JPS6012197B2 - handling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a handling device having a grip function in equipment such as a manibrator or robot used for conveying materials, and particularly for soft articles or easily breakable articles, such as cylindrical or elliptical cylindrical articles. It also relates to a device for grasping information.

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. In particular, in order to avoid contact between workpieces and to prevent damage due to unexpected collisions with other objects, various improvements have been made to containers and transportation means for the workpieces. When manufacturing or processing the above-mentioned workpieces, the most difficult task has traditionally been to take the workpieces out of the processing equipment, etc., and transporting them to the correct position for the next process is difficult due to the shape characteristics of the workpieces and cannot be carried out using only normal handling equipment. There is a problem.

For this reason, the above-mentioned work has to be done manually, and mechanization and labor-saving have been delayed, which has had a negative impact on labor-saving and mechanization, including related equipment. FIG. 1 is a front view of a conventionally used handling device.

In the figure, 3 is an arm, each with a claw 1 on the opposing surface.
are fixed with screws 2 and rotatably attached to the support plate 5 via pins 4 so that the claws 1 face each other and the outer ends of the arms 3 protrude to one side of the support plate 5. Next, a cylinder 9 is fixed to the other side of the support plate 5. 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 link plate 7 and a pin 6. Note that the opposing surface of the claw 1 is shaped to match the contour of the workpiece 10. Therefore, the claw 1 is made detachable and replaceable to accommodate one workpiece. When grasping the workpiece 10 using such a handling device, actuate the cylinder 9 to move the piston rod 9a to the left, open the claw 1, position it outside the workpiece 10, and then move the cylinder 9 to the left. When operated in the opposite direction, the piston rod 9a moves to the right and the claw 1 closes, allowing the workpiece 10 to be gripped or gripped. However, in this conventional device, when pressure is applied to the claw 1 at the tip, the workpiece 10
It was scratched, deformed and cracked, and it was extremely difficult to adjust the grip strength of the arm. In addition, although there are many cases in which the gripping direction is generally intersecting the direction of expansion and contraction of the cylinder, there have been no cases where the gripping direction extends and contracts in the same direction. Furthermore, ``the mechanism for stopping the arm or gourd also required precision,'' making it mechanically complex and expensive. The object is to grasp the object in the longitudinal direction by attaching it alternately to the arm facing surface.

FIG. 2 is a front view of essential parts showing an embodiment of the present invention, and the same parts are designated by the same reference numerals as in the electrogram. In Fig. 2, 3 is an arm, and the arm 3a is opposite to the support plate that can be opened and closed freely. A pair of screws b are provided on opposing surfaces with a gap made of an elastic material and fixed with screws 2.
Also, in the center of the arm 3a, the claw c is attached to the other arm 3b at a position shifted by the center of the claw a, and the tortoise c is attached to the opposing surface in the same way as the tortoise c. With such a configuration, when the cylinder crab is operated and the arm 3a is closed, as shown in the "Main figure", "Claw la, Takashi b,
The wealth c deforms along the outer circumference contour of the workpiece turtle G, and the cylindrical shape can be grasped in a horizontal position, and the workpiece turtle comes to the center of the opposite side of the arm. If you transport it to a predetermined position and release the arm 3a, the nail turtle av 30
, the ear c returns to its original state due to elasticity.

In conveyance, horizontal conveyance is often seen in the past, but with the device of the present invention, it is possible to grasp the object in the longitudinal direction or at the center, convey it to various containers, etc. in narrow places, and it is possible to place the object in a predetermined position. In the embodiment, an example in which the arms rotate is shown, but the effect is the same even if the opposing arms are moved in parallel.As explained above, by implementing this invention, the cylinder that is easily damaged can be The center of a shaped object can be gripped vertically and the center can be gripped softly, eliminating the risk of scratches, deformation, or cracks on the product.At the same time, the workpiece is positioned at an accurate position, so the next process can be carried out in an accurate position. can be handed over.

Furthermore, the gripping force can be adjusted by changing the material and strength of the elastic material depending on the product. As a result, tasks that used to be done manually can be replaced with robots, resulting in significant labor savings and even unmanned operations.

[Brief explanation of the drawing]

Figure 2 is a front view of a conventional handling device; Figure 2 is a front view of main parts showing an embodiment of the present invention; Figure 3 is a partial view from arrow A in Figure 2; Figure 4 is a cylindrical shape. Figure 5 is a front view of the main parts showing the state when grasping something, and is a partial view of arrow B in Figure 4. Turtle 9 1a Heron lb, gc Mi claw, 3, 3a, 3b: Arm T vine 83 work. Spear' figure Z figure scale 3 figure O 4 figure Ofu figure

Claims (1)

[Claims] 1. A handling device having a pair of arms facing each other so as to be freely openable and closable, wherein the arms are extended in the direction of the rod axis of the cylinder, and the center of one arm and the other arm each have a gap at a location other than the center. A handling device characterized in that claws made of an elastic body are mounted alternately, and the mounting direction is distorted toward the opposing surface to grip an object that is long in the axial direction.