JP5752102B2 - Grip mechanism - Google Patents

Description

The present invention relates to a gripping mechanism that grips an object to be gripped with a guide and a pusher.
The object to be grasped is, for example, a rack that holds a plurality of drug discovery tubes in the field of drug discovery, and the gripping mechanism stores a plurality of tubes in which a drug discovery sample is sealed while being held in the rack. It is provided in the storage device.

  Conventionally, a gripping mechanism that grips a rack that holds a plurality of drug discovery tubes includes a positioning guide that can contact the rack, a pusher mechanism that presses the rack, and an engagement portion that prevents the rack from lifting. . The pusher mechanism includes a first pusher and a second pusher that press the rack against the guide, and a disengagement pusher that releases the engagement between the rack and the engaging portion. The first pusher and the disengagement pusher are arranged with the rack interposed therebetween. (For example, see Patent Document 1)

JP 2009-42011 A (paragraphs 0023-0028, FIGS. 3-5)

  When the first pusher moves the rack in the gripping direction while the gripping mechanism positions and grips the rack at the set position, the disengagement pusher pressed by the spring is engaged with the engaging portion in the release direction. Occupies the disengagement position that has advanced to the same position as that (see FIG. 5 of Patent Document 1), for example, retreats from the disengagement position by contact with the rack that is moved by being pressed by the first pusher. When the disengagement pusher to be retreated does not move backward smoothly, the disengagement plunger at the disengagement position prevents the rack pressed by the first pusher from engaging with the engagement portion, and the rack The rack may not be engaged with the engaging portion, such as deviating to the outside of the engaging portion, and there is a problem that the efficiency of gripping work of the rack that is the object to be gripped that is gripped by the gripping mechanism is reduced. .

  Further, when a plurality of pushers such as the first and second pushers are driven by separate actuators, the number of actuators is increased, the structure of the gripping mechanism is complicated, the size is increased, and the cost is increased. There was a problem.

The present invention solves the above-mentioned problems, and its purpose is to prevent the disengagement pusher from inhibiting the engagement between the object to be grasped and the engaging portion when the object to be grasped is grasped. The gripping mechanism that improves the efficiency of gripping of the object to be gripped, and simplifies and downsizes the structure of the pusher mechanism equipped with the actuator, thereby simplifying and downsizing the structure and further reducing the cost. Is to provide.
Another object of the present invention is to provide a gripping mechanism that further expands the scope of application of the object to be gripped, improves convenience, and improves the efficiency of removing the object to be gripped from the mounting table. is there.

  The invention according to claim 1 includes a mounting table, a positioning guide capable of contacting the object to be gripped placed on the mounting surface of the mounting table, a pusher mechanism for pressing the object to be gripped, An engaging portion that prevents the object to be lifted from the mounting surface, and the pusher mechanism presses the object to be gripped, and a pusher for gripping the object to be gripped against the guide. A disengagement pusher for releasing the engagement between the object to be grasped and the engaging portion, and when the grasping pusher moves in the grasping direction and presses the object to be grasped against the guide The gripping pusher and the guide are gripped in a state where the gripping pusher and the guide are positioned at the set positions in the first direction and the second direction orthogonal to each other, and the gripped object is engaged with the engaging portion. The gripping pusher moves in the release direction. A gripping mechanism in which the gripping pusher and the guide release the gripping of the object to be gripped, and the disengagement pusher releases the engagement between the object to be gripped and the engaging portion. The pusher mechanism has a single actuator that drives and moves the gripping pusher and the disengagement pusher, and the disengagement pusher is driven by the actuator, whereby the gripping direction When the gripping pusher moves to the retracted position that does not interfere with the engagement of the object to be gripped being moved by being pressed by the gripping pusher, and in the release direction, When the gripping pusher is moved, it moves between the disengagement position where the object to be grasped is pressed and the engagement between the object to be grasped and the engagement portion is released. It is obtained by solving.

  According to a second aspect of the present invention, in addition to the configuration of the first aspect of the invention, the guide can contact the object to be grasped in the first direction, and the engagement portion is provided in the first direction. The guide is composed of a guide and a second guide capable of contacting the object to be gripped in the second direction, and the gripping pusher moves in the second direction and the first pusher movable in the first direction. A second pusher that is capable of holding, wherein the gripping direction is a first gripping direction in the first direction and a second gripping direction in the second direction, and the release direction is in the first direction. A first release direction and a second release direction in the second direction, wherein the actuator drives the first pusher and the second pusher to move in the first direction and the second direction, respectively. The first pusher moves in the first gripping direction The object to be gripped is pressed against the first guide, and the second pusher moves in the second gripping direction to press the object to be gripped against the second guide, whereby the first pusher and the The first guide, the second pusher, and the second guide grip the object to be gripped at the set position, and the first pusher moves in the first gripping direction, whereby the disengagement pusher is Occupying the retracted position, the first pusher moves in the first release direction, and the second pusher moves in the second release direction, whereby the first pusher, the first guide, and the second pusher are moved. The pusher and the second guide release the object to be grasped, and the first pusher moves in the first release direction, so that the disengagement pusher occupies the disengagement position. By is obtained by solving the problems described above.

  According to a third aspect of the present invention, in addition to the configuration of the second aspect of the invention, the pusher mechanism includes the first pusher and the disengagement pusher, and the first pusher and the disengagement pusher. A movable support that is a single member that supports the object to be gripped in the first direction, and the actuator includes the first pusher, the disengagement pusher, and the movable support. By moving integrally in the first direction, the above-described problems are solved.

