WO2012035645A1 - Gripper carrying device - Google Patents

Gripper carrying device Download PDF

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Publication number
WO2012035645A1
WO2012035645A1 PCT/JP2010/066167 JP2010066167W WO2012035645A1 WO 2012035645 A1 WO2012035645 A1 WO 2012035645A1 JP 2010066167 W JP2010066167 W JP 2010066167W WO 2012035645 A1 WO2012035645 A1 WO 2012035645A1
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WO
WIPO (PCT)
Prior art keywords
gripper
overload
shaft
rotation restricting
rotation
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PCT/JP2010/066167
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French (fr)
Japanese (ja)
Inventor
彰郎 佐藤
Original Assignee
東洋製罐株式会社
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Publication date
Application filed by 東洋製罐株式会社 filed Critical 東洋製罐株式会社
Priority to PCT/JP2010/066167 priority Critical patent/WO2012035645A1/en
Publication of WO2012035645A1 publication Critical patent/WO2012035645A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/84—Star-shaped wheels or devices having endless travelling belts or chains, the wheels or devices being equipped with article-engaging elements
    • B65G47/846—Star-shaped wheels or wheels equipped with article-engaging elements
    • B65G47/847—Star-shaped wheels or wheels equipped with article-engaging elements the article-engaging elements being grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0244—Bottles
    • B65G2201/0247—Suspended bottles

Definitions

  • the present invention relates to a gripper transport device, and allows a displacement due to an overload and holds a displacement state when a cylindrical body of a neck portion of a PET bottle or a preform before molding is gripped and transported by a pair of grippers. Thus, it is possible to easily confirm that an overload has occurred, and to easily take measures against overload.
  • bottles such as PET bottles have been used as containers for beverages, etc., and preforms and bottles before molding are transported in the bottle molding process and the process of filling the contents into the bottle after molding.
  • a cap for tightening a cap (cylindrical body) or a neck ring (cylindrical body) for support provided in the neck part of a preform or bottle or the vicinity (upper or lower cylindrical shape) Part) is carried and conveyed.
  • a gripper having a pair of forks that can be opened and closed is used for conveyance performed by gripping the preform or bottle neck, and grippers are provided in a plurality of pockets around a rotating conveyance wheel. It is possible to transport on the circumference of a circle, or to provide a plurality of grippers on an endless transport chain wound between sprockets to transport on a straight line. Delivery is performed by repeating gripping at the tubular portion and gripping at the turnip or the bottom tubular portion of the turnip, and each process is carried.
  • the gripper or its support part mainly has a gripper.
  • a risk of damage due to excessive force applied from the opening / closing direction of the sheet or the conveying direction side of the preform.
  • a transported product such as a preform or a bottle may be damaged and become an abnormal product.
  • the transport device disclosed in Patent Document 1 can flexibly swing around the rotary shafts 3, 3 through the recesses 4, 4 against the force of the support 1 and the spring 2.
  • the force of the spring 2 is configured to act substantially perpendicular to the transport direction F.
  • the transport device disclosed in Patent Document 2 has a structure that immediately returns to the original state when a slight restoring force is applied in a state of being displaced due to an overload, and there is a possibility that the transport device may remain displaced from the normal position. Therefore, there is a problem that it is impossible to grasp that an overload condition has occurred.
  • the present invention has been made in view of the problems of the prior art. In the case where an overload is applied, this can be avoided and the avoidance state can be maintained, thereby pursuing the cause. It is an object of the present invention to provide a gripper transport device that can easily perform the above.
  • a gripper transport device is a gripper transport device having an openable and closable gripper portion that is attached to a movable transport body via an arm portion and grips a cylindrical body.
  • the gripper portion is rotatably provided on the arm portion via a shaft portion, and a rotation restricting means that allows the shaft portion to rotate due to overload and that can maintain a rotational displacement state. It is characterized by providing.
  • the gripper conveying device includes the rotation restricting means, a concave portion in one of the shaft portion and the arm portion, and one of the other. It is characterized by comprising a urging means for urging each other with a convex portion.
  • the gripper conveying device is configured such that the rotation restricting means is placed on the arm portion in a position where the displacement is caused by the overload.
  • the present invention is characterized in that a convex portion or a concave portion corresponding to the concave portion or the convex portion is provided.
  • the gripper conveying device is characterized in that the shaft portion is perpendicular to the opening / closing plane of the gripper portion. .
  • the gripper transport device includes an openable and closable gripper portion that is attached to the movable transport body via the arm portion and grips the cylindrical body, and the gripper portion is
  • the arm portion is provided so as to be rotatable via a shaft portion
  • the shaft portion is provided with a rotation restricting means that allows the rotation due to an overload and can maintain a rotational displacement state.
  • the rotation restricting means includes the concave portion in one of the shaft portion and the arm portion, and the convex portion in either of the other. Since it is configured with biasing means for biasing, malfunctions during normal operation can be prevented by adjusting the recesses and protrusions and the resistance until the protrusions are removed from the recesses by biasing means for biasing them. In addition, this can be avoided when an overload is applied.
  • the rotation restricting means is provided with a convex portion corresponding to the concave portion or the convex portion of the shaft portion in the arm portion at a position where the displacement is caused by the overload.
  • the concave portion since the concave portion is provided, it can be locked by the concave portion and the convex portion even at a position that is displaced due to overload, and the state where the overload is applied can be held more reliably.
  • the gripper conveyance device of the fourth aspect of the present invention since the shaft portion is arranged so as to be perpendicular to the opening / closing plane of the gripper portion, the gripper portion is close to the opening / closing direction of the gripper portion to which a large force is easily applied. It is possible to effectively release an excessive force from the direction.
  • a plurality of gripper transport apparatuses 10 are provided, for example, in a turret that is a movable transport body, and a preform that is a cylindrical body is delivered from a gripper portion of a turret in a previous process such as a bottle forming process to a gripper section of a turret in a subsequent process. It is for conveying while.
  • the gripper conveying device 10 includes an arm portion 11 attached to a fixed frame (not shown) that is fixed to a turret that is a movable conveying member and is integrally moved (rotated), and a preform that is a cylindrical body via the arm portion 11.
  • An openable / closable gripper portion 21 for gripping P is provided.
  • the arm portion 11 includes a block-shaped arm portion main body 12, and an arcuate rotation guide portion 12a facing the arm portion main body 12 is formed, and a slide guide portion 12b parallel to the distal end portion is formed. It is.
  • a shaft portion 13 perpendicular to the opening / closing plane on which the gripper portion 21 opens and closes is attached to the rotation guide portion 12a, and is tightened with a set screw 13b via a support ring 13a at the upper end portion. It is pivotally attached.
  • a gripper portion 21 is attached to the lower end portion of the shaft portion 13 rotatably attached to the arm portion main body 12, and a pair of grippers 21a and 21a are attached so as to be openable and closable by attachment shafts 21b and 21b.
  • the pair of grippers 21a and 21a includes a cylinder between a cap bra P1 formed on the neck of the preform P and a neck ring P2 for support.
