JPH0637909Y2 - Hand luggage - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to an improvement of a baggage holding hand applied to an industrial robot or the like for automating and labor saving of cargo handling work.

[Conventional technology]

The luggage holding hand used for automatic cargo handling machines for automating various cargo handling operations such as cargo loading / unloading, transportation, stacking and dismantling work, and labor saving is swingable to hold and support cargo from the left and right. It has a finger and a swingable scraper for restricting the holding position by the finger from the left and right direction.When opening and closing the finger, the scraper is brought into contact with the load until the finger is separated from the load, and the finger also loads the load. It is necessary to bring the scraper into contact with the baggage before carrying the baggage to ensure centering of the baggage in order to ensure the workability. In this respect, in the conventional baggage-holding hand, the fingers and the scrapers are operated by separate rotation drive sources as described in JP-A-60-80583.
For this reason, the rotary drive sources for fingers and scrapers must be separately provided on the left and right sides of the machine frame, and at least four rotary drive sources are required.

[Problems to be solved by the device]

However, if the rotary drive sources for the fingers and the scraper are separately provided on the left and right sides of the machine frame, the weight saving of the luggage holding hand is prevented, and moreover, the position detection switch for operating the fingers and the scraper in sequence at a predetermined timing. It was revealed by the present inventor that there is a problem that a control unit and a sequencer are required and control is complicated.

An object of the present invention is to reduce the number of rotary drive sources for fingers and scrapers to reduce their weight, and further to provide a luggage holding hand that can easily control the interlocking operation of the left and right sides of the fingers and scrapers. It is what

[Means for Solving the Problems]

As a means for solving the above problems, the baggage holding hand of the present invention holds and holds the baggage from the left and right in each of a pair of driving rods that are connected to the drive source for rotation provided in the machine frame. While fixing the fingers of, the scraper for restricting the holding position by the finger from the left and right at the inside position of the finger is fixed to the swing rod, and when the fingers are opened and closed, the scrapers arranged on the left and right respectively, The fingers are brought into contact with the baggage until it is removed from the baggage, and the fingers can contact the baggage before holding the baggage.The connecting rod that connects the scraper to the fingers can be pivotally supported on the driving rod and the swing rod. The structure which consists of is adopted.

At this time, when the drive sources for rotation are arranged on the left and right sides of the machine frame, in order to surely synchronize the interlocking operation of the finger and the scraper, which are installed opposite to each other, in order to reliably synchronize them, A slide guide is rotatably provided on the pivot shaft of the rod, and a gear that rotates integrally with each of the drive rods is provided around the pivot shaft of the driving rod. A rack that meshes with one gear is held on the upper surface and meshes with the other gear. It is desirable to adopt a structure in which a slide bar having a rack on the lower surface is slidably fitted in the slide guide.

In order to ensure the centering operation (holding position control operation) of the load by the scraper when opening and closing the fingers, the pivot point between the driving rod and the connecting rod is set outside the scraper when the fingers are in the load holding position. The pivoting point between the swinging rod and the connecting rod can be taken as the pivoting point between the driving rod and the connecting rod between the luggage holding position and the tip of the finger separating from the scraper to the outside. It is advisable to adopt a structure in which it is located on the bisector of the moving angle and is arranged near the pivot of the driving rod.

[Action]

When opening and closing the fingers, the connecting rod causes the scraper to center the load in conjunction with the swing of the finger without separately providing the rotary drive sources for the finger and the scraper on the right and left sides of the machine frame, respectively. (EN) It is possible to reduce the weight of a carried hand and to eliminate the need for specially providing a position detection switch and a sequencer for performing a sequence operation of fingers and scrapers at a predetermined timing.

In particular, when the rotation drive sources are arranged on the left and right sides of the machine frame, the pair of gears meshing with the rack on the front and back sides work in such a manner that one of the gears mutually regulates the rotation angle of the other, and the pair of gears face each other. Synchronize the interlocking operation of the finger and scraper that was performed on the left and right.