  According to a fourth aspect of the present invention, in addition to the configuration of the second or third aspect of the invention, the second pusher includes a contact body capable of contacting the object to be grasped, and a second body in the second direction. The aforesaid problem is solved by the contact member pressing the object to be gripped in the second gripping direction by the elastic force of the elastic member.

  According to a fifth aspect of the invention, in addition to the configuration of the fourth aspect of the invention, the abutting body is a part of the elastic member, thereby solving the above-described problem.

  The gripping mechanism according to the present invention includes a mounting table, a positioning guide that can come into contact with a gripped object placed on the mounting surface of the mounting table, a pusher mechanism that presses the gripped object, and a mounting surface. An engaging portion that prevents the object to be gripped from being lifted, and a pusher mechanism includes a gripping pusher that presses the object to be gripped against the guide, and the object to be gripped and the engaging portion by pressing the object to be gripped. A first direction in which the gripping pusher and the guide are orthogonal to each other when the gripping pusher moves in the gripping direction and presses the object to be gripped against the guide. The gripping pusher and the gripping pusher when the gripping object is engaged with the engaging portion and the gripping pusher moves in the release direction, while the gripping object is gripped while being positioned at the set position in the second direction. The guide releases the gripping object and disengages it. When the pusher releases the engagement between the object to be grasped and the engaging portion, and the gripping pusher and the guide are grasping the object to be grasped in the set position, the engaging portion is Is prevented from being lifted off the mounting surface, and the disengagement pusher can disengage the object to be grasped from the engagement portion, and also has the following effects of the present invention.

According to the gripping mechanism of the present invention according to claim 1, the pusher mechanism has a single actuator that drives and moves the gripping pusher and the disengagement pusher, and the disengagement pusher is an actuator. When the gripping pusher is moved in the gripping direction by being driven, the retracted position that does not interfere with the engagement portion of the object to be gripped and moved by the gripping pusher, and the release direction When the gripping pusher is moved, the object is pressed on the mounting surface by moving between the disengagement position where the object to be grasped is pressed and the engagement between the object to be grasped and the engaging portion is released. When the gripping pusher is moving in the gripping direction in the gripping process for gripping the gripped object, the disengagement pusher occupies the retracted position, so that the disengagement pusher engages the object to be gripped with the engaging portion. Hindering To be prevented, and it is possible to reliably engage the object to be grasped and the engaging portion, it is possible to improve the efficiency of the gripping operations of the object to be grasped.
Also, since the gripping pusher and the disengagement pusher are driven by one actuator, the structure of the pusher mechanism including the actuator is simplified and miniaturized, and the structure of the gripping mechanism is simplified and miniaturized. Can be further reduced. In addition, since the engagement between the rack and the engaging portion is released by the actuator by the disengagement pusher, the certainty of the engagement can be improved.

  According to the gripping mechanism of the present invention according to claim 2, in addition to the effect produced by the invention according to claim 1, the guide can be brought into contact with the object to be gripped in the first direction and the engaging portion is provided. The first guide and the second guide that can come into contact with the object to be gripped in the second direction, the gripping pusher being movable in the first direction and the second pusher being movable in the second direction A second pusher, the gripping direction is the first gripping direction in the first direction and the second gripping direction in the second direction, and the releasing direction is the first releasing direction and the second in the first direction. Is the second release direction, and the actuator drives the first pusher and the second pusher to move in the first direction and the second direction, respectively, and the first pusher moves in the first gripping direction to be covered. The gripping object is pressed against the first guide, and the second pusher is in the second gripping direction. By moving and pressing the object to be gripped against the second guide, the first pusher, the first guide, the second pusher, and the second guide grip the object to be gripped at the set position, and the first pusher grips the first gripper. By moving in the direction, the disengagement pusher occupies the retracted position, the first pusher moves in the first release direction, and the second pusher moves in the second release direction, so that the first pusher and the first pusher The first guide, the second pusher, and the second guide release the object to be grasped, and the first pusher moves in the first release direction so that the disengagement pusher occupies the disengagement position. Since the object to be grasped is grasped by the first and second pushers and the first and second guides in the first and second directions orthogonal to each other, the grasping action of the object to be grasped can be enhanced. 2nd pusher is 1 Therefore, the structure of the pusher mechanism having the first and second pushers and the disengagement pusher can be simplified and miniaturized, and the structure of the gripping mechanism can be simplified and miniaturized. .

  According to the gripping mechanism of the present invention according to claim 3, in addition to the effect achieved by the invention according to claim 2, the pusher mechanism includes the first pusher and the disengagement pusher, and the first pusher and the disengagement pusher. The pusher has a movable support that is a single member that supports the object to be gripped in the first direction, and the actuator moves the first pusher, the disengagement pusher, and the movable support in the first direction. By moving together, the first pusher and the disengagement pusher that are in a position to sandwich the object to be grasped in the first direction are supported by the movable support that is a single member. The structure for interlocking the pusher for release is simplified and miniaturized, and the structure of the gripping mechanism can be simplified and miniaturized.