  • the substantially semicircular arc-shaped gripping portions 22a and 22a constituting the concave portion for gripping the shaped portion are formed to face each other, and the pair of grippers 21a and 21a are closed to grip the neck portion of the preform P. It is like that.
  • the gripping portions 22a and 22a are not limited to this example, and may include the turnip P1, the neck ring P2, and the upper or lower cylindrical portion.
  • a guide taper surface that causes the pressing force to act in the direction of pushing the grippers 21a and 21a is opposed to the inside. It is formed so as to be continuous with the substantially semicircular arc shaped gripping portions 22a, 22a.
  • the mounting shafts 21b, 21b of the pair of grippers 21a, 21a have meshing teeth 21c, 21c formed on concentric arcs centering on the mounting shafts 21b, 21b and meshed with each other, and the pair of grippers 21a , 21a can be opened and closed uniformly by rotating the same angle, and the preform P can be positioned and held at a predetermined position, for example, by aligning the center axis of the preform P with the center of the gripping portions 22a, 22a so as to sandwich the preform P from both sides. It is.
  • a tension coil spring 23 is disposed between the mounting shafts 21b and 21b and the gripping portions 22a and 22a as biasing means for biasing the gripping portions 22a and 22a in the closing direction. To draw each other. As a result, when the neck portion of the preform P is pressed against the guide taper surface at the tip of the gripping portions 22a, 22a, the gripper 21a, 21a is acted in the pushing-opening direction by the pressing force to grip the preform P. It can be attached to the portions 22a and 22a, and the tension coil spring 23 can automatically and securely hold the gripped state.
  • the pair of grippers 21a and 21a use a compression coil spring 23 ′ instead of the tension coil spring 23 as an urging means for urging the gripping portions 22a and 22a in the closing direction.
  • the grippers 21a and 21a may be installed on the opposite side of the gripping portions 22a and 22a with the mounting shafts 21b and 21b interposed therebetween, and they are configured to push open each other.
  • the gripper 21a, 21a is acted in the pushing-opening direction by the pressing force to grip the preform P. It can be attached to the portions 22a and 22a, and the gripping state can be automatically and securely held firmly by the compression coil spring 23 '.
  • a rotation restricting means 31 is provided to retreat and maintain the retracted state.
  • a rotation restricting member 32 is mounted so as to be slidable along the slide guide portion 12b, and its tip is in contact with the outer peripheral surface of the shaft portion 13 that supports the gripper portion 21 so as to be rotatable.
  • the rotation restricting member 32 is pressed against the shaft portion 13 by a tension coil spring 33 constituting urging means disposed on the left and right sides of the portion main body 12.
  • the number of the tension coil springs 33 can be changed by changing the installation method or arrangement of the tension coil springs 33, and can be changed to a compression coil spring instead of the tension coil springs. It is.
  • one end of the rotation restricting member 32 ′ is rotatably supported by a pin 38, and the other end of the rotation restricting member 32 ′ is pulled.
  • a mechanism in which the coil spring 33 is connected may be used, and the rotation restricting member 32 ′ may be pressed against the shaft portion 13 by utilizing the lever principle.
  • a convex portion 34 and a concave portion 35 that lock each other are provided between the rotation restricting member 32 and the shaft portion 13 in the normal state position.
  • a convex portion 34 is formed, and a concave portion 35 is formed in the shaft portion 13.
  • the shape of the convex portion 34 and the concave portion 35 is configured by an arcuate curved surface, and by making the curvature radius of the convex portion 34 larger than the curvature radius of the concave portion 35, two points are obtained. So that they can be reliably locked without being affected by wear or the like.
  • inclined surfaces 36 are formed at both ends of the concave portion 35 so that the convex portion 34 can smoothly get over.
  • this rotation restricting means 31 it is preferable to provide a concave portion or a convex portion for locking each other between the rotation restricting member 32 and the shaft portion 13 at a position displaced by an overload, for example, FIG.
  • the concave portion 37 is provided at the displaced position (retracted position) of the shaft portion 13, and after the concave portion 35 in the normal state gets over the convex portion 34 due to overload, the convex portion 34 becomes the concave portion 37 in the displaced state.
  • the displacement state of the gripper portion 21 can be reliably held by being locked to.
  • the concave portion 37 is provided on one side of the concave portion 35 in the rotation restricting means 31, as shown in FIG. 3B, the example in which the concave portion 37 is provided on one side of the concave portion 35 has been described.
  • the concave portion 37 may be provided on both sides of the concave portion 35. It is possible to deal with displacement due to overload from either direction on both sides of 35.
  • the shape of the concave portion 37 for holding the displaced state may be a shape in which the inclined surfaces at both end portions are omitted in order to make it difficult to turn over after the convex portion 34 is locked.
  • maintains a displacement state was used also as the convex part which controls rotation, a convex part is provided separately, and the shape of the convex part and recessed part which mutually latch is curved surface, such as circular arc shape. Instead, the shape may be a flat surface such as a rectangle, and once the convex portion is locked to the concave portion, the locked state may not be easily released.
  • the gripper transport device 10 having the openable and closable gripper portion 21 that is attached to the movable transport body via the arm unit 11 and grips the preform P that is a cylindrical body.
  • 21 is rotatably provided on the arm portion 11 via a shaft portion 13 perpendicular to the opening / closing plane, and the shaft portion 13 is allowed to turn due to an overload and can be held in a rotational displacement state.
  • the rotation restricting means 31 allows the gripper portion 21 to rotate with respect to the shaft portion 13 perpendicular to the opening / closing plane, so that damage due to overload can be avoided and its displacement By maintaining the state, it is possible to know that displacement due to overload has occurred without causing a return.
  • the rotation restricting means 31 is provided with a concave portion 35 on one of the shaft portion 13 and the arm portion 11 and a convex portion 34 on the other side, and urges each other. Since the tension coil spring 33 is provided as the biasing means, the concave portion 35 and the convex portion 34 and the resistance until the convex portion 34 is removed from the concave portion 35 by the tension coil spring 33 biasing them are adjusted. In addition to preventing malfunction during normal operation, the arm 11 can be retracted by avoiding this when an overload is applied.
  • the rotation restricting means 31 corresponds to the convex portion 34 (or concave portion) of the shaft portion 13 (the convex portion or the concave portion) on the arm portion 11 at the position where the displacement is caused by the overload. ) Since the concave portion 37 is provided, it can be locked by the concave portion 37 and the convex portion 34 even at a position that is displaced due to overload, and the state where the overload is applied can be held more reliably. it can.
  • the concave and convex portions of the rotation restricting means may be provided with either the arm portion or the shaft portion and can be locked with each other.
  • the shaft portion 13 is disposed so as to be perpendicular to the opening / closing plane on which the gripper portion 21 is opened / closed.
  • the shaft portion 13 is not limited to this and may be rotated in a direction that can be retracted from an excessive force.
  • the shaft portion may be arranged in a direction parallel to the opening / closing direction of the gripper portion.