Furthermore, in the structure that ensures the centering operation of the load by the scraper when opening and closing the fingers, the pivot of the connecting rod with respect to the swinging rod is in the process of expanding and displacing the fingers from the holding position of the load to the outside of the scraper.
The scraper is slightly inwardly displaced from the initial position in line between the pivot of the connecting rod and the center of rotation of the driving rod to strengthen the centering action, and then the initial position is taken again, The scraper is displaced outward with a large swing angle together with the finger only when the finger is swung at the above angle. Similarly, even when the fingers are closed, the pivot of the connecting rod with respect to the swing rod is the pivot of the connecting rod with respect to the driving rod and the driving rod while the finger gradually holds the load while the scraper is centering the load. The scrapers are aligned in a straight line with the center of rotation, and the scraper is slightly displaced inward from the initial position to enhance the centering action and then take the initial position again. This strengthening of the centering action prevents the luggage from being displaced when the fingers are opened and closed.

〔Example〕

In the baggage holding hand shown in FIG. 1 as a whole, 1R and 1L are fingers for holding and supporting the baggage 2 from the left and right, and 3R and 3L are the baggage holding positions of the fingers 1R and 1L from the left and right directions. It is a scraper for restricting and centering the luggage 2. The finger 1L and the scraper 3L are arranged on the left side of the machine casing 5, and the finger 1R and the scraper 3R are arranged on the right side of the machine casing 5. The cylinder 7L pivotally supported on the machine frame 5 by the support shaft 6L serves as a rotation drive source for swinging the finger 1L and the scraper 3L, and the cylinder 7R pivotally supported by the machine frame 5 on the support shaft 6R is the finger. It is used as a rotation drive source for swinging 1R and scraper 3R.

First, a link mechanism for swinging the finger 1L and the scraper 3L by the cylinder 7L will be described mainly with reference to FIGS. 2 and 3.

10L is a rotary shaft supported by the machine frame 5, and the first shaft is provided on the coaxial 10L.
One end of the driving rod 11L is fixed and the other end is rotatably supported by the piston rod 12L of the cylinder 7L, and the rotary shaft 1 is interlocked with the reciprocating motion of the piston rod 12L.
0L is designed to swing. A second driving rod 13L is fixed to the rotary shaft 10L so as to face obliquely downward and outward, and the finger 1L is vertically fixed to the tip of the second driving rod 13L. 16L
Is a swing rod having a pivot 15L at an outer position above the rotary shaft 10L, and the pivot 15L is a holder 17L fixed to the machine frame 5.
The scraper 3L is attached to the tip of the swing rod 16L.
Is fixed vertically.

18L is a connecting rod that connects the swinging rod 16L to the second driving rod 13L in an interlocking manner. The connecting rod 18L is a scraper until the finger 1L is detached from the load when the finger 1L is opened and closed.
3L is brought into contact with the luggage 2, and the scraper 3L is interlockably linked to the luggage 2 before the finger 1L holds the luggage 2. For example, one end of this connecting rod 18L is
As shown in the figure, when the finger 1L is in the luggage holding position, the second driving rod 13L is pivotally supported by the spindle 19L at the outer position of the scraper 3L at the luggage holding restriction position, and the second driving rod ring 13L. Rotation angle 2 until the tip of finger 1L separates from scraper 3L by rotating clockwise
The other end of the connecting rod 18L is located on the bisector of α and the swing rod 16L is supported by the support shaft 20L at a position closer to the rotating shaft 10L.
Is pivotally attached to. Especially, the support shaft 20L has a rotation angle 2α of 2
Since the position close to the rotary shaft 10L on the bisector is taken, the rotary shaft 10L and the two pivot shafts 19L and 20L are in a straight line in the middle of the time when the finger 1L is expanded and displaced outside the scraper 3L from the holding position of the load 2. Lined up on the line, the scraper 3L was displaced slightly inward from the initial position to strengthen the centering action on the load 2, and then the initial position was taken again. Only after that, the scraper 3L moved outward with a large swing angle together with the finger 1L. Displace in one direction. Similarly, when the finger 1L is closed, the pivot 20L of the connecting rod 18L with respect to the swing rod 16L is the other pivot while the finger 1L gradually holds the load while the scraper 3L is centering the load 2. The scraper 3L is aligned in a straight line between the 19L and the rotary shaft 10L, and the scraper 3L is displaced slightly inward from the initial position to enhance the centering action on the load, and then the initial position is taken again.

The fingers 1L, the scraper 3L, and the link mechanism for interlocking them are commonly used for members from the cylinder 7L to the rotary shaft 10L, and a plurality of sets are arranged in the front-back direction of FIG. The swing rod 16L is connected and fixed by the side bar 21L, and the second driving rod 13L is connected and fixed by the side bar 22L.