According to the gripping mechanism of the present invention according to claim 4, in addition to the effect exerted by the invention according to claim 2 or claim 3, the second pusher includes a contact body capable of contacting the object to be gripped, It is composed of an elastic member that causes elastic deformation in two directions, and the contact body can be gripped by the second pusher and the second guide by pressing the object to be gripped in the second gripping direction by the elastic force of the elastic member. In addition to the size of the object to be grasped in the second direction, in addition to the maximum distance in the second direction between the second pusher and the second guide defined by the drive range of the actuator, the elastic deformation of the elastic member Since it can be increased within the range of the amount, the object to be grasped having the second direction dimension exceeding the maximum interval can be grasped by the grasping mechanism, so that the object to be grasped grasped by the grasping mechanism can be applied. Convenience of gripping mechanism with expanded range It is possible to improve the.
Further, the second pusher presses the object to be grasped against the second guide with the driving force of the actuator and with the elastic force based on the elastic deformation of the elastic member, so the first and second pushers Since the object to be gripped is pressed against the second guide by the elastic force of the elastic member even after the actuator is released from pressing the object to be gripped, the disengagement pusher is released from gripping in the first direction. When the engagement between the gripped object and the engaging portion is released, the friction force is generated between the gripped object and the engaging portion or the friction force between the gripped object and the disengagement pusher. Occurrence of misalignment of the object to be grasped is prevented, and the efficiency of the work for removing the object to be grasped from the mounting table can be improved.

  According to the gripping mechanism of the present invention according to claim 5, in addition to the effect of the invention according to claim 4, the second pusher is constituted by the spring member itself because the contact body is a part of the elastic member. Therefore, the structure of the second pusher that applies the elastic force of the spring member to the object to be grasped is simplified, and the number of parts is reduced, so that the structure of the grasping mechanism can be simplified.

The top view of the holding mechanism which shows 1st Example of this invention. The figure from the 2 arrow direction of FIG. The figure from the 3 arrow direction of FIG. The figure from the arrow 4 direction of FIG. The figure which shows 2nd Example of this invention and corresponds to FIG. 1 of a holding mechanism. FIG. 6 is a diagram in which a part from the direction of arrow 6 in FIG. 5 is omitted.

  The gripping mechanism according to the present invention includes a mounting table, a positioning guide that can come into contact with a gripped object placed on the mounting surface of the mounting table, a pusher mechanism that presses the gripped object, and a mounting surface. An engaging portion that prevents the object to be gripped from being lifted, and a pusher mechanism includes a gripping pusher that presses the object to be gripped against the guide, and the object to be gripped and the engaging portion by pressing the object to be gripped. A first direction in which the gripping pusher and the guide are orthogonal to each other when the gripping pusher moves in the gripping direction and presses the object to be gripped against the guide. The gripping pusher and the gripping pusher when the gripping object is engaged with the engaging portion and the gripping pusher moves in the release direction, while the gripping object is gripped while being positioned at the set position in the second direction. The guide releases the gripping object and disengages it. The pusher releases the engagement between the object to be gripped and the engaging portion, and the pusher mechanism has a single actuator that drives and moves the gripping pusher and the disengagement pusher. A retracted position that does not interfere with the engagement of the object to be grasped that is moved by being pushed by the grasping pusher when the grasping pusher is moved in the grasping direction by being driven by the actuator. When the gripping pusher moves in the release direction, the object to be grasped is moved by pressing between the object to be grasped and moving between the disengagement positions for releasing the engagement between the object to be grasped and the engaging portion. Prevents the disengagement pusher from interfering with the engagement between the object to be grasped and the engaging portion when the object is grasped, thereby improving the efficiency of grasping the object to be grasped, and including an actuator. Simplification of pusher mechanism structure Depending on the type of the structure is simplified and smaller, as long as it still costs are reduced, specific embodiments thereof are may be any one.

  For example, the object to be grasped by the grasping mechanism of the present invention may be any of a rack that holds a plurality of drug discovery tubes, a container that holds a plurality of workpieces, and an article other than the rack and the container. .

Embodiments of the present invention will be described below with reference to FIGS.
1 to 4 are diagrams for explaining a first embodiment of the present invention.
Referring to FIGS. 1 and 2, in the first embodiment, a gripping mechanism 100 that grips a rack 20 as an object to be gripped is installed on a base 10. The rack 20 holds a microtube 41 (hereinafter referred to as “tube 41”), which is a drug discovery tube as a plurality of objects to be held.
The rack 20 includes a rectangular frame-shaped peripheral wall 21 and a plurality of grid-shaped holding portions 28 that detachably hold the tubes 41 one by one. Each tube 41 is pushed upward by an extrusion pin (not shown) that abuts from below, so that the engagement at the holding portion 28 is released and the tube 41 is pushed upward.
In addition, in order to avoid complication of a figure, regarding the some tube 41 currently hold | maintained at the rack 20, in FIG.1, FIG.2, some tubes 41 are shown in figure and the said some tube 41 whole is a tube group. 40 is simply displayed. 3 and 4, the tube 41 is omitted.

  The peripheral wall 21 includes a pair of first side walls 22 and 23 that face each other in the first direction, and a pair of second side walls 24 and 25 that face each other in the second direction. Each side wall 22-25 has the collars 32-35 which are the convex parts which protrude outside in the 1st, 2nd direction in the bottom part. These ridges 32 to 35 constitute a ridge 31 over the entire circumference of the peripheral wall 21. The flange 31 is a contact portion that contacts the guides 111 to 114 described later in the rack 20, is a pressed portion that is pressed by the gripping pushers 131 and 132 and the disengagement pusher 133, and the engaging portion 121. It is an engaged part engaged with -123.

  A tube 41 serving as a container encloses a drug discovery sample as a container in a state of being sealed with a cap. The tube 41 in which the sample is stored is stored in a refrigerating environment where the ambient temperature is below freezing, for example, a refrigerating storage device (not shown) while being held by the holding unit 28. A plurality of bases 10 are installed in the storage device.

