JPS646120B2 - - Google Patents
Info
- Publication number
- JPS646120B2 JPS646120B2 JP21248584A JP21248584A JPS646120B2 JP S646120 B2 JPS646120 B2 JP S646120B2 JP 21248584 A JP21248584 A JP 21248584A JP 21248584 A JP21248584 A JP 21248584A JP S646120 B2 JPS646120 B2 JP S646120B2
- Authority
- JP
- Japan
- Prior art keywords
- link
- claws
- closed position
- gripping
- pin
- 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
Links
- 210000000078 claw Anatomy 0.000 claims description 28
- 230000005484 gravity Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 description 3
- 241001669679 Eleotris Species 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、一対のリンクを油圧シリンダにより
開閉することによつて物体をつかむ装置に係り、
特に角型をなすインゴツト等の物体を上方からつ
かむ場合に使用するに好適なものに関する。Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a device for grasping an object by opening and closing a pair of links using a hydraulic cylinder.
In particular, it relates to something suitable for use when grasping a rectangular object such as an ingot from above.
（従来の技術）
インゴツトをつかんで移動させたり、トラツク
等に積載したりするために用いられる従来のつか
み装置は、自走式作業機械のフロントアタツチメ
ントに取付けられた本体に一対のリンクを油圧シ
リンダにより開閉する構造を有しているが、角型
のインゴツトをつかむ場合、リンクの把持面を平
面状にしていても、インゴツトのサイズによつて
は、リンクとの接触は線接触あるいは点接触にな
り、インゴツトを損傷することがあつた。(Prior Art) A conventional gripping device used for gripping and moving ingots or loading them onto a truck, etc. has a pair of links attached to a main body attached to the front attachment of a self-propelled working machine. It has a structure that opens and closes using a hydraulic cylinder, but when gripping a square ingot, even if the gripping surface of the link is flat, depending on the size of the ingot, the contact with the link may be a line contact or a point. Contact occurred and the ingot was damaged.
（発明が解決しようとする問題点）
本発明は、角型の物体のように、対向する少な
くとも１組の面が平面である物体をつかむ場合、
物体のサイズに多少の大小があつても、物体に対
して常に面接触で接触させることができ、つかま
れる物体を損傷することのない構成を有すると共
に、枕木のような小幅の物体をつかむことができ
るつかみ装置を提供しようとするものである。(Problems to be Solved by the Invention) The present invention solves the following problems when grasping an object in which at least one pair of opposing surfaces is flat, such as a square object.
Even if the size of the object is somewhat large or small, it can always be brought into surface contact with the object, has a structure that does not damage the object being gripped, and can grip narrow objects such as sleepers. The purpose of this invention is to provide a gripping device that can do this.
（問題点を解決するための手段）
本発明のつかみ装置は、つかみ装置本体に一対
のリンクを油圧シリンダにより同時に開閉される
ように開閉自在に取付け、該各リンクの先端部に
ペンにより回動自在に物体把持用爪を取付け、各
爪は各爪を取付けるピンと爪の重心を結ぶ線が把
持面と平行をなすことにより、リンクの最開姿勢
から最閉姿勢に近い姿勢にわたつて前記把持面が
ほぼ鉛直をなすように構成すると共に、前記各リ
ンクに、リンクの最閉姿勢に近い姿勢から最閉姿
勢にわたつて爪を係止して爪の開方向の回動を阻
止するストツパを設けることにより、リンクの最
閉姿勢に近い姿勢から最閉姿勢にわたつて一対の
爪がＶ字形を形成するように構成したことを特徴
とする。すなわち、本発明のつかみ装置を用いれ
ば、角型をなす物体をつかむ場合、物体の２面に
把持面を接触させた状態、すなわち面接触によつ
てつかむことができる。(Means for Solving the Problems) The gripping device of the present invention has a pair of links attached to the gripping device main body so that they can be opened and closed simultaneously by a hydraulic cylinder, and the tip of each link is rotated by a pen. The claws for grasping the object are attached freely, and each claw has a line connecting the pin to which each claw is attached and the center of gravity of the claw, which is parallel to the grasping surface. The surface is configured to be substantially vertical, and each link is provided with a stopper that locks the pawl from a position close to the most closed position of the link to a position close to the most closed position and prevents the pawl from rotating in the opening direction. By providing this, the pair of claws is configured to form a V-shape from a position close to the most closed position of the link to the most closed position. That is, when using the gripping device of the present invention, when gripping a rectangular object, it is possible to grip the object by bringing the gripping surfaces into contact with two sides of the object, that is, by surface contact.