The right side link mechanism for swinging the finger 1R and the scraper 3R by the cylinder 7R has a structure symmetrical with respect to the above left side link mechanism, and members 10R to 22R corresponding to the members indicated by 10L to 22L. Composed by.

Next, in the present embodiment in which the rotation drive sources are arranged on the left and right sides of the machine casing 5, the fingers 1L and the scraper 3L, which are opposed to each other on the left side of the machine casing 5, and the fingers, which are opposed to each other on the right side of the machine casing 5, are arranged.
A structure for surely synchronizing the opening and closing operations with the 1R and the scraper 3R on the left and right will be described with reference to FIG.

The slide guides 23L, 23R are rotatably provided on the respective rotary shafts 10L, 10R arranged on the left and right, and the rotary shafts 1
A slide bar 26 having a rack 25L that meshes with one spur gear 24L on the lower surface and a rack 25R that meshes with the other spur gear 24R on the upper surface is provided on the slide guide 23L. , 23R slidably fit. As a result, when the left and right fingers 1L, 1R swing in opposite directions to open and close, the slide bar 26 that slides left and right while meshing with the spur gears 24L, 24R that rotate integrally with the fingers 1L, 1R , Spur gear 24L, 24R
The rotation angles of are regulated so that they are the same.

Next, the operation of the luggage holding hand according to this embodiment will be described.

As shown in FIG. 4, when the piston rods 12L, 12R are in the most projecting position, the fingers 1L, 1R hold the load 2 from the left and right, and the scrapers 3L, 3R regulate the load holding position from the left and right to center it. To do. This situation corresponds to FIG. 5A.

When the piston rods 12L, 12R are retracted from this state, the second driving rods 13L, 13R swing outward and the fingers 1L, 1R
Expand and displace. At this time, the second driving rod 13L, 13R is the fourth
Rotate by the angle α in the figure, and rotate the shaft 10L on the left side of the machine frame 5.
And the two pivots 19L and 20L are aligned, and on the right side, until the rotary shaft 10R and the two pivots 19R and 20R are aligned, the distance between the rotary shaft 10L and the pivot 20L and the rotary shaft 10R
And the pivot 20R are gradually narrowed, and the scrapers 3L and 3R are slightly displaced inward to strengthen the centering action on the load 2, and the impact and vibration immediately after the fingers 1L and 1R are expanded and displaced. Prevents the baggage from trying to disturb its posture. Then, while further rotating by the angle α, the scrapers 3L, 3R are gradually returned to the initial positions, and when the fingers 1L, 1R are rotated by the angle 2α as a whole, the tips of the fingers 1L, 1R are separated from the luggage 2. , The luggage 2 is dropped. This situation corresponds to FIG. 5B.

When fingers 1L and 1R are further opened, scraper 3
L and 3R are displaced outward with a large swing angle together with fingers 1L and 1R so that new luggage can be held. This situation corresponds to FIG. 5C. When carrying a new load from this state, the piston rods 12L and 12R are projected, and the fingers 1L and 1R and the scrapers 3L and 3R are closed to the initial state in the reverse order of the above.

In this way, left and right fingers 1L, 1R and scraper 3L,
When 3R is opened and closed, the slide bar 26 that slides to the left and right while meshing with the spur gears 24L and 24R that rotate integrally with the fingers 1L and 1R is adjusted so that the rotation angles of the spur gears 24L and 24R are the same. regulate. For example, Spur Gear 24L
When is rotated clockwise, the slide bar 26 is displaced rightward by the number of pitches corresponding to the rotation amount, and the rotation amount corresponding to the number of displacement pitches is allowed to the other spur gear 24R. This relationship is exactly the same between the spur gears 24L and 24R, and one spur gear mutually regulates the rotation angle of the other spur gear, and the left and right swing drive sources independently swing. The linked operation of the finger and scraper is synchronized without the provision of electrical position detection means or sequencer, and even if the left or right finger or scraper is subjected to an extra load, the operation of the finger and scraper is linked. Operations can be reliably synchronized left and right.

In the above description, the finger and the scraper, which are respectively installed on the left and right sides of the machine frame, are operated to be opened and closed by the left and right independent rotation drive sources, but one rotation drive source may be shared by the left and right sides. Good. Further, the configuration is not limited to the case where the cylinder is used as the rotation drive source, and a slider crank mechanism that uses an electric motor or the like as a drive source may be used. Furthermore, various modifications can be made without departing from the scope of the present invention.