Note that the first direction and the second direction are orthogonal to each other and are directions on one plane, in the present embodiment, on a horizontal plane, and the rack 20 is a direction in a state of being gripped by the gripping mechanism 100. is there.
The first direction is the first gripping direction that is the pressing direction of the rack 20 when the rack 20 is gripped or the moving direction of the rack 20, and the pressing direction or the rack 20 when the rack 20 is released from gripping. And a first release direction opposite to the first gripping direction. Similarly, the second direction is a pressing direction with respect to the rack 20 when the rack 20 is gripped or a second gripping direction that is the moving direction of the rack 20, and a pressing direction with respect to the rack 20 when the gripping of the rack 20 is released. Or it is a moving direction of the rack 20 and a second releasing direction opposite to the second gripping direction.

Referring to FIGS. 1 to 4, the gripping mechanism 100 is fixed to the base 10 and mounted on the mounting tables 101 to 104 on which the rack 20 is mounted, and the mounting surfaces S1 to S4 of the mounting tables 101 to 104. Positioning guides 111 to 114 that can come into contact with the mounted rack 20, a pusher mechanism P that presses the rack 20 in the first and second directions, and the rack 20 upward from the mounting surfaces S1 to S4. Engagement parts 121 to 123 that prevent lifting.
The engagement portions 121 to 123 prevent the rack 20 from being lifted when the tube 41 held by the rack 20 is pushed up by the push pin.
Note that the upper direction is one direction in a third direction (in this embodiment, the vertical direction) orthogonal to the first and second directions.

  The mounting tables 101 to 104 include a pair of first mounting tables 101 and 102 and a pair of second mounting tables 103 and 104. In each of the first mounting tables 101 and 102, a stopper that defines the maximum movement position of the rack 20 in the first release direction in order to maintain the state in which the rack 20 is mounted on the mounting surfaces S1 to S4. 108 and 109 are provided.

The guides 111 to 114 fixed to the base 10 include one or more pairs of first guides 111 and 112 that are plural in this embodiment, and one or more pairs of first guides 111 and 112 that are plural in this embodiment. The second guides 113 and 114 are configured. The rack 33 of the rack 20 and the first guides 111 and 112 can be simultaneously contacted in the first direction. The rack 35 of the rack 20 and the second guides 113 and 114 can be simultaneously contacted in the second direction. Both the first guides 111 and 112 are provided on the second mounting tables 103 and 104, respectively. Both the second guides 113 and 114 are provided on the first and second mounting tables 102 and 104, respectively.
The engaging portions 121 to 123 are composed of one or more pairs of guide engaging portions 121 and 122 as a plurality in the present embodiment, and one or more pusher engaging portions 123 in the present embodiment. The Both guide engaging portions 121 and 122 are provided in the first guides 111 and 112, respectively, and have the same shape.
First mounting table 101 and stopper 108, second mounting table 102 and second guide 113 and stopper 109, third mounting table 103 and first guide 111 and guide engaging part 121, and fourth mounting table 104 and first The second guides 112 and 114 and the guide engaging portion 122 constitute a single member coupled by integral molding.

The pusher mechanism P includes gripping pushers 131 and 132 that press the rack 20 against the first and second guides 111 to 114 in the gripping direction, and the rack 20 and the guide engaging portion by pressing the rack 20 in the releasing direction. Disengagement pusher 133 for releasing engagement with 121, 122, and a single actuator for driving and moving gripping pushers 131, 132 and disengagement pusher 133 which are all pushers of pusher mechanism P 140, a transmission mechanism 150 that transmits the driving force of the actuator 140 to all the pushers 131 to 133 of the pusher mechanism P, and a direction defining member 160 that defines the movement of each of the pushers 131 to 133 in the operation direction.
Here, the gripping direction includes the first and second gripping directions, and the release direction includes the first and second release directions. The operation direction including the gripping direction and the release direction includes the first and second directions.

The gripping pushers 131 and 132 include a first pusher 131 movable in the first direction and a second pusher 132 movable in the second direction. The first pusher 131 is provided with a pusher engaging portion 123. The pusher engaging portion 123 engages with the flange 33 of the rack 20 in a state where the first pusher 131 presses the rack 20 against the first guides 111 and 112 in the first gripping direction. Prevent lifting.
The rack 20 is gripped by the gripping pushers 131 and 132 and the guides 111 to 114, or the rack 20 is gripped by the first pusher 131 and the first guides 111 and 112, and the second pusher 132 and the second guides 113 and 114. The gripping means a state in which the first pusher 131 presses the rack 20 at the set position (hereinafter simply referred to as “set position”) against the first guides 111 and 112 by the driving force of the actuator 140. .
Here, the set position is a position set in advance in the first and second directions, and is a work position where work on the tube 41 is performed.

The first pusher 131 is moved in the first holding direction by pressing the rack 20 in the state where it is engaged with the pusher engaging portion 123 and in contact with the flange 32 by moving in the first holding direction. 20 can be pressed against the first guides 111 and 112 in the first gripping direction. When the first pusher 131 presses the rack 20 against the first guides 111 and 112 in the first gripping direction, the flange 33 and the first guides 111 and 112 come into contact with each other, and the first pusher 131 and the first guides 111 and 112 are brought into contact with each other. 112 holds the rack 20 in a state of being positioned at the set position in the first direction.
On the other hand, the first pusher 131 releases the pressure on the rack 20 and the pressure of the rack 20 on the first guides 111 and 112 by moving in the first release direction, and grips the rack 20 in the first direction. The rack 20 is released from the engagement with the pusher engagement portion 123 and the engagement between the rack 20 and the guide engagement portion 123 is released.