また、１対の爪が相互に近接した状態において
は、爪がストツパに拘束されたガタつきのない状
態となり、Ｖ字形が形成された爪の先端で小幅の
物体をつかむことができる。 In addition, when the pair of claws are close to each other, the claws are restrained by the stopper and do not wobble, allowing the V-shaped tips of the claws to grip small objects.
（実施例）
以下本発明の詳細を図面に示す実施例により説
明する。第５図は本発明のつかみ装置１を取付け
た作業機２により作業を行なつている状態を示
し、作業機械２は下部走行体３上に旋回装置４を
介して上部旋回体５を設置し、上記旋回体５の前
部にはピン６を中心としてブーム７をブームシリ
ンダ８により起伏自在に取付け、該ブーム８の先
端にピン１０を中心としてアーム１１をアームシ
リンダ１２により回動自在に取付けてなる。本発
明のつかみ装置１は、ユニバーサルジヨイント１
４および旋回装置１５を介して該アーム１１の先
端に取付けられている。(Example) The details of the present invention will be explained below using examples shown in the drawings. FIG. 5 shows a state in which work is being carried out by the working machine 2 to which the gripping device 1 of the present invention is attached, and the working machine 2 has an upper rotating body 5 installed on the lower traveling body 3 via the rotating device 4. A boom 7 is attached to the front part of the revolving body 5 so as to be freely movable with a boom cylinder 8 about a pin 6, and an arm 11 is attached to the tip of the boom 8 so as to be pivotable about a pin 10 with an arm cylinder 12. It becomes. The gripping device 1 of the present invention includes a universal joint 1
4 and a rotating device 15 to the tip of the arm 11.
第１図および第２図はつかみ装置１およびつか
み装置１のアーム１１への取付け機構を拡大して
示し、ユニバーサルジヨイント１４は、前記アー
ム１１にピン１６により回動自在に垂下されたコ
字形をなすジヨイント１７と、該ジヨイント１７
にその回動方向に対して直角方向に回動可能とな
るようにピン１８により垂下されたコ字形をなす
ジヨイント１９とからなる。旋回装置１５は、前
記ジヨイント１９に固定された上部支持体２０に
対して旋回ベアリング２１を介して旋回自在に下
部旋回体２２を取付け、上記支持体２０に取付け
た油圧モータ２３により回転されるピニオン２４
を下部旋回体２２内に固定した内歯歯車２５に噛
合させ、油圧モータ２３の回転によつて下部旋回
体２２が回転するように構成されている。 1 and 2 show an enlarged view of the gripping device 1 and the attachment mechanism of the gripping device 1 to the arm 11, and the universal joint 14 is a U-shaped member rotatably suspended from the arm 11 by a pin 16. a joint 17 forming a joint 17;
and a U-shaped joint 19 suspended by a pin 18 so as to be rotatable in a direction perpendicular to the direction of rotation. The rotating device 15 includes a lower rotating body 22 rotatably attached to an upper support 20 fixed to the joint 19 via a rotating bearing 21, and a pinion rotated by a hydraulic motor 23 attached to the support 20. 24
is meshed with an internal gear 25 fixed in the lower rotating body 22, and the lower rotating body 22 is rotated by the rotation of the hydraulic motor 23.
前記旋回装置１５の下部旋回体２２の下面には
２枚の平行をなす板材２６ａ，２６ｂからなるつ
かみ装置１の本体２６を溶着等により固定する。
２７，２８は対をなすリンクであり、これらは略
Ｌ字形をなし、第２図にリンク２８について示さ
れているように、それぞれ前後の板材２８ａ，２
８ｂ間の両端部以外の部分を板材２８ｃにより溶
着により結合してなる。２９，３０はそれぞれ前
記各リンク２７，２８を支持する支持アームであ
り、各支持アーム２９，３０はそれぞれ本体２６
の前後の板材２６ａ，２６ｂ間に架設したピン３
１，３２にそれぞれ前後１本ずつ枢着され、支持
アーム２９，３０の下端にピン３３，３４により
前記リンク２７，２８が枢着されている。３５は
前記リンク２７，２８を開閉する油圧シリンダで
あり、該油圧シリンダ３５は、本体２６の２枚の
板材２６ａ，２６ｂ間に架設したピン３６に枢着
され、そのピストンロツド３５ａは、前記リンク
２７，２８の一端にピン３７により相対回動可能
に連結され、ピン３７は本体２６の前後の板材２
６ａ，２６ｂの中央下部に縦向きに設けたガイド
穴３８に摺動可能に挿着されている。 A main body 26 of the gripping device 1 consisting of two parallel plates 26a and 26b is fixed to the lower surface of the lower rotating body 22 of the rotating device 15 by welding or the like.
