JPH074788B2 - Work gripping device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a work gripping device used when stacking a large number of flour bags or rice bags by a portable device such as a robot.

(Prior Art) Conventionally, various devices have been devised as those used for the work of conveying articles. For example, an article placed on a table is moved while being pressed from the top, and then the pressing of the article is released and the table is pulled out from below the article (Japanese Patent Laid-Open No. 63-283885). ).

Further, there is a device that holds an article with a pair of holding claws, presses the article laterally with a pair of horizontal rods, and conveys the article to a predetermined position in this state (JP-A-61-26).
No. 3524).

Further, in order to convey an article such as a vinyl bag, there is also one in which the vinyl bag is lifted up by a suction pad and a hollow needle is used to make a hole in the vinyl bag so as to remove the air therein (JP-A-58-58). 88288).

(Problems to be Solved by the Invention) By the way, in the case of transporting and stacking wheat flour and rice bags (hereinafter, these are referred to as works) using a thin and flexible resin storage bag such as a vinyl bag. Needs more attention than regular items.

That is, since these works are easily deformed and the load is easily collapsed, it is preferable to stack the works by aligning the shapes as much as possible.

Also, since plastic bags and the like are by no means excellent in strength, they must be handled carefully so that they will not be damaged.

However, when the first conventional example is used for the work, a large friction may occur when the table is pulled out from the work, and the vinyl bag may be damaged.

Further, in the case of using the second conventional example, since the works are pressed laterally by the horizontal rod, the works are largely deformed, and when a large number of them are piled up, there is a possibility that the load may be lost.

Also, in the third reference, the work is lifted only by the suction force, so that a heavy load is applied to the vinyl bag, and the vinyl bag is often damaged.

The present invention has been made in view of the above circumstances, and a work gripping device capable of efficiently stacking a large number of works without damaging the storage bag for the works and keeping the shapes of the works uniform. Is intended to provide.

(Means for Solving the Problem) As a means for solving the above-mentioned problems, the invention according to claim 1 has a plurality of guide bars, and a plurality of guide bars continuously arranged in the longitudinal direction of each guide bar. Formed by rollers,
A thin and flexible resin-containing storage bag is filled with powder or granules and can move forward and backward with respect to the lower side of the work. After the forward movement, the work is placed on the plurality of rollers. A rake claw capable of performing a rake operation by means of the above, a flat plate portion disposed above the rake claw, and pressing the work against the work in conjunction with the entrance of the rake claw below the work; and the flat plate. A curved portion that is continuously formed behind the portion, and when the scooping claw retracts with respect to the workpiece, the curved portion forms the rear portion of the workpiece placed on the plurality of rollers. And a pressing plate that allows the rake claw to be pulled out from below the work by pressing.

According to a second aspect of the present invention, in the work gripping device according to the first aspect, the plurality of guide bars of the scooping claw are positioned so that their front ends are slightly lower than their rear ends.
It is tilted with respect to the horizontal direction.

According to a third aspect of the present invention, in the work gripping device according to the first or second aspect, a vacuum means having a needle-shaped member for making a small hole on the surface of the resin-containing bag is attached to the pressing plate, and the pressing plate is attached to the pressing plate. Air can be extracted from the inside of the pressed work.

(Operation) In the invention of claim 1, the upper surface of the work placed on the roller of the guide bar of the rake claw is flat because it is pressed by the flat plate portion and the curved portion of the pressing plate. Further, when lowering the work to a predetermined position, the rake claw may be retracted with respect to the work. Then, the work piece is prevented from retreating by the curved portion of the holding plate, and the work piece rotates while contacting the work piece attached to the retreating guide bar, so that the scooping claw can be smoothly pulled out. Therefore, the storage bag for the work is not damaged.

In the invention according to claim 2, since the guide bar is inclined downward, when the work is lowered, the work is smoothly slid down on the roller by its own weight only by releasing the holding by the holding plate. .

According to the third aspect of the present invention, since the vacuum means removes the air inside the work, the shape of the work can be further flattened.

〔Example〕

Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 (a) is a front view, FIG. 1 (b) is a plan view, and FIG. 1 (c).
Is a side view.

First, the rake claw 1 forms the main part of the present invention. The scooping nail 1 is formed as follows.

Cylindrical roller 11 made of, for example, Teflon (trade name) fixed to a mandrel that is rotatably supported while being sandwiched by long guide bars 12a and 12b is arranged in the longitudinal direction of a large number of guide bars 12a and 12b. . This group of rollers is assembled on the claw base 12 at the rear end at equal intervals in four rows.

The claw base 12 is fixedly supported by an adapter 13, and the adapter 13 can be freely moved back and forth by a claw front and rear cylinder 14. At this time, the guide bars 12a and 1b may be tilted slightly (for example, about 2 °).