The second pusher 132 (FIGS. 1 and 2) includes a contact body 135 that can contact the rack 20 and a spring member 136 as an elastic member that causes elastic deformation in the second direction.
The second pusher 132 presses the rack 20 to move in the second holding direction in a state where the contact body 135 and the flange 34 are in contact with each other, and the rack 20 is moved to the second guides 113 and 114 in the second holding direction. It can be pressed. When the second pusher 132 presses the rack 20 against the second guides 113 and 114 in the second gripping direction, the flange 35 and the second guides 113 and 114 come into contact with each other, and the second pusher 132 and the second guide 113 and 114 holds the rack 20 in a state where the rack 20 is positioned at the set position in the second direction.
On the other hand, the second pusher 132 releases the grip of the rack 20 in the second direction by moving in the second release direction.

  The spring member 136 is a pair of springs 137 that are spaced apart from each other in the first direction on the movable support 151. A spring 137 that is a torsion coil spring is held by a mounting portion 151a of a movable support 151 described later, and both ends of each spring 137 are fixed to the contact body 135 and the movable support 151, respectively. , Is detachably locked. The two springs 137 generate a spring force that is an elastic force that presses the contact body 135 in the second gripping direction during elastic deformation, and the corresponding contact body 135 is also moved when the contact body 135 is separated from the rack 20. Maintain support.

Further, the second pusher 132 is driven by the actuator 140 to move the rack 20 in the second gripping direction by the spring force of each spring 137 that is elastically deformed by the driving force of the actuator 140 when moved in the second gripping direction. 2 Press against the guides 113 and 114. Even after the first pusher 131 releases the grip in the first direction, the contact body 135 is pressed in the second gripping direction by the spring 137 to press the rack 20 against the second guides 113 and 114. The rack 20 in a state in which the grip is released is displaced from the set position in the release direction, that is, the positional deviation of the rack 20 is suppressed.
Depending on the size of the rack 20 in the second direction, the rack 20 is pressed by the spring force of each spring 137 before the second pusher 132 is driven by the actuator 140 and starts moving in the second gripping direction. In this case, the rack 20 is pressed against the second guides 113 and 114 by the resultant force of the initial spring force that is the spring force and the spring force of each spring 137 that is elastically deformed by the driving force of the actuator 140. .

1 and 3, the disengagement pusher 133 is movable in the first direction, and can push the rack 20 in the first release direction. The disengagement pusher 133 is driven by the actuator 140, and is retracted in the first direction (an example is shown by a solid line in FIGS. 1 and 4) and the disengagement position (FIGS. 1 and 4). 4, an example of which is illustrated by a two-dot chain line).
The retracted position is determined by the guide engaging portions 121 and 122 of the rack 33 of the rack 20 being pressed by the first pusher 131 and moving in the first gripping direction when the first pusher 131 is moved in the first gripping direction. The position where the engagement is not hindered, that is, the position where the disengagement pusher 133 does not come into contact with the flange 33 until at least after the engagement between the flange 33 and the guide engaging portions 121 and 122 is started. When the first pusher 131 is moved in the first release direction, the disengagement position is such that the disengagement pusher 133 presses the flange 33 of the rack 20 and the engagement between the flange 33 and the guide engaging portions 121 and 122. This is the position to release the match.
Thus, the disengagement pusher 133 abuts against the flange 33 when moving in the first disengagement direction, and moves the rack 20 in the first disengagement direction to abut against the first guides 111 and 112. The rack 20 is released from the engagement with the guide engagement portions 121 and 122, and the engagement between the rack 20 and the guide engagement portions 121 and 122 is released.

The actuator 140, which is an electric actuator, has a drive shaft 141 that is driven by a solenoid to perform a linear reciprocating motion.
2 and 4, the transmission mechanism 150 includes a movable support 151 to which the drive shaft 141 is coupled in a directly connected state. The movable support body 151 that is a single plate-like member supports the first pusher 131 and the disengagement pusher 133 that are arranged with the rack 20 interposed therebetween in the first direction.
The first pusher 131, the disengagement pusher 133, and the pusher engagement portion 123 are coupled to the movable support body by integral molding, and the movable support body 151, the first pusher 131, the disengagement pusher 133, and the pusher engagement. The joint portion 123 constitutes a single member. For this reason, the actuator 140 moves the first pusher 131, the second pusher 132, the disengagement pusher 133, and the movable support 151 together in the first direction and the second direction. Accordingly, the first and second pushers 131 and 132 and the disengagement pusher 133 are interlocked when they move in the operation direction.

Referring to FIG. 1, a direction defining member 160 (not shown in FIG. 2) disposed below the base 10 is fixed to a rail 161 fixed to the base 10 and a lower surface of the movable support 151. The slider 162 is slidably guided on the rail 161.
The actuator 140 moves the movable support 151 and the pushers 131 to 133 in an operation direction that is a direction defined by the direction defining member 160. The operation direction including the gripping direction and the release direction is a direction that forms an acute inclination angle θ with respect to the first direction.
The smaller the inclination angle θ, the smaller the stroke of the drive shaft 141 necessary for gripping the rack 20, so that the actuator 140, the movable support 151, the first pusher 131, and the disengagement pusher 133 are moved in the second direction. Therefore, the pusher mechanism P is downsized in the second direction, and the pressing force of the actuator 140 in the second gripping direction with respect to the rack 20 can be reduced. The inclination angle θ is 45 ° in this embodiment.