  • a shaft body may be connected instead of the gripper portion 21 (in the figure, 11 ′ is an arm portion, 12 ′ Is an arm portion main body, and 13 'is a shaft portion.) Two or more shaft portions in different directions may be combined.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

A gripper carrying device according to the present invention comprises a gripper part (21) that is attached to a movable carrier by way of an arm part (11) and can be opened and closed for gripping a cylindrical preform (P). The gripper part (21) is rotatably provided in the arm part (11) by way of a shaft part (13) that is perpendicular to the opening and closing plane, rotation due to overloading is permitted at the shaft part (13), and a rotation regulation means (31) that can maintain a rotation displacement state is provided. Damage due to overloading is therefore prevented as a result of the rotation regulation means (31) permitting rotation of the gripper part (21) with respect to the shaft part (13) that is perpendicular to the opening and closing plane. The rotation regulation means (31) maintains the displacement state and therefore the gripper part (21) does not return and the fact that a displacement due to overloading has occurred is detected. As a result, other parts can be prevented from being damaged by the automatic return of the gripper part (21), and continuous performance of a carrying operation without detection of defective products can therefore be prevented.

Description

グリッパ搬送装置Gripper transport device
　この発明は、グリッパ搬送装置に関し、ＰＥＴボトルや成形前のプリフォームのネック部の円筒体を一対のグリッパで把持して搬送する場合に、過負荷による変位を許容するとともに、変位状態を保持することで、過負荷が生じたことを容易に確認できるようにするとともに、過負荷対策を容易にできるようにしたものである。 The present invention relates to a gripper transport device, and allows a displacement due to an overload and holds a displacement state when a cylindrical body of a neck portion of a PET bottle or a preform before molding is gripped and transported by a pair of grippers. Thus, it is possible to easily confirm that an overload has occurred, and to easily take measures against overload.
　従来、飲料などを内容物とする容器としてＰＥＴボトルなどのボトルが使用されており、ボトルの成形工程や、成形後のボトルへの内容物の充填工程では、成形前のプリフォームやボトルを搬送する必要があり、通常、プリフォームやボトルのネック部に設けられたキャップ巻き締め用のカブラ(円筒体)やサポート用のネックリング(円筒体)あるいはそれらの近傍（上または下にある筒状部）を把持して搬送することが行われている。 Conventionally, bottles such as PET bottles have been used as containers for beverages, etc., and preforms and bottles before molding are transported in the bottle molding process and the process of filling the contents into the bottle after molding. Usually, a cap for tightening a cap (cylindrical body) or a neck ring (cylindrical body) for support provided in the neck part of a preform or bottle or the vicinity (upper or lower cylindrical shape) Part) is carried and conveyed.
　このようなプリフォームやボトルのネック部を把持して行う搬送には、開閉可能な一対のフォークを備えたグリッパが用いられており、回転する搬送ホイールの周囲の複数の各ポケットにグリッパを設けて円周上を搬送したり、スプロケット間に巻き掛けた無端の搬送用チェーンに複数のグリッパを設けて直線上を搬送することが行われており、ボトルのネック部のネックリングまたはネックリング下筒状部での把持とカブラまたはカブラ下筒状部での把持を繰り返すことで受け渡しが行われて各工程の搬送が行われる。 A gripper having a pair of forks that can be opened and closed is used for conveyance performed by gripping the preform or bottle neck, and grippers are provided in a plurality of pockets around a rotating conveyance wheel. It is possible to transport on the circumference of a circle, or to provide a plurality of grippers on an endless transport chain wound between sprockets to transport on a straight line. Delivery is performed by repeating gripping at the tubular portion and gripping at the turnip or the bottom tubular portion of the turnip, and each process is carried.
　このようなグリッパを用いる搬送装置では、プリフォームやボトルなどを受け渡す際に、変形プリフォームによるつまりや、機械のタイミングずれによって搬送不良が発生した場合、グリッパやその支持部に、主にグリッパの開閉方向あるいはプリフォームなどの搬送方向側から過大な力が加わり破損する恐れがある。また、プリフォームやボトルなどの搬送品に傷をつけ、異常品にしてしまう恐れがある。 In such a conveyance device using a gripper, when a preform or a bottle is delivered, if a conveyance failure occurs due to a deformed preform or due to a timing difference of the machine, the gripper or its support part mainly has a gripper. There is a risk of damage due to excessive force applied from the opening / closing direction of the sheet or the conveying direction side of the preform. In addition, there is a risk that a transported product such as a preform or a bottle may be damaged and become an abnormal product.
　このようなグリッパやその支持部が破損すると、破損部品の交換や修理に時間と費用を要することになる。 If such a gripper or its support part is damaged, it will take time and money to replace or repair the damaged part.
　そこで、過大な力が加わる場合のグリッパの損傷を防止するため、グリッパを弾性体を介して支持部に支持することで、回避可能とする装置が種々提案されている（特許文献１、２参照）。 Accordingly, various devices have been proposed that can be avoided by supporting the gripper on the support portion via an elastic body in order to prevent the gripper from being damaged when an excessive force is applied (see Patent Documents 1 and 2). ).
　例えば特許文献１の搬送装置には、図７に示すように、支持体１と、ばね２の力に抗して回転軸３，３の周りに凹部４，４を介してたわみ揺動可能に支持された、搬送物品のための受取開口が設けられている１対の受取要素５，５とを備え、容器またはパリソンＰを搬送するための星形車６の形態をした搬送装置において、前記ばね２の力が搬送方向Ｆに対してほぼ直角に作用するように構成されている。 For example, as shown in FIG. 7, the transport device disclosed in Patent Document 1 can flexibly swing around the rotary shafts 3, 3 through the recesses 4, 4 against the force of the support 1 and the spring 2. A conveying device in the form of a star wheel 6 for conveying a container or a parison P, comprising a pair of receiving elements 5, 5 provided with a receiving opening for a conveyed article supported. The force of the spring 2 is configured to act substantially perpendicular to the transport direction F.
特表２００５－５１７６０９号公報JP 2005-517609 実開平１－６８３２２号公報Japanese Utility Model Publication No. 1-68322
　ところが、このようなグリッパでは、過負荷が作用した場合には、ばね２の力に抗して変位することで、過負荷による損傷を防止することができるものの、過負荷から開放された後、弾性体であるばね２の復元力によってもとの位置に自動復帰できるようになっており、グリッパに異常が起こったことがそのまま保存されず、異常検知できないままになる恐れがある。 However, in such a gripper, when an overload is applied, it is possible to prevent damage due to the overload by displacing against the force of the spring 2, but after being released from the overload, The restoring force of the spring 2 which is an elastic body can automatically return to the original position, and the fact that an abnormality has occurred in the gripper is not stored as it is, and there is a possibility that the abnormality cannot be detected.
　このため、正規の受け渡しが行われないまま搬送装置の運転が続行されて他の箇所に大きな損傷を引き起こしたり、異常品を気づかずに下流側に搬送してしまうという問題がある。 For this reason, there is a problem that the operation of the transfer device is continued without proper delivery, causing serious damage to other parts, or transferring an abnormal product downstream without noticing it.