Reference numerals 27 and 28 denote a pair of links, which are approximately L-shaped, and as shown in FIG. 2 for the link 28, the front and rear plates 28a and 28
The portions other than both ends between 8b are joined by welding with a plate material 28c. 29 and 30 are support arms that support the links 27 and 28, respectively, and each support arm 29 and 30 is connected to the main body 26, respectively.
A pin 3 installed between the front and rear plates 26a and 26b
The links 27 and 28 are pivotally connected to the lower ends of the support arms 29 and 30 by pins 33 and 34, respectively. 35 is a hydraulic cylinder that opens and closes the links 27 and 28. The hydraulic cylinder 35 is pivotally connected to a pin 36 installed between two plates 26a and 26b of the main body 26, and its piston rod 35a is connected to the link 27. , 28 is connected to one end of the main body 26 so as to be relatively rotatable by a pin 37.
It is slidably inserted into a guide hole 38 provided vertically at the lower center of each of the members 6a and 26b.
３９，４０はそれぞれ前記リンク２７，２８の
下端にピン４１，４２により枢着した物体把持用
爪であり、これらの把持面３９ａ，４０ａは後述
の一部の範囲を除いてリンク２７，２８の開閉度
合に係らず鉛直となるように構成されている。 Reference numerals 39 and 40 are object gripping claws pivotally connected to the lower ends of the links 27 and 28 by pins 41 and 42, respectively, and these gripping surfaces 39a and 40a are the parts of the links 27 and 28, except for a part of the range described below. It is configured to be vertical regardless of the degree of opening or closing.
すなわち、第３図に爪４０について示すよう
に、爪４０の重心Ｇとピン４２の軸心Ｏとを結ぶ
線ｌが把持面４０ａと平行をなすように構成され
ているので、リンク２８の傾斜に拘らず、ある範
囲では把持面４０ａは常に鉛直をなす。なお、把
持面３９ａ，４０ａには肉盛り溶接等により滑り
止め用の凹凸が形成してある。 That is, as shown for the claw 40 in FIG. 3, since the line l connecting the center of gravity G of the claw 40 and the axis O of the pin 42 is parallel to the gripping surface 40a, the inclination of the link 28 is Regardless, the gripping surface 40a is always vertical within a certain range. Note that the gripping surfaces 39a and 40a are provided with anti-slip irregularities by build-up welding or the like.
４３，４４はそれぞれリンク２７，２８におけ
る爪３９，４０の近傍に設けられたストツパであ
り、第４図に示すように、リンク２７，２８が最
閉位置に近い姿勢ないしは最閉位置に至る範囲で
爪３９，４０の上面の外側部分を当接させるもの
である。 43 and 44 are stoppers provided near the claws 39 and 40 of the links 27 and 28, respectively, and as shown in FIG. The outer portions of the upper surfaces of the claws 39 and 40 are brought into contact with each other.
この構成において、第１図に仮想線４５で示す
ように、爪３９，４０間でインゴツト等の角形の
物体４５をつかむ場合は、旋回装置４、ブームシ
リンダ８、アームシリンダ１２を作動させてつか
み装置１をつかむべき物体４５上に位置させる。
この場合、ユニバーサルジヨイント１４の作用に
より、ブーム７やアーム１１の傾斜度合に係りな
くつかみ装置１は鉛直姿勢を保持する。また、前
記アーム１１等の動作と同時に、旋回装置１５の
油圧モータ２３を作動させて把持面３９ａ，４０
ａの向きと物体４５のつかむべき面の向きを一致
させ、ブームシリンダ８を収縮させて爪３９，４
０間に物体４５を位置させ、かつピン４１，４２
の位置が物体４５の上下端の間に位置するように
し、油圧シリンダ３５を収縮させる。これによ
り、ピストンロツド３５ａに連結されたピン３７
はガイド穴３８に沿つて上動し、リンク２７，２
８のピン３７側端部はこれと同時に上動すると共
に支持アーム２９，３０もピン３１，３２を中心
として回動し、リンク２７，２８の下端は閉じ方
向広に動き、爪３９，４０により物体４５をつか
む。爪３９，４０はピン４１，４２を中心に回動
可能であるから、物体４５をつかんだ状態では、
把持面３９ａ，４０ａは物体４５の当接面の向き
に一致し、面接触の状態で物体４５が把持され
る。図示のように断面が正方形や長方形をなす物
体４５の場合には把持面３９ａ，４０ａは鉛直で
あるが、断面形状が台形をなすような場合でも面
接触により物体４５が把持される。 In this configuration, as shown by the imaginary line 45 in FIG. The device 1 is positioned over the object 45 to be grasped.