The operation of the gripping mechanism 100 will be described with reference to FIGS.
In the mounting step, the rack 20 holding the tube 41 is mounted on the mounting tables 101 to 104. At this time, the first pusher 131 is closer to the first release direction than the gripping position indicated by the solid line in FIGS. 1 and 3 and is not in contact with the flange 32 of the rack 20 (FIGS. 1, 3 and 4). (Indicated by a two-dot chain line). In this initial position, the second pusher 132 is in a position where the contact body 135 is not in contact with the rack 20, and the disengagement pusher 133 is in the disengagement position.

In the gripping process, when the first and second pushers 131 and 132 and the disengagement pusher 133 are driven by the actuator 140 together with the movable support 151, the first pusher 131 is moved in the gripping direction. While moving in the second gripping direction, it moves in the first gripping direction, abuts against the collar 32 and the pusher engaging portion 123 engages with the collar 32, and presses the rack 20 against the first guides 111 and 112. The second pusher 132 moves in the second gripping direction while moving in the first gripping direction and presses the rack 20 against the second guides 113 and 114.
As a result, as indicated by solid lines in FIGS. 1, 3 and 4, the first and second pushers 131 and 132 and the first and second guides 111 to 114 are set in the first and second directions. Thus, the rack 20 is gripped and the rack 20 is engaged with the guide engaging portions 121 and 122. Further, when the first and second pushers 131 and 132 are moving in the first and second gripping directions, the disengagement pusher 133 moves in the first gripping direction while moving in the second gripping direction. Occupy the retracted position.
Then, for the tube 41 held in the rack 20 held at the set position by the first and second pushers 131 and 132, an extruding operation by the extruding pin, an extracting operation of the pushed up tube 41, and the like are performed. Done.

After completion of various operations on the tube 41 of the rack 20 at the set position, the first and second pushers 131 and 132 and the disengagement pusher 133 are in a grip releasing process for removing the rack 20 from the mounting tables 101 to 104. When driven in the release direction by being driven by the actuator 140 together with the movable support 151, the first pusher 131 moves in the first release direction while moving in the second release direction. After pressing and releasing the engagement between the rack 20 and the pusher engaging portion 123, the second pusher 132 moves in the second releasing direction while moving in the first releasing direction, and then releases the grip of the rack 20. Then, the second guide 11 of the rack 20 is released by moving in the second release direction while continuing to move in the first release direction to release the pressing of the rack 20 by the spring 137. , To release the pressing by the spring 137 of the rack 20 to 114.
Further, after the first and second pushers 131 and 132 are moved in the first and second release directions, respectively, and the engagement between the rack 20 and the pusher engaging portion 123 is released, the disengagement pusher 133 is , Moving in the first release direction while moving in the second release direction, occupying the engagement release position.
Thereafter, the actuator 140 moves to the initial position, and the actuator 140 stops driving.

Next, the effect of the first embodiment configured as described above will be described.
In the gripping mechanism 100, when the first and second pushers 131 and 132 move in the first and second gripping directions to press the rack 20 against the first and second guides 111 to 114, respectively, While holding the rack 20 with the pushers 131 and 132 and the first and second guides 111 to 114 positioned at the set positions, the rack 20 engages with the engaging portions 121 to 123, When the second pushers 131 and 132 move in the releasing direction, the first and second pushers 131 and 132 and the first and second guides 111 to 114 release the grip of the rack 20, and the first pusher 131 is the rack. 20 and the pusher engagement portion 123 are disengaged, and the disengagement pusher 133 releases the engagement between the rack 20 and the guide engagement portions 121 and 122.
As a result, when the first and second pushers 131 and 132 and the first and second guides 111 to 114 are gripping the rack 20, the engaging portions 121 to 123 are connected to the rack 20 from the placement surfaces S <b> 1 to S <b> 4. Since the floating is prevented, the work on the rack is facilitated, and after the work is completed, the disengagement pusher 133 can disengage the rack 20 from the engagement portions 121 to 123.

The pusher mechanism P has a single actuator 140 that drives and moves the first and second pushers 131 and 132 and the disengagement pusher 133, and the first pusher 131 and the disengagement pusher 133 are interlocked. The disengagement pusher 133 is driven by the actuator 140 so that the first and second pushers 131 and 132 move in the first and second gripping directions and in the release direction. The first and second pushers 131 and 132 move between the disengagement positions when moving.
Accordingly, when the first and second pushers 131 and 132 are moved in the first and second gripping directions in the gripping step of gripping the rack 20 on the placement surfaces S1 to S4, the disengagement pusher is moved. Since 133 occupies the retracted position, the disengagement pusher 133 is prevented from interfering with the engagement between the rack 20 and the engaging portions 121 and 122, so the rack 20 and the first and second guide engaging portions. 121 and 122 can be reliably engaged, and the efficiency of the gripping operation of the rack 20 can be improved.
In addition, since the first pusher 131 and the disengagement pusher 133 are driven by one actuator 140, the structure of the pusher mechanism P including the actuator 140 is simplified and downsized, and the structure of the gripping mechanism 100 is simplified. Can be reduced in size and size, and the cost can be further reduced. Moreover, since the disengagement between the rack 20 and the guide engagement portions 121 and 122 by the disengagement pusher 133 is performed by the actuator 140 that drives the first pusher 131, the reliability of the disengagement is improved. be able to.