　特に、上記特許文献２の搬送装置では、過負荷で変位した状態でわずかな復元力が加わると、直ちに元の状態に戻ってしまう構造であり、正規の位置からずれたままとなる恐れもあって過負荷状態が生じたことを把握できない事態が生じるという問題がある。 In particular, the transport device disclosed in Patent Document 2 has a structure that immediately returns to the original state when a slight restoring force is applied in a state of being displaced due to an overload, and there is a possibility that the transport device may remain displaced from the normal position. Therefore, there is a problem that it is impossible to grasp that an overload condition has occurred.
　この発明は、かかる従来技術の問題点に鑑みてなされたもので、過負荷が加わった場合にはこれを回避することができるとともに、その回避状態を保持できるようにすることで、原因の追求を容易に行うことができるグリッパ搬送装置を提供しようとするものである。 The present invention has been made in view of the problems of the prior art. In the case where an overload is applied, this can be avoided and the avoidance state can be maintained, thereby pursuing the cause. It is an object of the present invention to provide a gripper transport device that can easily perform the above.
　上記課題を解決するため、この発明の請求項１に記載のグリッパ搬送装置は、移動搬送体にアーム部を介して取り付けられ円筒体を把持する開閉可能なグリッパ部を有するグリッパ搬送装置であって、前記グリッパ部を、軸部を介して前記アーム部に回動可能に設けるとともに、この軸部に過負荷による前記回動を許容するとともに、回動変位状態を保持可能な回動規制手段を設けたことを特徴とするものである。 In order to solve the above problems, a gripper transport device according to claim 1 of the present invention is a gripper transport device having an openable and closable gripper portion that is attached to a movable transport body via an arm portion and grips a cylindrical body. The gripper portion is rotatably provided on the arm portion via a shaft portion, and a rotation restricting means that allows the shaft portion to rotate due to overload and that can maintain a rotational displacement state. It is characterized by providing.
　この発明の請求項２に記載のグリッパ搬送装置は、請求項１に記載の構成に加え、前記回動規制手段を、前記軸部と前記アーム部とのいずれか一方に凹部を、いずれか他方に凸部を備えて互いを付勢する付勢手段を設けて構成したことを特徴とするものである。 According to a second aspect of the present invention, in addition to the configuration of the first aspect, the gripper conveying device includes the rotation restricting means, a concave portion in one of the shaft portion and the arm portion, and one of the other. It is characterized by comprising a urging means for urging each other with a convex portion.
　この発明の請求項３に記載のグリッパ搬送装置は、請求項２に記載の構成に加え、前記回動規制手段を、前記過負荷による変位状態となる位置の前記アーム部に、前記軸部の凹部または凸部と対応する凸部または凹部を設けて構成したことを特徴とするものである。 According to a third aspect of the present invention, in addition to the configuration according to the second aspect, the gripper conveying device is configured such that the rotation restricting means is placed on the arm portion in a position where the displacement is caused by the overload. The present invention is characterized in that a convex portion or a concave portion corresponding to the concave portion or the convex portion is provided.
　この発明の請求項４に記載のグリッパ搬送装置は、請求項１～３のいずれかに記載の構成に加え、前記軸部がグリッパ部の開閉平面と垂直であることを特徴とするものである。 According to a fourth aspect of the present invention, in addition to the structure according to any of the first to third aspects, the gripper conveying device is characterized in that the shaft portion is perpendicular to the opening / closing plane of the gripper portion. .
　この発明の請求項１に記載のグリッパ搬送装置によれば、移動搬送体にアーム部を介して取り付けられ円筒体を把持する開閉可能なグリッパ部を有するグリッパ搬送装置であって、前記グリッパ部を、軸部を介して前記アーム部に回動可能に設けるとともに、この軸部に過負荷による前記回動を許容するとともに、回動変位状態を保持可能な回動規制手段を設けたので、回動規制手段によってグリッパ部を軸部に対して回動を許容することで、過負荷による損傷を回避するとともに、その変位状態を保持することで、復帰しないようにして過負荷による変位が生じたことを知ることができる。 According to the gripper transport device of the first aspect of the present invention, the gripper transport device includes an openable and closable gripper portion that is attached to the movable transport body via the arm portion and grips the cylindrical body, and the gripper portion is In addition, the arm portion is provided so as to be rotatable via a shaft portion, and the shaft portion is provided with a rotation restricting means that allows the rotation due to an overload and can maintain a rotational displacement state. By allowing the gripper part to rotate with respect to the shaft part by the movement restricting means, the damage due to the overload is avoided, and the displacement state is maintained, so that the displacement due to the overload occurs so as not to return. I can know that.
　これにより、自動復帰することによる他の箇所への損傷を防止できるとともに、異常品に気づかず搬送を続行することを防止することができる。 This makes it possible to prevent damage to other parts due to automatic return and to prevent the conveyance from continuing without noticing the abnormal product.
　この発明の請求項２に記載のグリッパ搬送装置によれば、前記回動規制手段を、前記軸部と前記アーム部とのいずれか一方に凹部を、いずれか他方に凸部を備えて互いを付勢する付勢手段を設けて構成したので、凹部と凸部と、これらを付勢する付勢手段により凹部から凸部が外れるまでの抵抗を調整することで、通常動作中の誤動作を防止できるとともに、過負荷が加わる場合には、これを回避することができる。 According to the gripper conveyance device of the second aspect of the present invention, the rotation restricting means includes the concave portion in one of the shaft portion and the arm portion, and the convex portion in either of the other. Since it is configured with biasing means for biasing, malfunctions during normal operation can be prevented by adjusting the recesses and protrusions and the resistance until the protrusions are removed from the recesses by biasing means for biasing them. In addition, this can be avoided when an overload is applied.
　この発明の請求項３に記載のグリッパ搬送装置によれば、前記回動規制手段を、前記過負荷による変位状態となる位置に前記アーム部に前記軸部の凹部または凸部と対応する凸部または凹部を設けて構成したので、過負荷により変位した状態となる位置でも、凹部と凸部とで係止することができ、一層確実に過負荷が加わった状態を保持することができる。 According to the gripper conveyance device of the third aspect of the present invention, the rotation restricting means is provided with a convex portion corresponding to the concave portion or the convex portion of the shaft portion in the arm portion at a position where the displacement is caused by the overload. Alternatively, since the concave portion is provided, it can be locked by the concave portion and the convex portion even at a position that is displaced due to overload, and the state where the overload is applied can be held more reliably.
　この発明の請求項４に記載のグリッパ搬送装置によれば、前記軸部がグリッパ部の開閉平面と垂直になるように配設する構成としたため、大きな力が加わりやすいグリッパ部の開閉方向に近い方向からの過大な力を効果的に逃がすことを可能とすることができる。 According to the gripper conveyance device of the fourth aspect of the present invention, since the shaft portion is arranged so as to be perpendicular to the opening / closing plane of the gripper portion, the gripper portion is close to the opening / closing direction of the gripper portion to which a large force is easily applied. It is possible to effectively release an excessive force from the direction.