[Effect of device]

Since the luggage holding hand of the present invention has a structure in which the scraper is linked to the driving rod by the connecting rod so as to regulate the luggage holding position when the fingers are opened and closed, the rotation driving source for the fingers and the scraper are provided separately. It is possible to reduce the weight of the luggage holding hand as much as it is unnecessary, and to simplify the configuration without specially providing the position detection switch and the sequencer for performing the sequence operation of the fingers and the scraper at a predetermined timing. it can.

When the rotary drive sources are arranged on the left and right sides of the machine frame, one of a pair of gears that rotate integrally with the left and right driving rods with the fingers fixed to the rods is used as a slide bar. Mesh with the rack carved on the front surface of the slide bar, and the other gear meshes with the rack carved on the back surface of the slide bar so that one gear regulates the rotation angle of the other gear. By doing so, the interlocking operation of the left and right sides of the finger and the scraper by the rotation drive sources independently provided on the left and right sides can be easily synchronized without providing an electrical position detecting means or a sequencer. Even if one of the fingers or the scraper is subjected to an extra load, the interlocking operation of the finger and the scraper can be reliably synchronized on the left and right.

Further, the pivotal fulcrum between the swinger fixing swing rod and the connecting rod is the pivotal fulcrum between the finger fixing driving rod and the connecting rod from the initial position until the tip of the finger separates to the outside of the scraper. By locating it on the bisector of the possible rotation angle and arranging it near the pivotal fulcrum of the driving rod, between the initial holding position of the finger and the position where the tip of the finger separates to the outside of the scraper. When the two pivot points of the connecting rod and the support rod of the driving rod are aligned in a straight line during the passage of the fingers, the scraper is displaced slightly inward from the front and rear states to enhance the centering action on the load. Therefore, it is possible to reliably prevent the luggage from being displaced when the fingers are opened and closed.

[Brief description of drawings]

The drawings show an embodiment of a luggage holding hand according to the present invention. Fig. 1 is a partially cutaway front view, Fig. 2 is a detailed view of a swing link mechanism on the left side of the machine frame, and Fig. 3 is Of Figure 2
FIG. 4 is a cross-sectional view taken along the line AA in FIG. 4, FIG. 4 is an operation explanatory view of the rocking link mechanism on the left and right sides of the machine frame, and FIGS. 5A to 5C are operation explanatory views sequentially showing a luggage holding operation. 1L, 1R …… Fingers, 2 …… Luggage, 3L, 3R …… Scraper, 5 …… Machine frame, 7L, 7R …… Cylinder, 10L, 10R …… Rotating shaft, 11L, 11R …… First drive rod, 13L, 13R …… Second driving rod,
16L, 16R …… Swing rod, 18L, 18R …… Connection rod, 19L, 19R ……
Support shaft, 20L, 20R …… Support shaft, 23L, 23R …… Slide guide,
24L, 24R …… Spur gear, 25L, 25R …… Rack, 26 …… Slide bar.

Claims (3)

[Scope of utility model registration request] 1. A finger for holding and supporting a load from left and right is fixed to each of a pair of driving rods connected to a drive source for rotation provided on a machine frame, and a holding position by the finger. A scraper for restricting the left and right sides of the finger from the left and right direction on the swing rod, and when opening and closing the fingers, the scrapers arranged on the left and right sides are brought into contact with the same luggage until the fingers separate from the luggage. Also, a baggage holding hand in which a connecting rod that connects the scraper to the fingers so that the fingers can contact the baggage before carrying the baggage is pivotally supported by the driving rod and the swing rod. 2. The pivotal fulcrum of the driving rod and the connecting rod is arranged outside the scraper in a state where the fingers take the luggage holding position, and the pivotal fulcrum of the swing rod and the connecting rod is the luggage holding position. Is located near the pivotal fulcrum of the driving rod by locating the pivotal fulcrum of the driving rod and the connecting rod on the bisector of the rotation angle that can be taken from the time until the tip of the finger comes off the scraper. The hand for holding a luggage according to claim 1. 3. A slide guide is rotatably provided on the pivots of the respective driving rods arranged on the left and right sides, and a gear is provided so as to rotate integrally with the respective driving rods about the pivot shaft of the driving rod. The luggage holding hand according to claim 1 or 2, wherein a slide bar having a rack that meshes with the upper surface and a rack that meshes with the other gear on the lower surface is slidably fitted in the slide guide.