The claw front and rear cylinders 14 are fixed to the rear portion of the cylinder mounting base 15 in the form of a long box by combining grooved ropes.

The adapter 13 slides on the inside of the cylinder mounting base 15 using 13a and 13b of the cylinder mounting base 15 as stoppers. The cylinder mounting base 15 has a robot mounting portion 16 whose mounting portion can be adjusted according to the center of gravity when the work 3 is gripped. 17
Is an adjusting hole of an elongated groove formed on the side surface of the robot mounting portion 16, and fixes the robot mounting base 16 with a positioning pin 18 at an arbitrary position.

In addition, 19a, 19b, 19c and 19d are holes for reducing the weight of the members that require an area corresponding to the surface area of the work 3 (the parts through the holes are not shown).

Next, the mechanism of the holding plate 2 which is another essential part of the present invention will be described.

The holding plate 2 forms a work plate-like body corresponding to the upper surface shape of the work 3, and is formed by a flat plate portion 21 and a curved portion 21a in this embodiment.

The presser plate 2 is a cylinder for the presser plate up and down near its center of gravity.
By means of 24, the cylinder mounting base 15 is fixed to the upper surface of the work 3 near the front end thereof so as to face the lower surface of the pressing plate 2. Then, the holding plate 2 is freely moved up and down by the holding plate vertical cylinder 24.

Also, attach the vacuum 22 to the work 3
The needle-shaped member (not shown) is provided on a part of the device. The vacuum 22 can be moved vertically by a vacuum cylinder 23.

Further, the presser plate up / down cylinder 24 is loosely fitted in an elongated presser plate attachment adjusting hole 19e formed near the front end of the cylinder attachment base 15 so that the presser plate 2 can be positioned.

Next, the operation will be described. The rake claw 1 gradually advances toward the lower side of the work 3 placed at an arbitrary position, and the roller 11 is positioned below the work 3.

Then, the presser plate up / down cylinder 24 moves downward, and the work 3 is pressed against the roller 11 of the scooping claw 1 by the curved portion 21a and the presser plate flat plate portion 21.

In conjunction with this operation, the needle-like member pierces the upper surface of the work 3 by the downward movement of the vacuum cylinder 23, and the vacuum 22 removes the air remaining in the work 3 from the pierced hole. By pressing the pressing plate flat plate portion 21 against the work 3, the work 3 is corrected to have a flat surface.

In this way, the work 3 having the flat surface and securely gripped by the scooping claw 1 and the pressing plate 2 is set by a portable device such as a robot mounted through the robot mounting portion 16. Transported to the position. Then, when the presser plate up-and-down cylinder 24 is moved slightly upward to release the pressing on the work 3, the scooping claw 1 is retracted by the operation of the front and rear cylinder 14 of the claw portion.

At this time, since the rear portion of the work 3 is pressed by the curved portion 21a, the work 3 does not recede together with the scooping claw, and the roller 11 contacting the bottom surface of the work 3
Since it rotates smoothly, the rake claw 1 can be pulled out smoothly.

〔The invention's effect〕

As described above, according to the present invention, it is possible to efficiently stack a large number of works without damaging the work storage bag and in a state where the works have the same shape.

[Brief description of drawings]

FIG. 1 (a) is a front view showing the configuration of an embodiment of the present invention,
1 (b) is a plan view and FIG. 1 (c) is a side view. 1 ... scooping nail, 2 ... presser plate, 3 ... work, 11 ...
Rollers, 12a, 12b ... Guide bar, 21 ... Flat plate portion, 21a ...
… Curved part, 22… Vacuum.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-63-283885 (JP, A) JP-A-61-263524 (JP, A) JP-A-59-88288 (JP, A)

Claims (3)

[Claims] 1. A thin and flexible resinous bag formed of a plurality of guide bars and a plurality of rollers arranged continuously in the longitudinal direction of each guide bar, and powdery or granular material. A rake claw capable of advancing and retreating with respect to the lower side of a work filled with the rake, and performing a rake operation by placing the work on the plurality of rollers after the forward motion, and the rake claw. A flat plate portion that is arranged above the flat plate portion and presses the work piece in conjunction with the downward movement of the scooping claw, and a curved portion that is continuously formed behind the flat plate portion. When the rake claw retracts with respect to the work, the curved portion presses the rear part of the work placed on the plurality of rollers, so that the rake claw can be pulled out from below the work. Presser plate And a work gripping device. 2. The work gripping device according to claim 1, wherein the plurality of guide bars of the scooping claw are tilted with respect to the horizontal direction so that the front end of the guide bar is located slightly below the rear end. Work gripping device. 3. The work gripping device according to claim 1 or 2, wherein a vacuum means having a needle-shaped member for making a small hole on the surface of the resin-containing bag is attached to the pressing plate and is pressed to the pressing plate. Work gripping device that can extract air from the inside of a work.