この発明のグリッパ搬送装置をＰＥＴボトル用のプリフォームの搬送に適用した一実施の形態にかかる平面図および正面図である。It is the top view and front view concerning one embodiment which applied the gripper conveyance device of this invention to conveyance of the preform for PET bottles. この発明のグリッパ搬送装置をＰＥＴボトル用のプリフォームの搬送に適用した一実施の形態にかかる水平断面図およびグリッパ部の平面図である。It is the horizontal sectional view concerning one embodiment which applied the gripper conveyance device of this invention to conveyance of the preform for PET bottles, and the top view of a gripper part. この発明のグリッパ搬送装置をＰＥＴボトル用のプリフォームの搬送に適用した一実施の形態にかかるグリッパ部の変位途中および変位後の状態の説明断面図である。It is explanatory sectional drawing of the state in the middle of the displacement of the gripper part concerning one Embodiment which applied the gripper conveyance apparatus of this invention to conveyance of the preform for PET bottles, and after a displacement. この発明のグリッパ搬送装置をＰＥＴボトル用のプリフォームの搬送に適用した他の一実施の形態にかかるグリッパ部の平面図である。It is a top view of the gripper part concerning other one embodiment which applied the gripper conveyance device of this invention to conveyance of the preform for PET bottles. この発明のグリッパ搬送装置をＰＥＴボトル用のプリフォームの搬送に適用したさらに他の一実施の形態にかかるグリッパ部の変位前および変位後の状態の説明断面図である。It is explanatory sectional drawing of the state before and after displacement of the gripper part concerning other one Embodiment which applied the gripper conveyance apparatus of this invention to conveyance of the preform for PET bottles. この発明のグリッパ搬送装置をＰＥＴボトル用のプリフォームの搬送に適用した他の一実施の形態にかかる正面図である。It is a front view concerning other one embodiment which applied the gripper conveyance device of this invention to conveyance of the preform for PET bottles. 従来のグリッパの過負荷を回避する機構の説明図である。It is explanatory drawing of the mechanism which avoids the overload of the conventional gripper.
　以下、この発明の一実施の形態について、図面に基づき詳細に説明する。 Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.
　このグリッパ搬送装置１０は、例えば移動搬送体であるターレットに複数設けられて、ボトルの成形工程などの前工程のターレットのグリッパ部から後工程のターレットのグリッパ部に円筒体であるプリフォームを受け渡しながら搬送するためのものである。 A plurality of gripper transport apparatuses 10 are provided, for example, in a turret that is a movable transport body, and a preform that is a cylindrical body is delivered from a gripper portion of a turret in a previous process such as a bottle forming process to a gripper section of a turret in a subsequent process. It is for conveying while.
　このグリッパ搬送装置１０は、移動搬送体であるターレットに固定されて一体に移動（回転）搬送される図示しない固定フレームに取り付けられるアーム部１１およびこのアーム部１１を介して円筒体であるプリフォームＰを把持する開閉可能なグリッパ部２１が備えられる。 The gripper conveying device 10 includes an arm portion 11 attached to a fixed frame (not shown) that is fixed to a turret that is a movable conveying member and is integrally moved (rotated), and a preform that is a cylindrical body via the arm portion 11. An openable / closable gripper portion 21 for gripping P is provided.
　このアーム部１１は、ブロック状のアーム部本体１２を備え、アーム部本体１２に対向する円弧状の回動ガイド部１２ａが形成されるとともに、先端部に平行なスライドガイド部１２ｂがそれぞれ形成してある。 The arm portion 11 includes a block-shaped arm portion main body 12, and an arcuate rotation guide portion 12a facing the arm portion main body 12 is formed, and a slide guide portion 12b parallel to the distal end portion is formed. It is.
　この回動ガイド部１２ａには、グリッパ部２１が開閉する開閉平面と垂直な軸部１３が装着され、上端部の支持リング１３ａを介して止めねじ１３ｂで締め付けることで、回動ガイド部１２ａに回動可能に取り付けてある。 A shaft portion 13 perpendicular to the opening / closing plane on which the gripper portion 21 opens and closes is attached to the rotation guide portion 12a, and is tightened with a set screw 13b via a support ring 13a at the upper end portion. It is pivotally attached.
　このアーム部本体１２に回動自在に装着された軸部１３の下端部には、グリッパ部２１が取り付けられ、一対のグリッパ２１ａ，２１ａが取付軸２１ｂ，２１ｂで開閉可能に取り付けてある。 A gripper portion 21 is attached to the lower end portion of the shaft portion 13 rotatably attached to the arm portion main body 12, and a pair of grippers 21a and 21a are attached so as to be openable and closable by attachment shafts 21b and 21b.
　この一対のグリッパ２１ａ，２１ａには、例えば図１（ｂ）に示すように、プリフォームＰのネック部に形成されたキャップ巻き締め用のカブラＰ１とサポート用のネックリングＰ２との間の筒状部を把持する凹部を構成する略半円弧状の把持部２２ａ、２２ａが対向して形成され、一対のグリッパ２１ａ，２１ａを閉じた状態とすることで、プリフォームＰのネック部を把持できるようにしてある。なお、把持部２２ａ，２２ａはこの例に限らずカブラＰ１，ネックリングＰ２，およびこれらの上または下の筒状部を含めて把持できるようにしても良い。 For example, as shown in FIG. 1B, the pair of grippers 21a and 21a includes a cylinder between a cap bra P1 formed on the neck of the preform P and a neck ring P2 for support. The substantially semicircular arc-shaped gripping portions 22a and 22a constituting the concave portion for gripping the shaped portion are formed to face each other, and the pair of grippers 21a and 21a are closed to grip the neck portion of the preform P. It is like that. The gripping portions 22a and 22a are not limited to this example, and may include the turnip P1, the neck ring P2, and the upper or lower cylindrical portion.
　これら把持部２２ａ、２２ａの先端部には、プリフォームＰのネック部が押し当てられたときに、その押圧力をグリッパ２１ａ，２１ａを押し開く方向に作用させる誘導テーパ面が内側に対向して形成されて略半円弧状の把持部２２ａ，２２ａに連続するようになっている。 When the neck portion of the preform P is pressed against the tip portions of the gripping portions 22a and 22a, a guide taper surface that causes the pressing force to act in the direction of pushing the grippers 21a and 21a is opposed to the inside. It is formed so as to be continuous with the substantially semicircular arc shaped gripping portions 22a, 22a.
　また、一対のグリッパ２１ａ，２１ａの取付軸２１ｂ，２１ｂには、これら取付軸２１ｂ，２１ｂを中心とする同心円弧上に噛み合い歯２１ｃ，２１ｃが形成されて互いに噛み合わせてあり、一対のグリッパ２１ａ，２１ａが同一角度回動することで均一に開閉し、プリフォームＰを両側から挟むようにして把持部２２ａ、２２ａの中心にプリフォームＰの中心軸を合わせるなど所定位置に位置決めして把持できるようにしてある。 Further, the mounting shafts 21b, 21b of the pair of grippers 21a, 21a have meshing teeth 21c, 21c formed on concentric arcs centering on the mounting shafts 21b, 21b and meshed with each other, and the pair of grippers 21a , 21a can be opened and closed uniformly by rotating the same angle, and the preform P can be positioned and held at a predetermined position, for example, by aligning the center axis of the preform P with the center of the gripping portions 22a, 22a so as to sandwich the preform P from both sides. It is.
