JPS5935751B2 - handling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a handling device having a grip function in transportation equipment such as manipulators and industrial robots used to transport materials, articles, etc., and particularly for handling soft or easily damaged articles in a semicircular shape. It relates to equipment that handles objects with special shapes such as circular or arcuate shapes.

Conventionally, soft articles and articles that are easily damaged (hereinafter referred to as "workpieces") require special consideration from removal from processing equipment such as molding machines to transportation, processing, and packaging.

In particular, in order to avoid contact between the works and to prevent damage due to unexpected collisions with other objects, various considerations have been made to the containers and means for transporting the works. When manufacturing or processing the above-mentioned workpieces, the work that has conventionally been considered the most difficult is the work of removing the workpieces from manufacturing and processing equipment.

Due to the characteristics of the workpiece and its special shape, there are various problems such as the fact that it cannot be held by normal handling. For this reason, the above-mentioned work has to rely on human power, and mechanization and automation are delayed, which has a negative impact on labor saving and mechanization, including related equipment. The present invention solves the conventional problems and provides a simple handling device that grips a workpiece shape with a plate-shaped claw made of an elastic material that can easily grip even a workpiece of a special shape.

The gist of this invention is to form claws that come into contact with the workpiece from an elastic material, and to grip the workpiece from the outside and inside along the shape of the workpiece by utilizing the bending and restorability of the elastic material. The key point is to handle fragile workpieces such as glass, ceramic materials, powder molding, and articles without breaking or damaging them.

Embodiments of the present invention are illustrated below. FIG. 1 shows an article having a special shape such as a semicircular shape a or a circular arc shape b.

FIG. 2 is a front view of essential parts showing an embodiment of the present invention.F 3 is an arm, which is provided facing a support plate 5 so as to be openable and closable, and a claw 1 made of an elastic material is fixed to the opposite surface with a screw 2. do.

Similarly, on the other arm, a claw 1a made of an elastic material is formed in a convex shape on the opposing surface and is fixed by a screw 2VC. A gap lb is interposed between the claws 1, la and the arm 5, and the claws 1 and la are formed so as to be able to bend and deform toward the arm 3 side. The arm 3 is rotatably attached to the support plate 5 via a pin 4 so that the outer end of the arm projects to one side of the support plate 5. still. A cylinder 9 is fixed to the other side of the support plate 5, and a metal fitting 8 is fixed to the piston rod 9a, and the metal fitting 8 and the inner end of the arm 3 are connected via a ring plate T and a pin 6. Use the one you made. In FIG. 3, the opposing surfaces of the claws 1, 1a are shaped to match the contours of the workpieces 10a, 10b, and the outer and inner surfaces are of different shapes. Further, in order to correspond to the work 10, it is designed to be detachable and replaceable. 4 and 5 show other embodiments of the present invention, in which one end of the elastic member is fixed and the other end is free, and the elastic member 1c is used without any special processing. .

In addition, in Figure 5, multiple screw holes for attaching the claws 1a are provided on the opposing surface of the arm 3a, and the number can be increased or decreased depending on the shape of the article, and retention and elastic force suitable for the shape can be obtained. . With the above configuration, when the cylinder 9 is operated and the arms 3, 3a are closed, the claws 1, 1a are deformed along the contours of the outer and inner peripheries of the work 10 and come into close contact with the work 10, as shown in FIG. The object is to grasp and hold the object.

When the workpiece 10 is transported to a predetermined position and the arm 3a is released, the claws 1, 1a are restored to their original state due to their elasticity as shown in FIG. In the embodiment, an example was shown in which the arms rotated, but even if the opposing arms are moved in parallel, the effect is the same.

Note that as the elastic material, metal, synthetic resin, rubber, real material, a thin plate of cardboard, etc. can be used. As explained above, by carrying out the present invention, easily damaged articles can be identified in a soft manner, thereby eliminating the risk of scratches, deformation, cracks, chips, etc. occurring in the articles. Furthermore, the gripping force can be adjusted by changing the material and strength of the elastic material depending on the object. Handling work that was previously done manually can be mechanized and automated, and it is possible to significantly save labor, automate, and even unmann the related equipment. With this invention, it is now possible to grasp special shapes without touching the edges of the article, which was conventionally difficult to grasp, and there is no cracking at all, improved product yield, and other industrial effects. There is something big about it.

[Brief explanation of the drawing]

FIGS. 1A and 1B are perspective views showing semicircular and half-moon shaped articles, respectively, which have special shapes, FIG. 2 is a front view of essential parts showing an embodiment of the present invention, and FIGS. FIGS. 4 and 5 are partial front views showing other embodiments of the invention. 1, 1a: claw, 3, 3a: arm, 5: support plate, T: ring plate, 9: cylinder 1, 10a, 10b: work.

Claims (1)

[Scope of Claims] 1. A handling device having a pair of arms facing each other so as to be freely openable and closable, wherein claws made of an elastic material are provided on the opposing surfaces of the arms with a gap in between, one of which is flat or concave;
A handling device characterized in that the other end is mounted in a convex shape. 2. The handling device according to claim 1, wherein one end of the claw made of an elastic material on the surface facing the arm is fixed, and the other end is free. 3. The handling device according to claim 1 or 2, wherein a plurality of holes are provided on one side and both sides of the elastic material fixing part of the arm and the elastic material, and the shape of the elastic material is changed by moving the stopper. .