  Furthermore, since the rack 20 is gripped by the first and second pushers 131 and 132 and the first and second guides 111 to 114 in the first and second directions, the gripping action of the rack 20 can be enhanced. Since the second pusher 132 is driven by one actuator 140 in addition to the first pusher 131 and the disengagement pusher 133, the pusher having the first and second pushers 131 and 132 and the disengagement pusher 133. The structure of the mechanism P is simplified and downsized, and the structure of the gripping mechanism 100 can be simplified and downsized.

The pusher mechanism P includes a movable support 151 that is one member that supports the first pusher 131 and the disengagement pusher 133 at a position sandwiching the rack 20 in the first direction, and the actuator 140 includes the first pusher 131. The disengagement pusher 133 and the movable support 151 are moved together in the first direction.
As a result, the first pusher 131 and the disengagement pusher 133 that are in the position of sandwiching the rack 20 in the first direction are supported by the movable support 151 that is a single member, so the first pusher 131 and the disengagement are released. The structure for interlocking the pusher 133 can be simplified and downsized, and the structure of the gripping mechanism 100 can be simplified and downsized.
Further, since the movable support 151 supports the second pusher 132, the movable support 151 as one member supports the second pusher 132 in addition to the first pusher 131 and the disengagement pusher 133. Therefore, the structure of the gripping mechanism 100 can be further simplified and downsized.

The second pusher 132 includes a contact body 135 that can contact the rack 20 and a pair of springs 137 that are spring members 136 that cause elastic deformation in the second direction. The rack 20 is pressed in the second gripping direction by the spring force of the member 136.
As a result, the second pusher 132 defined by the drive range of the actuator 140 and the second guide 1113, the dimensions of the rack 20 that can be gripped by the second pusher 132 and the second guides 113 and 114 in the second direction. In addition to the maximum distance A (FIG. 1) in the second direction with respect to 114, since it can be increased within the range of the amount of elastic deformation of each spring 137, it has a second direction dimension exceeding the maximum distance A. Since the rack 20 can be gripped by the gripping mechanism 100, the applicable range of the rack 20 gripped by the gripping mechanism 100 is expanded, and the convenience of the gripping mechanism 100 can be improved.
Further, the second pusher 132 presses the rack 20 against the second guides 113 and 114 with the driving force of the actuator 140 and with the elastic force based on the elastic deformation of each spring 137. Even after the second pushers 131 and 132 release the pressure on the rack 20 by the actuator 140, the rack 20 is pressed against the second guides 113 and 114 by the elastic force of the springs 137. When 133 releases the engagement between the rack 20 and the guide engagement portions 121 and 122 released from gripping in the first direction, the frictional force between the rack 20 and the guide engagement portions 121 and 122 The rack 20 is prevented from being displaced due to the frictional force between the rack 20 and the disengagement pusher 133, and the rack 20 is removed from the mounting tables 101-104. And it is possible to improve the efficiency of work.

  Next, a second embodiment of the present invention will be described with reference to FIGS. Although the second embodiment is partially different from the first embodiment, the other parts basically have the same configuration. Therefore, description of the same part is omitted or simplified, and different points will be mainly described. In addition, the same terminology is used for the same member or the like as the member of the first embodiment or the like, and the reference numeral is in the 200s instead of the 100s in the first embodiment. , The same code is attached to the last two digits.

  In the second embodiment, the gripping mechanism 200 includes first guides 211 and 212 and second guides 213 and 214, a pusher mechanism P, guide engagement portions 221 and 222, and a pusher engagement portion 223. The actuator 240 of the pusher mechanism P is an electric motor having a drive shaft 241 that is a rotating shaft. The transmission mechanism 250 includes a first transmission mechanism 252 that moves the first pusher 231 and the disengagement pusher 233 in parallel to the first direction, and a second pusher 232 that moves in the second direction in conjunction with the first transmission mechanism 252. It is comprised from the 2nd transmission mechanism 256 moved in parallel.

  The second pusher 232 includes a spring member 236 itself as an elastic member. The spring member 236 is a spring 237 having a base portion 238 fixed to the second movable support body 257 and a pair of spring portions 239 protruding away from the base portion 238 in the first direction. Each spring part 239 which is a leaf | plate spring contact | abuts on the collar 34 in the state elastically deformed. The contact body 235 is a tip 239a that is a part of each spring 139.

  The first transmission mechanism 252 driven by the actuator 240 includes a first movable support body 251, which is a single member integrally formed with the first pusher 231 and the disengagement pusher 233, and a motion conversion mechanism 253. . The motion conversion mechanism 253 is a rack and pinion mechanism including a pinion 253a coupled to the drive shaft 241 and a rack 253b meshing with the pinion 253a. The rotation of the drive shaft 241 is provided with the rack 253b fixed. The first movable support 251 is converted into a linear reciprocating motion in the first direction.

  The second transmission mechanism 256 driven by the actuator 240 includes a second movable support body 257 that is a single plate-like member, and a motion conversion mechanism 258. The motion conversion mechanism 258 is a rack and pinion mechanism including a pinion 253a as a transmission gear coupled to the drive shaft 241, a pinion 258a meshing with the pinion 253a, and a rack 258b meshing with the pinion 258a. The rotation of the drive shaft 241 is converted into a linear reciprocating motion in the second direction of the second movable support 257 provided with the rack 258b fixed.

  The direction defining member 260 includes a first direction defining member 263 that defines the first direction and a second direction defining member 266 that defines the second direction. Each of the defining members 261 and 262 includes rails 264 and 267 and sliders 265 and 268 similar to the rail 161 and the slider 162 (FIG. 1).