　さらに、この一対のグリッパ２１ａ，２１ａには、把持部２２ａ，２２ａを閉じる方向に付勢する付勢手段として引張コイルばね２３が取付軸２１ｂ，２１ｂと把持部２２ａ、２２ａとの間に配置されて互いを引き寄せるようにしてある。これにより、把持部２２ａ、２２ａの先端部の誘導テーパ面に、プリフォームＰのネック部が押し当てられると、その押圧力によってグリッパ２１ａ，２１ａを押し開く方向に作用させてプリフォームＰを把持部２２ａ、２２ａに装着でき、引張コイルばね２３によって自動的に確実かつ強固に把持状態を保持することができる。 Further, in this pair of grippers 21a and 21a, a tension coil spring 23 is disposed between the mounting shafts 21b and 21b and the gripping portions 22a and 22a as biasing means for biasing the gripping portions 22a and 22a in the closing direction. To draw each other. As a result, when the neck portion of the preform P is pressed against the guide taper surface at the tip of the gripping portions 22a, 22a, the gripper 21a, 21a is acted in the pushing-opening direction by the pressing force to grip the preform P. It can be attached to the portions 22a and 22a, and the tension coil spring 23 can automatically and securely hold the gripped state.
　なお、この一対のグリッパ２１ａ，２１ａには、図４に示すように、把持部２２ａ，２２ａを閉じる方向に付勢する付勢手段として引張コイルばね２３の代わりに、圧縮コイルばね２３’を用いるようにし、取付軸２１ｂ，２１ｂを挟んでグリッパ２１ａ，２１ａの把持部２２ａ、２２ａと反対側の位置に設置してもよく、互いを押し開くようにしてある。これにより、把持部２２ａ、２２ａの先端部の誘導テーパ面に、プリフォームＰのネック部が押し当てられると、その押圧力によってグリッパ２１ａ，２１ａを押し開く方向に作用させてプリフォームＰを把持部２２ａ、２２ａに装着でき、圧縮コイルばね２３’によって自動的に確実かつ強固に把持状態を保持することができる。 As shown in FIG. 4, the pair of grippers 21a and 21a use a compression coil spring 23 ′ instead of the tension coil spring 23 as an urging means for urging the gripping portions 22a and 22a in the closing direction. In this manner, the grippers 21a and 21a may be installed on the opposite side of the gripping portions 22a and 22a with the mounting shafts 21b and 21b interposed therebetween, and they are configured to push open each other. As a result, when the neck portion of the preform P is pressed against the guide taper surface at the tip of the gripping portions 22a, 22a, the gripper 21a, 21a is acted in the pushing-opening direction by the pressing force to grip the preform P. It can be attached to the portions 22a and 22a, and the gripping state can be automatically and securely held firmly by the compression coil spring 23 '.
　このような把持部２２ａ、２２ａを備えた一対のグリッパ２１ａ，２１ａに過負荷が作用した場合に退避させるとともに、退避状態を保持するため、回動規制手段３１が設けられ、アーム部本体１２のスライドガイド部１２ｂに沿ってスライド可能に回動規制部材３２が装着され、その先端部がグリッパ部２１を回動可能に支持する軸部１３の外周面に当接されるようにしてあり、アーム部本体１２の左右両側に配置した付勢手段を構成する引張コイルばね３３で回動規制部材３２を軸部１３に押圧するようにしてある。 When the overload is applied to the pair of grippers 21a, 21a provided with the gripping portions 22a, 22a, a rotation restricting means 31 is provided to retreat and maintain the retracted state. A rotation restricting member 32 is mounted so as to be slidable along the slide guide portion 12b, and its tip is in contact with the outer peripheral surface of the shaft portion 13 that supports the gripper portion 21 so as to be rotatable. The rotation restricting member 32 is pressed against the shaft portion 13 by a tension coil spring 33 constituting urging means disposed on the left and right sides of the portion main body 12.
　なお、回動規制手段３１としては、引張コイルばね３３の取り付け方や配置の変更などによって引張コイルばね３３の本数変更が可能であり、引張コイルばねに代えて圧縮コイルばねなどへの変更も可能である。 As the rotation restricting means 31, the number of the tension coil springs 33 can be changed by changing the installation method or arrangement of the tension coil springs 33, and can be changed to a compression coil spring instead of the tension coil springs. It is.
　例えば、回動規制手段３１´として、図５に示すように、回動規制部材３２´の一端部をピン３８で回動可能に支持し、この回動規制部材３２´の他端部に引張コイルばね３３を連結した機構とし、てこの原理を活用して回動規制部材３２´を軸部１３へ押圧するようにしてもよい。 For example, as the rotation restricting means 31 ′, as shown in FIG. 5, one end of the rotation restricting member 32 ′ is rotatably supported by a pin 38, and the other end of the rotation restricting member 32 ′ is pulled. A mechanism in which the coil spring 33 is connected may be used, and the rotation restricting member 32 ′ may be pressed against the shaft portion 13 by utilizing the lever principle.
　このような回動規制手段３１、３１´によれば、引張コイルばね３３で回動規制部材３２、３２´を軸部１３に押し付ける押圧力より大きな力がグリッパ部２１に加わると、グリッパ部２１が軸部１３を中心に回動して、一対のグリッパ２１ａ，２１ａを退避させ、過負荷状態を回避することができる。 According to such rotation restricting means 31, 31 ′, when a force larger than the pressing force pressing the rotation restricting members 32, 32 ′ against the shaft portion 13 by the tension coil spring 33 is applied to the gripper portion 21, the gripper portion 21. However, the pair of grippers 21a and 21a can be retracted by rotating around the shaft portion 13, and an overload state can be avoided.
　そして、引張コイルばね３３による付勢力（押圧力）を調整することで、グリッパ２１ａ，２１ａに加わる力（過負荷）の大きさによる退避開始を調整することができる。 Then, by adjusting the urging force (pressing force) by the tension coil spring 33, it is possible to adjust the retreat start due to the magnitude of the force (overload) applied to the grippers 21a and 21a.
　さらに、この回動規制手段３１では、通常状態位置の回動規制部材３２と軸部１３との間に互いを係止する凸部３４と凹部３５が設けてあり、例えば回動規制部材３２に凸部３４が形成され、軸部１３に凹部３５が形成してある。 Further, in the rotation restricting means 31, a convex portion 34 and a concave portion 35 that lock each other are provided between the rotation restricting member 32 and the shaft portion 13 in the normal state position. A convex portion 34 is formed, and a concave portion 35 is formed in the shaft portion 13.