In this case, due to the action of the universal joint 14, the gripping device 1 maintains a vertical posture regardless of the degree of inclination of the boom 7 and the arm 11. Simultaneously with the operation of the arm 11, etc., the hydraulic motor 23 of the swing device 15 is operated to hold the gripping surfaces 39a, 40.
Match the direction of the object 45 with the direction of the surface to be gripped, and contract the boom cylinder 8 to release the claws 39, 4.
0, and the pins 41 and 42
is located between the upper and lower ends of the object 45, and the hydraulic cylinder 35 is contracted. As a result, the pin 37 connected to the piston rod 35a
moves upward along the guide hole 38, and the links 27, 2
At the same time, the pin 37 side end of No. 8 moves upward, and the support arms 29 and 30 also rotate around the pins 31 and 32, and the lower ends of the links 27 and 28 move widely in the closing direction, and are closed by the claws 39 and 40. Grab object 45. Since the claws 39 and 40 are rotatable around the pins 41 and 42, when the object 45 is gripped,
The gripping surfaces 39a, 40a match the orientation of the contact surfaces of the object 45, and the object 45 is gripped in a state of surface contact. As shown in the figure, when the object 45 has a square or rectangular cross section, the gripping surfaces 39a and 40a are vertical, but even when the cross section has a trapezoidal shape, the object 45 is gripped by surface contact.
また、最閉姿勢に近い姿勢となると、第４図に
示すように、爪３９，４０の上面の外側がストツ
パ４３，４４に当接するようにしたので、最閉姿
勢に近くなると爪３９，４０はこれらによつてＶ
字形が形成されるように、それぞれリンク２７，
２８と一体的に動き、爪３９，４０の先端が近接
し、例えばインゴツト等の枕木となる木材４６の
ような狭幅の物体をつかむことができる。なお、
第４図の３９′，４０′はストツパ４３，４４を設
けなかつた場合の爪３９，４０の姿勢を示す。 Furthermore, when the position is close to the most closed position, the outer side of the upper surface of the pawls 39, 40 comes into contact with the stoppers 43, 44, as shown in FIG. is V by these
links 27, respectively, so that a glyph is formed.
28, the tips of the claws 39 and 40 are close together, and can grip a narrow object such as a piece of wood 46 that will be used as a sleeper such as an ingot. In addition,
Reference numerals 39' and 40' in FIG. 4 show the postures of the claws 39 and 40 when the stoppers 43 and 44 are not provided.
なお本発明のつかみ装置は、上記のような作業
機械に取付けられる場合のみならず、物体をつか
んで移動させる種々の機械、装置に使用でき、取
付け構造も用途に応じて種々に変更されるもので
ある。 Note that the gripping device of the present invention can be used not only when attached to the above-mentioned working machines, but also to various machines and devices that grip and move objects, and the mounting structure can be changed in various ways depending on the purpose. It is.
（発明の効果）
本発明によれば、角型の物体のように、対向す
る少なくとも１組の面が平面をなす物体をつかむ
場合、物体のサイズに多少の大小があつても、物
体に対して常に爪を面接触で接触させることがで
きるので、接触面積が大きく、つかまれる物体を
損傷することが防止される。また本発明は、爪を
ピンにより枢着するという比較的簡単な構造によ
り実現できる。(Effects of the Invention) According to the present invention, when grasping an object such as a rectangular object in which at least one set of opposing surfaces forms a flat surface, even if the size of the object is somewhat large or small, Since the claws can always be in surface contact with each other, the contact area is large and damage to the object being grasped is prevented. Further, the present invention can be realized with a relatively simple structure in which the claws are pivotally connected with pins.
また、１対の爪が相互に近接した状態において
は、爪がストツパに拘束されたガタつきのない状
態となり、Ｖ字形が形成された爪の先端で小幅の
物体等をつかむことができる。従つて、製錬所の
ように、インゴツトと、小幅の物体である枕木と
を１つのつかみ装置でつかむことができ、実用上
至便である。 Furthermore, when the pair of claws are close to each other, the claws are restrained by the stopper and do not wobble, allowing the V-shaped tips of the claws to grip small objects. Therefore, as in a smelter, an ingot and a sleeper, which is a narrow object, can be gripped with one gripping device, which is very convenient in practice.
