JPS6039516B2 - handling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a handling device having a gripping function in equipment such as a manipulator used for conveying materials, and particularly to a device for handling soft articles or easily breakable articles.

Soft items and easily damaged items (hereinafter referred to as workpieces) are
From removal from processing equipment such as molding machines to transportation,
Requires special consideration.

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 transportation means. When manufacturing or processing the above-mentioned workpieces, the most difficult task has traditionally been the work of removing the workpieces from manufacturing and processing equipment, etc., and due to the characteristics of the workpieces, there are various problems that can be caused by using only normal handling equipment. . 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. FIG. 1 is a front view of a conventionally used handling device.

In the same figure, 3 is an arm, and each has a claw 1 on the opposing surface.
are fixed with screws 2, with claws 1 facing each other, and arms 3
It is rotatably attached to the support plate 5 via a pin 4 so that the outer end thereof protrudes 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 arm 3 are connected to each other.
and the inner end thereof 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 to be detachable and replaceable so as to face the workpiece 10. When grasping the workpiece 10 using such a handling device, the cylinder 9 is actuated to move the piston rod 9a to the left to open the claw 1 and position it outside the workpiece 10, and then the cylinder 9 If you operate it in the opposite direction, it becomes a piston.

Since the pad 9a moves to the right and the claw 1 closes, the workpiece 1
It is possible to grasp 0 specifically or 〈. However, in this conventional device, when pressure is applied to the claw 1 at the tip, the workpiece 10 is scratched, deformed or cracked, and it is also very difficult to adjust the gripping force of the arm. Furthermore, the mechanism for stopping the arm or claw also requires precision, which has the disadvantage of being mechanically complex and expensive. SUMMARY OF THE INVENTION An object of the present invention is to solve these drawbacks and to provide a simple handling device for gripping a lightweight object that is easily damaged by a flat plate of elastic material, regardless of the shape of the work.

The gist of this invention is to form a flat plate that comes into contact with a workpiece with an elastic material, and utilize the resilience of the elastic material to grasp the object from the outside or inside along the shape of the object. The main point is to handle workpieces such as material powder molded products without breaking or damaging them.

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 FIG. 1.

In FIG. 2, reference numeral 3a denotes a pair of arms facing the support plate 6 so as to be freely openable and closable.Both ends of a flat plate la made of an elastic material are secured to the opposing surfaces by screws 2 in a convex shape. A gap lb is interposed between the flat plate la and the arm 3a,
A flat plate la is formed so as to be freely deformable by sagging on the arm 3a side. With the above configuration, when the cylinder 9 is operated and the arm 3a is closed, the flat plate la is deformed along the outer peripheral contour of the workpiece 10 and comes into close contact with the workpiece 10, as shown in FIG. 3, so that the workpiece 10 is gripped.

At this time, the flat plate la is deformed along the workpiece 10, but there is a gap lb between it and the arm 3a, and the workpiece 10 is grasped by the amount of manipulation of the flat plate la alone without any other intervention, so the workpiece river is The pressure of the gripping force applied is not that great and feels soft. When the workpiece 10 is transported to a predetermined position and the arm 3a is released, the flat plate la is elastically restored as shown in FIG. The flat plate is made of an elastic material with a strong restoring force or a wear-resistant material, and has a convex shape with both ends fixed as described above. In addition, as an example, the plate thickness is 0.25 m / 0.30, 0.35, 0.4
When the tensile force is 0 to 1 in one direction, it is 0 for each plate thickness.
．． 6k9, 0.8, 1.151.65, and the spring constants of 1 to 1 Hiho are 0.08k9, 0.
10, 0.15, and 0.35.
Although the embodiment has shown an example in which the arms rotate, the effect is the same even if the opposing arms are moved in parallel.

As explained above, by implementing this invention,
Since items that are easily damaged can be identified in a soft manner, there is no longer any risk of damage, deformation, or cracking of the product.

The gripping force can be adjusted by changing the material and strength of the elastic material depending on the product. Handling work that was previously done manually can be mechanized and automated, and it is possible to significantly save or automate related equipment, and even to make it unmanned.

[Brief explanation of drawings]

Fig. 1 is a front view of main parts showing a conventional handling device, Fig. 2 is a front view of main parts showing an embodiment of the present invention, and Fig. 3 is a front view of main parts showing a conventional handling device.
It is a partially enlarged front view showing the operating state of the flat plate in the figure. 1...Claw, la...flat plate, 3, 3a...arm, 10...
…work. Sai r figure O 3 figure spear 2 figure

Claims (1)

[Claims] 1. In a handling device in which a pair of arms having a plane face each other and the arms can be opened and closed at the rear by a drive device, both ends of a flat plate made of an elastic material are made into a convex shape with a fixing device on the surface facing the arms. A handling device that is fixed and has a gap between the flat plate and the arm facing surface.