　これら凸部３４および凹部３５の形状は、図２中に拡大して示すように、円弧状の曲面で構成され、凸部３４の曲率半径を凹部３５の曲率半径より大きくすることで、２点で互いが接触するようにしてあり、摩耗などの影響を受けずに確実に係止できるようにしてある。また、凹部３５の両端部には傾斜面３６が形成され、凸部３４が円滑に乗り越えることができるようにしてある。 As shown in an enlarged view in FIG. 2, the shape of the convex portion 34 and the concave portion 35 is configured by an arcuate curved surface, and by making the curvature radius of the convex portion 34 larger than the curvature radius of the concave portion 35, two points are obtained. So that they can be reliably locked without being affected by wear or the like. In addition, inclined surfaces 36 are formed at both ends of the concave portion 35 so that the convex portion 34 can smoothly get over.
　さらに、この回動規制手段３１では、過負荷によって変位した位置の回動規制部材３２と軸部１３との間に互いを係止する凹部または凸部を設けると好ましく、例えば図３（ｂ）に示すように、軸部１３の変位した位置（退避位置）に凹部３７が設けてあり、通常状態の凹部３５が過負荷によって凸部３４を乗り越えた後、変位状態で凸部３４が凹部３７に係止されることで、グリッパ部２１の変位状態を確実に保持することができるようになる。 Furthermore, in this rotation restricting means 31, it is preferable to provide a concave portion or a convex portion for locking each other between the rotation restricting member 32 and the shaft portion 13 at a position displaced by an overload, for example, FIG. As shown in FIG. 2, the concave portion 37 is provided at the displaced position (retracted position) of the shaft portion 13, and after the concave portion 35 in the normal state gets over the convex portion 34 due to overload, the convex portion 34 becomes the concave portion 37 in the displaced state. The displacement state of the gripper portion 21 can be reliably held by being locked to.
　なお、この回動規制手段３１では、図３（ｂ）に示すように、凹部３５の片側に凹部３７を設けた例で説明したが、凹部３５の両側に凹部３７を設けても良く、凹部３５の両側のいずれの方向からの過負荷による変位にも対応することが可能となる。 In the rotation restricting means 31, as shown in FIG. 3B, the example in which the concave portion 37 is provided on one side of the concave portion 35 has been described. However, the concave portion 37 may be provided on both sides of the concave portion 35. It is possible to deal with displacement due to overload from either direction on both sides of 35.
　なお、変位した状態を保持するための凹部３７の形状は、一旦凸部３４が係止された後は、乗り越えて回動し難くするため、両端部の傾斜面を省略した形状としても良い。 It should be noted that the shape of the concave portion 37 for holding the displaced state may be a shape in which the inclined surfaces at both end portions are omitted in order to make it difficult to turn over after the convex portion 34 is locked.
　また、変位状態を保持する凸部３４を、回動を規制する凸部と兼用するようにしたが、凸部を別に設け、互いを係止する凸部および凹部の形状を円弧状などの曲面とせずに矩形などの平面による形状とし、一旦凸部が凹部に係止された後は、簡単に係止状態を開放できないようにしても良い。 Moreover, although the convex part 34 which hold | maintains a displacement state was used also as the convex part which controls rotation, a convex part is provided separately, and the shape of the convex part and recessed part which mutually latch is curved surface, such as circular arc shape. Instead, the shape may be a flat surface such as a rectangle, and once the convex portion is locked to the concave portion, the locked state may not be easily released.
　このように構成したグリッパ搬送装置１０によれば、移動搬送体にアーム部１１を介して取り付けられ円筒体であるプリフォームＰを把持する開閉可能なグリッパ部２１を有するグリッパ搬送装置で、グリッパ部２１を開閉平面と垂直な軸部１３を介してアーム部１１に回動可能に設けるとともに、この軸部１３に過負荷による回動を許容するとともに、回動変位状態を保持可能な回動規制手段３１を設けたので、回動規制手段３１によってグリッパ部２１を開閉平面に垂直な軸部１３に対して回動を許容することで、過負荷による損傷を回避することができるとともに、その変位状態を保持することで、復帰しないようにして過負荷による変位が生じたことを知ることができる。 According to the gripper transport device 10 configured as described above, the gripper transport device having the openable and closable gripper portion 21 that is attached to the movable transport body via the arm unit 11 and grips the preform P that is a cylindrical body. 21 is rotatably provided on the arm portion 11 via a shaft portion 13 perpendicular to the opening / closing plane, and the shaft portion 13 is allowed to turn due to an overload and can be held in a rotational displacement state. Since the means 31 is provided, the rotation restricting means 31 allows the gripper portion 21 to rotate with respect to the shaft portion 13 perpendicular to the opening / closing plane, so that damage due to overload can be avoided and its displacement By maintaining the state, it is possible to know that displacement due to overload has occurred without causing a return.
　これにより、自動復帰することによる他の箇所への損傷を防止できるとともに、異常品に気づかず搬送を続行することを防止することができる。 This makes it possible to prevent damage to other parts due to automatic return and to prevent the conveyance from continuing without noticing the abnormal product.
　また、このグリッパ搬送装置１０によれば、回動規制手段３１を、軸部１３とアーム部１１とのいずれか一方に凹部３５を、いずれか他方に凸部３４を備えて互いを付勢する付勢手段として引張コイルばね３３を設けて構成したので、凹部３５と凸部３４と、これらを付勢する引張コイルばね３３により凹部３５から凸部３４が外れるまでの抵抗を調整することで、通常動作中の誤動作を防止できるとともに、過負荷が加わる場合には、これを回避してアーム部１１を退避させることができる。 Moreover, according to this gripper conveying apparatus 10, the rotation restricting means 31 is provided with a concave portion 35 on one of the shaft portion 13 and the arm portion 11 and a convex portion 34 on the other side, and urges each other. Since the tension coil spring 33 is provided as the biasing means, the concave portion 35 and the convex portion 34 and the resistance until the convex portion 34 is removed from the concave portion 35 by the tension coil spring 33 biasing them are adjusted. In addition to preventing malfunction during normal operation, the arm 11 can be retracted by avoiding this when an overload is applied.
　さらに、このグリッパ搬送装置１０によれば、回動規制手段３１を、過負荷による変位状態となる位置のアーム部１１に、軸部１３の凸部３４（または凹部）と対応する（凸部または）凹部３７を設けて構成したので、過負荷により変位した状態となる位置でも、凹部３７と凸部３４とで係止することができ、一層確実に過負荷が加わった状態を保持することができる。 Furthermore, according to this gripper conveying apparatus 10, the rotation restricting means 31 corresponds to the convex portion 34 (or concave portion) of the shaft portion 13 (the convex portion or the concave portion) on the arm portion 11 at the position where the displacement is caused by the overload. ) Since the concave portion 37 is provided, it can be locked by the concave portion 37 and the convex portion 34 even at a position that is displaced due to overload, and the state where the overload is applied can be held more reliably. it can.
　なお、上記実施の形態では、グリッパ搬送装置をターレットに複数も受けてプリフォームを搬送する場合を例に説明したが、これに限らずチェーン式の搬送装置に設けて構成することもできる。 In the above-described embodiment, the case where a plurality of gripper transport devices are received by the turret and the preform is transported is described as an example. However, the present invention is not limited to this, and a chain-type transport device may be provided.