第１図は本発明によるつかみ装置の一実施例を
示す正面図、第２図はその右側面図、第３図は第
１図の一部拡大断面図、第４図は該実施例の作用
説明図、第５図は該実施例のつかみ装置を取付け
た作業機械の一例を示す図である。
FIG. 1 is a front view showing an embodiment of a gripping device according to the present invention, FIG. 2 is a right side view thereof, FIG. 3 is a partially enlarged sectional view of FIG. 1, and FIG. 4 is an operation of the embodiment. The explanatory drawing, FIG. 5, is a diagram showing an example of a working machine to which the gripping device of the embodiment is attached.
Claims (1)
ダにより同時に開閉されるように開閉自在に取付
け、該各リンクの先端部にピンにより回動自在に
物体把持用爪を取付け、各爪は各爪を取付けるピ
ンの軸心と爪の重心を結ぶ線が把持面と平行をな
すことにより、リンクの最開姿勢から最閉姿勢に
近い姿勢にわたつて前記把持面がほぼ鉛直をなす
ように構成すると共に、前記各リンクに、リンク
の最閉姿勢に近い姿勢から最閉姿勢にわたつて爪
を係止して爪の開方向の回動を阻止するストツパ
を設けることにより、リンクの最閉姿勢に近い姿
勢から最閉姿勢にわたつて一対の爪がＶ字形を形
成するように構成したことを特徴とするつかみ装
置。1 Attach a pair of links to the main body of the gripping device so that they can be opened and closed at the same time by a hydraulic cylinder, attach claws for grasping an object to the tip of each link so as to be rotatable with a pin, and attach each claw to each claw. A line connecting the axis of the pin and the center of gravity of the claw is parallel to the gripping surface, so that the gripping surface is substantially vertical from the most open position to the most closed position of the link, and By providing each link with a stopper that locks the pawl from a position close to the most closed position of the link to the most closed position and prevents the pawl from rotating in the opening direction, the position of the link close to the most closed position is provided. A gripping device characterized in that a pair of claws is configured to form a V-shape from a fully closed position to a fully closed position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21248584A JPS6194991A (en) | 1984-10-12 | 1984-10-12 | Gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21248584A JPS6194991A (en) | 1984-10-12 | 1984-10-12 | Gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6194991A JPS6194991A (en) | 1986-05-13 |
| JPS646120B2 true JPS646120B2 (en) | 1989-02-02 |
Family
ID=16623426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21248584A Granted JPS6194991A (en) | 1984-10-12 | 1984-10-12 | Gripper |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6194991A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107243901A (en) * | 2017-05-23 | 2017-10-13 | 东莞理工学院 | A kind of pipeline jig and its gripping method applied to radiation environment remote maintaining |
| CN110434887A (en) * | 2019-07-04 | 2019-11-12 | 深圳宇龙机器人科技有限公司 | Robot clamp |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5025572B2 (en) * | 2008-06-09 | 2012-09-12 | 日立建機株式会社 | Ingot carrying-out device and traveling method of self-propelled working machine for carrying out ingot |
| JP6080724B2 (en) * | 2013-08-09 | 2017-02-15 | 本田技研工業株式会社 | Work movement mechanism |
| EP4015711B1 (en) | 2020-12-09 | 2023-05-03 | Kobelco Construction Machinery Co., Ltd. | Holding apparatus and work machine including the same |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS51110266U (en) * | 1975-03-03 | 1976-09-06 | ||
| JPS5817025U (en) * | 1981-07-27 | 1983-02-02 | 株式会社サカン | Mounting structure of fasteners in cases, etc. |
| JPS5890259U (en) * | 1981-12-09 | 1983-06-18 | 日立建機株式会社 | Gripping device in hydraulic excavator |
-
1984
- 1984-10-12 JP JP21248584A patent/JPS6194991A/en active Granted
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107243901A (en) * | 2017-05-23 | 2017-10-13 | 东莞理工学院 | A kind of pipeline jig and its gripping method applied to radiation environment remote maintaining |
| CN110434887A (en) * | 2019-07-04 | 2019-11-12 | 深圳宇龙机器人科技有限公司 | Robot clamp |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6194991A (en) | 1986-05-13 |
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