JPH0326485A - Gripping device for cross section circular body - Google Patents

Abstract

PURPOSE:To increase the positioning accuracy of the body to be gripped and an arm opening and closing position reproducibility by providing a cylinder mounting between respective arms and for performing the separation thereof and fitting a touch roller freely rotatably in pair respectively at an interval in the longitudinal direction of each arm. CONSTITUTION:When the rod of a cylinder 5 is made in an extension state from a contraction state, each of arms 2A, 2B comes to touch, by approaching, to the outer face of a hollow drum 1 centering around fulcrums 4A, 4B. In this case, the touch roller 7 group of each arm 2A or 2B is hardly brought into contact simultaneously with the outer face of the hollow drum 1, which of them is brought into contact at the beginning and an orderly contact is performed. In that case the position of the hollow drum 1 is moved but the scratch of the outer face of the hollow drum 1 is prevented by the rotation of the touch roller.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a gripping device for a body with a circular cross section that is particularly effective when gripping a hollow drum for positioning or movement.

[Conventional technology]

BACKGROUND ART Various improvements have been made in the past as means for gripping a workpiece or object during machining or processing the object.

Much of this improvement concerns how to grip objects stably and accurately. Examples of bodies with circular cross-sections that may be adopted for hollow drums to which the present invention is preferably related include Utility Model Application Publications No. 61-50687 (referred to as Prior Example 1) and No. 62-106783 (Reference Example 2). )
Examples include those described in .

[Problem to be solved by the invention]

When gripping the circular cross-section body with the robot hand,
Since the prior art example 1 uses a motor, it is large in size and requires a long opening/closing time, resulting in lack of quickness. Further, in the prior example 2, a means for positioning when closed is provided in addition to the cylinder, and the number of connecting parts is large, resulting in poor reproducibility of opening and closing positions and poor positioning accuracy. Moreover, in both examples 1 and 2, the gripping point is at an acute angle, and there is no rotating opening or opening. As a result, it is not suitable for gripping a cross-sectional cylindrical body that is highly sensitive to damage.

Therefore, the main objectives of the present invention are to achieve high positioning accuracy and high reproducibility of opening/closing position, and to achieve miniaturization and light weight.
It is an object of the present invention to provide a gripping device that is highly efficient and can prevent damage to the gripping point.

[Means for Solving Problem 1] The problem described in L is: - A phantom γ-arm, a base that swingably holds each of these arms, and a system that straddles between each arm and connects and separates them. The cylinders are spaced apart from each other in the longitudinal force direction of the waste arm, respectively.
・Equipped with a tatsuji roller with 1'::), the contact and separation of each arm is performed only by the cylinder.
1. This can be solved by not having a positioning means for A to l.
, [Function] In the present invention, each arm is opened and closed by a cylinder (4tr)
Unlike the case of using t-over, small plasticization of the opening/closing drive source can be quickly achieved.

In addition, since a pair of rotatable touch points are provided at intervals in the longitudinal direction of each arm, even if the object to be grasped moves from the start to the end of grasping,
When you touch the object, you can grip it without damaging the outer surface of the circular object because the 1-ra rotates. Furthermore, since each arm is brought into contact and separated only by the cylinder, and there is no positioning means for arm 1, there is almost no mechanical play due to an increase in the number of connection points, and the opening/closing position can be adjusted. Highly reproducible.

[Specific structure of the invention]

Hereinafter, the present invention will be explained in more detail. In the following, a hollow drum 1 will be taken as an example of a circular cross-sectional body according to the present invention, but it does not matter whether it is hollow or solid.

1 and 2 are plan views of examples of the gripping device of the present invention, with FIG. 1 showing the gripping release state and FIG. 2 showing the gripping state.

Reference numeral 1 denotes a hollow drum as an object to be gripped, and in order to grip this hollow drum, a pair of arms 2A1 and 28 are attached to a base 3 fixed to the ground near the end thereof, and are rotatable about fulcrums 4A and 4B ( It is pivoted (swivelable). Furthermore, arm 2A
, 2R, a hydraulically driven cylinder 5 straddles between the ends of L and C and is rotatably connected at both ends.

On the other hand, a pair of holders 6A and 613 are attached to the arm 2A at intervals in the longitudinal direction of each arm L2A and 2B.
, 2B, and each holder 6A
, 6B# are rotatably attached to the tips of the touch ports 7, 7, etc. via bearings or the like. The cudge roller 7 is made of rubber or brass, and a material is selected that will not damage the outer surface of the hollow drum 1.

In my case, as shown in Figures 1 and 2, each arm 2A, 2
Fill-c approach and separation and gripping point setting are performed only by the cylinder :), and in contrast to the previous example 2's -43 such gripping device has no other positioning means of A;
5. Now, when the cylinders in Figure 1 are changed from the contracted state to the extended state, each arm 2A,
2B is the fulcrum 48, 4B is the center and hollow dono J = 1
Approach the outer surface of the (7-contact). In this field 8, for the outside tfj of the hollow driver l, l, ta...r ”f-
0-・)′l groups do not touch at the same time {・32, so one of them makes contact first! ．． , ． , Il[l'I subsequent contact takes place, 7 then the hollow dosim 1θ) 1''
)゛! By moving the position or rotating the touch roller 7, damage to the outer surface of the hollow drum AI is prevented. The gripping completed state is shown in FIG. When releasing the grip on the hollow drum 1, the rod of the cylinder 5 may be contracted from the extended state.

Although FIG. 3 is a plan view of an example having a slightly different shape, the structure will be obvious until further explanation.

Note that a spherical bearing rotatable through 180 degrees may be used in place of the double-wheeled touch [J-ra 7]. In this case, since it has the function of rotating in the plane of FIG. 1, it is included in the touch roller referred to in the present invention.

(Effects of the Invention) As described above, according to the present invention, the positioning accuracy of the object to be grasped and the reproducibility of the opening/closing position of the arm are high, the l7 can also be made smaller and lighter, and it is possible to Can prevent damage.

[Brief explanation of drawings]

FIG. 1 is a plan view of the gripping device in a gripping and releasing state, FIG. 2 is a plan view of the gripping device in its gripping state, and FIG. 3 is a plan view of a modified example. ■...Hollow drum, 2A, 2B...Arm 3...Base 4A, 4B...Fully point, 5...Cylinder 7...Touch roller. Figure 2 Figure 1 Figure 9 5 Figure 3

Claims (1)

[Claims] (1) A pair of arms, a base that swingably holds each arm, a cylinder that spans between each arm and connects and separates them, and a cylinder that is spaced apart in the longitudinal direction of each arm. and a pair of touch rollers rotatably attached to each of the arms, the arms are brought into contact and separated only by the cylinder, and the gripping device has no means for positioning the arms.