　また、回動規制手段の凹部と凸部は、アーム部と軸部のどちらにいずれかを設け、互いを係止できれば良いものである。 Also, the concave and convex portions of the rotation restricting means may be provided with either the arm portion or the shaft portion and can be locked with each other.
　さらに、上記実施の形態では、軸部１３をグリッパ部２１が開閉する開閉平面と垂直になるように配設したが、これに限らず過大な力から退避可能な方向に回動できる向きであればいずれの向きであっても良く、例えばグリッパ部の開閉方向と平行方向に軸部を配設しても良い。 Furthermore, in the above-described embodiment, the shaft portion 13 is disposed so as to be perpendicular to the opening / closing plane on which the gripper portion 21 is opened / closed. However, the shaft portion 13 is not limited to this and may be rotated in a direction that can be retracted from an excessive force. For example, the shaft portion may be arranged in a direction parallel to the opening / closing direction of the gripper portion.
　また、互いに直交する方向の軸部を２つ組み合わせて、例えば図６に示すように、グリッパ部２１のかわりに軸体を接続して構成したり（図中、１１´はアーム部、１２´はアーム部本体、１３´は軸部である。）、２つ以上異なる方向の軸部を組み合せるようにしても良い。 Further, by combining two shaft portions in directions orthogonal to each other, for example, as shown in FIG. 6, a shaft body may be connected instead of the gripper portion 21 (in the figure, 11 ′ is an arm portion, 12 ′ Is an arm portion main body, and 13 'is a shaft portion.) Two or more shaft portions in different directions may be combined.
　１０…グリッパ搬送装置
　１１…アーム部
　１２…アーム部本体
　１２ａ…回動ガイド部
　１２ｂ…スライドガイド部
　１３…軸部
　１３ａ…支持リング
　１３ｂ…止めねじ
　２１…グリッパ部
　２１ａ…グリッパ
　２１ｂ…取付軸
　２１ｃ…噛み合い歯
　２２ａ…把持部
　２３…引張コイルばね
　３１…回動規制手段
　３２…回動規制部材
　３３…引張コイルばね
　３４…凸部
　３５…凹部
　３６…傾斜面
　３７…凹部
　３８…ピン
　Ｐ…プリフォーム
　Ｐ１…カブラ（円筒体）
　Ｐ２…ネックリング（円筒体） DESCRIPTION OF SYMBOLS 10 ... Gripper conveyance apparatus 11 ... Arm part 12 ... Arm part main body 12a ... Turning guide part 12b ... Slide guide part 13 ... Shaft part 13a ... Support ring 13b ... Set screw 21 ... Gripper part 21a ... Gripper 21b ... Mounting shaft 21c ... Engagement teeth 22a ... gripping portion 23 ... tension coil spring 31 ... rotation restricting means 32 ... rotation restricting member 33 ... tension coil spring 34 ... convex portion 35 ... concave portion 36 ... inclined surface 37 ... concave portion 38 ... pin P ... preform P1 ... cabra (cylindrical)
P2 ... Neck ring (cylindrical body)

Claims (4)

  1. 　移動搬送体にアーム部を介して取り付けられ円筒体を把持する開閉可能なグリッパ部を有するグリッパ搬送装置であって、
    　前記グリッパ部を、軸部を介して前記アーム部に回動可能に設けるとともに、この軸部に過負荷による前記回動を許容するとともに、回動変位状態を保持可能な回動規制手段を設けたことを特徴とするグリッパ搬送装置。     A gripper transport device having an openable and closable gripper portion that is attached to a moving transport body via an arm portion and grips a cylindrical body,
    The gripper portion is rotatably provided on the arm portion via a shaft portion, and a rotation restricting means capable of holding the rotation displacement state while allowing the shaft to rotate due to an overload is provided on the shaft portion. A gripper transport device characterized by that.
  2. 　前記回動規制手段を、前記軸部と前記アーム部とのいずれか一方に凹部を、いずれか他方に凸部を備えて互いを付勢する付勢手段を設けて構成したことを特徴とする請求項１に記載のグリッパ搬送装置。 The rotation restricting means is configured by providing a biasing means for biasing each other by providing a concave portion on one of the shaft portion and the arm portion and a convex portion on the other. The gripper conveyance device according to claim 1.
  3. 　前記回動規制手段を、前記過負荷による変位状態となる位置の前記アーム部に、前記軸部の凹部または凸部と対応する凸部または凹部を設けて構成したことを特徴とする請求項２に記載のグリッパ搬送装置。 3. The rotation restricting means is configured such that a convex portion or a concave portion corresponding to the concave portion or the convex portion of the shaft portion is provided in the arm portion at a position where the displacement is caused by the overload. The gripper conveyance device described in 1.
  4. 　前記軸部がグリッパ部の開閉平面と垂直であることを特徴とする請求項１～３のいずれかに記載のグリッパ搬送装置。 The gripper transport device according to any one of claims 1 to 3, wherein the shaft portion is perpendicular to an opening / closing plane of the gripper portion.
PCT/JP2010/066167 2010-09-17 2010-09-17 Gripper carrying device WO2012035645A1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2202183A1 (en) * 2007-09-20 2010-06-30 Toyo Seikan Kaisha, Ltd. Gripper device for conveying circular tube body
ITTO20130960A1 (en) * 2013-11-26 2015-05-27 Sidel Spa Con Socio Unico LINE FOR CONVEYING CONTAINERS, BOTTLES IN PARTICULAR

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60213497A (en) * 1984-04-06 1985-10-25 三菱電機株式会社 Hand device for industrial robot
JPS60172697U (en) * 1984-04-19 1985-11-15 大日機工株式会社 Robot safety equipment
JPH02130793U (en) * 1989-03-31 1990-10-29
JPH0460690U (en) * 1990-09-27 1992-05-25
JP2004270854A (en) * 2003-03-11 2004-09-30 Toyota Motor Corp Power transmission device
JP2007301704A (en) * 2006-05-15 2007-11-22 Futaba Corp Connection mechanism of coupling member for robot and walking type robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60213497A (en) * 1984-04-06 1985-10-25 三菱電機株式会社 Hand device for industrial robot
JPS60172697U (en) * 1984-04-19 1985-11-15 大日機工株式会社 Robot safety equipment
JPH02130793U (en) * 1989-03-31 1990-10-29
JPH0460690U (en) * 1990-09-27 1992-05-25
JP2004270854A (en) * 2003-03-11 2004-09-30 Toyota Motor Corp Power transmission device
JP2007301704A (en) * 2006-05-15 2007-11-22 Futaba Corp Connection mechanism of coupling member for robot and walking type robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2202183A1 (en) * 2007-09-20 2010-06-30 Toyo Seikan Kaisha, Ltd. Gripper device for conveying circular tube body
EP2202183A4 (en) * 2007-09-20 2013-05-29 Toyo Seikan Kaisha Ltd Gripper device for conveying circular tube body
ITTO20130960A1 (en) * 2013-11-26 2015-05-27 Sidel Spa Con Socio Unico LINE FOR CONVEYING CONTAINERS, BOTTLES IN PARTICULAR

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