The operation of the gripping mechanism 200 is that the first pusher 231 moving in the first direction and the disengagement pusher 233 are not accompanied by movement in the second direction, and the second pusher 232 moving in the second direction is It is the same as the gripping mechanism 100 (FIG. 1) except that it does not involve movement in one direction.
5 and 6, positions corresponding to the two-dot chain line in FIGS. 1, 3, and 4 are indicated by the two-dot chain line.

According to the second embodiment, the following actions and effects are exhibited in addition to the actions and effects exhibited by the structure common to or equivalent to the first embodiment.
Since the abutting body 235 is an end 139a that is a part of each spring 239 constituting the spring member 136, the structure of the second pusher 232 that applies the spring force of each spring 239 to the rack 20 is simplified. Moreover, the number of parts is reduced, and the structure of the gripping mechanism 200 can be simplified.

Hereinafter, an example in which a part of the configuration of the above-described embodiment is changed will be described with respect to the changed configuration.
For example, when the pressing force of the first and second pushers to the first and second guides is large, when the rack is prevented from lifting from the mounting table only by the guide engaging portion, the pusher engaging portion May be omitted.
In the first embodiment, the second pusher may be composed of a spring member (for example, a spring member having a leaf spring or a compression coil spring) itself.
In the rack gripped by the gripping mechanism, the abutting portion against the first and second guides, the pressed portion against the first and second pushers and the disengagement pusher, and the covered portion against the guide engaging portion and the pusher engaging portion. The engaging portion may be a portion other than the collar 31.
When the inclination angle θ is less than 45 °, the stroke component in the second direction is smaller than the stroke component in the first direction, and the pressing force in the second direction by the actuator 140 in the second direction is also small. The decrease in the pressing force can be compensated by the spring force of the spring member 136, and the required pressing force for gripping can be ensured while reducing the size of the pusher mechanism P in the second direction.

100, 200 ... gripping mechanisms 101-104, 201-204 ... mounting tables 111-114, 211-214 ... guides 121, 122, 221, 222 ... guide engaging portions 123, 223,. Pusher engaging portions 131, 132, 231, 232 ... pushers 133, 233 ... disengagement pushers 135, 235 ... contact bodies 136, 236 ... spring members 140, 240 ... Actuators 150, 250 ... Transmission mechanisms 151, 251, 257 ... Movable supports 160, 260 ... Direction regulating member 239 ... Spring part 239a ... Tip part P ... Pusher mechanisms S1-S4 ... Placement surface

Claims (5)

A mounting table, a positioning guide capable of contacting the object to be gripped placed on the mounting surface of the mounting base, a pusher mechanism for pressing the object to be gripped, and the gripping from the mounting surface With an engaging portion that prevents the lifting of objects,
The pusher mechanism pushes the object to be grasped against the guide, and a pusher for disengagement that releases the engagement between the object to be grasped and the engaging portion by pushing the object to be grasped. And
When the gripping pusher moves in the gripping direction and presses the object to be gripped against the guide, the gripping pusher and the guide are positioned at set positions in the first direction and the second direction orthogonal to each other. Gripping the object to be grasped in a state where the object to be grasped is engaged with the engaging portion,
When the gripping pusher moves in the release direction, the gripping pusher and the guide release the gripping of the object to be gripped, and the disengagement pusher moves between the object to be gripped and the engaging portion. In the gripping mechanism for releasing the engagement,
The pusher mechanism has a single actuator that drives and moves the gripping pusher and the disengagement pusher;
The disengagement pusher is driven by the actuator, so that the object to be grasped that is moved by being pushed by the grasping pusher when the grasping pusher is moved in the grasping direction. The retracted position that does not hinder the engagement with the engaging portion, and when the gripping pusher moves in the release direction, the object to be gripped is engaged with the engaging portion by pressing the object to be gripped. A gripping mechanism which moves between an engagement release position to be released. The guide can be in contact with the object to be grasped in the first direction and the second guide can be in contact with the object to be grasped in the second direction. And consists of
The gripping pusher includes a first pusher movable in the first direction and a second pusher movable in the second direction,
The gripping directions are a first gripping direction in the first direction and a second gripping direction in the second direction;
The release direction is a first release direction in the first direction and a second release direction in the second direction;
The actuator drives the first pusher and the second pusher to move in the first direction and the second direction, respectively;
The first pusher moves in the first gripping direction to press the object to be gripped against the first guide, and the second pusher moves in the second gripping direction to move the object to be gripped to the second By pressing the guide, the first pusher, the first guide, the second pusher, and the second guide grip the object to be gripped at the set position,
When the first pusher moves in the first gripping direction, the disengagement pusher occupies the retracted position,
When the first pusher moves in the first release direction and the second pusher moves in the second release direction, the first pusher, the first guide, the second pusher, and the second guide And release the gripping object,
The gripping mechanism according to claim 1, wherein the disengagement pusher occupies the disengagement position when the first pusher moves in the first disengagement direction. The pusher mechanism is a single member that supports the first pusher and the disengagement pusher at a position where the first pusher and the disengagement pusher sandwich the object to be grasped in the first direction. Having a movable support,
The gripping mechanism according to claim 2, wherein the actuator moves the first pusher, the disengagement pusher, and the movable support together in the first direction. The second pusher includes a contact body that can contact the object to be grasped, and an elastic member that causes elastic deformation in the second direction.
The gripping mechanism according to claim 2 or 3, wherein the contact body presses the object to be gripped in the second gripping direction by an elastic force of the elastic member.   The gripping mechanism according to claim 4, wherein the contact body is a part of the elastic member.

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