18 | 株式会社椿本チエイン | Work chuck device |
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