JP2002036162A - Gripping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To miniaturize and lighten a gripping device and to prevent a gripped member from being damaged. SOLUTION: This gripping device is composed of a bottomed cylindrical case 1 having rigidity, a claw member 2 inserted into the case and partially elastically deformable, a rubber sleeve 3 inserted into the claw member 2, and a rigid fixing member 4 inserted into the rubber sleeve 3 and fixing the case 1, the claw member 2 and the rubber sleeve 3 to a conveying device S. The claw member 2 has, for example, three arms 14 axially extended and positioned at equal intervals in the circumferential direction, and an expanding slot for promoting the radial elastic deformation of the arms 14. A recessed annular fluid receiving chamber 25 for receiving the pressure fluid is formed on an outer peripheral face of the fixing member 4, and fluid passages 26 an 27 are formed inside of the fixing member 4 for guiding the pressure fluid from a fluid passage Sb of the conveying device S to the fluid receiving chamber 25. The excess deformation of the arms 14 is controlled by a lower end part 1d of the case 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to a gripping device that automatically grips a D-shaped work or a disk-shaped work.

[0002]

2. Description of the Related Art For example, an outer diameter expanding chuck disclosed in Japanese Utility Model Laid-Open No. 62-195254 and Japanese Utility Model Laid-Open No. 2-80346 radiates a plurality of slide blocks to which clamping claws or clamping rollers are fixed. It expands and contracts in the direction to grip the inner diameter of the work.

The disk holding device disclosed in Japanese Patent Laid-Open Publication No. Hei 10-188418 is designed so that a plurality of claw members are always urged radially outward by a coil spring to grip the inner diameter of the disk. Has become.

[0004]

However, the former two types have a plurality of slide blocks to which clamping claws or clamping rollers are fixed, and these slide blocks are driven by air cylinders, so that the structure is complicated and low. It is difficult to reduce the cost and the size and weight, and also has a problem that the weight is large and the operation speed is low.

Similarly, since the latter urges a plurality of claw members with a coil spring, there is a problem that the structure is complicated and it is difficult to reduce the cost and the size and weight. Further, there is also a problem that the claw-shaped member collides with the disk due to the elastic force of the coil spring when the disk is held or released, and the disk is damaged.

Further, the above-mentioned conventional device has a sliding portion, so that when used in a clean room or the like, the environment is polluted by dust from the sliding portion, and the device cannot be practically used. There are also problems.

An object of the present invention is to solve the above-mentioned problems,
An object of the present invention is to provide a gripping device that can be reduced in size and weight and that can prevent damage to a gripped object.

[0008]

According to a first aspect of the present invention, there is provided a gripping device for arranging a plurality of arms in a circumferential direction along a direction of an axis and deforming the arms in a radial direction. What is claimed is: 1. A gripping device for gripping an inner or outer diameter of a plate-like object to be gripped, comprising: an elastic cylindrical body elastically deformable in a radial direction in a radial direction of said arm; And a rigid body that forms a fluid receiving chamber is sequentially disposed, a fluid flow path that is externally connected to the fluid receiving chamber is formed in the rigid body, and a pressure fluid is received through the fluid flow path through the fluid receiving chamber. By flowing into the chamber, the elastic cylindrical body and the arm are sequentially elastically deformed to grip the object to be gripped.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail based on the illustrated embodiment. FIG. 1 is an exploded perspective view of the embodiment,
FIG. 2 is a bottom view, and FIG. 3 is a cross-sectional view taken along line AA of FIG. 2. The gripping device according to this embodiment is attached to a transport device S and has a disc-shaped work having an inner diameter hole Wa. It is configured to be able to grip W.

[0010] A claw member 2 is disposed inside the case 1.
A rubber sleeve 3 is arranged inside the claw member 2, and a fixing member 4 for fixing the case 1, the claw member 2 and the rubber sleeve 3 to the transport device S is arranged inside the rubber sleeve 3.

The case 1 has a hardness capable of restricting excessive deformation of an arm of the claw member 2 described later, and is a bottomed cylindrical body having a cylindrical portion 1a and an end wall 1b. An insertion hole 1c through which a male screw portion described later of the fixing member 4 is inserted is formed.

The claw member 2 is formed of a material which can be partially elastically deformed, and has an outer peripheral surface having a diameter smaller than the inner diameter of the cylindrical portion 1a of the case 1 even at the portion having the largest diameter. The cylindrical claw body 11 has a length of about two-thirds of the entire length of the claw member 2, and an upper flange 12 fitted to the cylindrical portion 1 a of the case 1 is provided at an upper end portion. A lower flange 13 is provided at the lower end of the outer peripheral surface and faces the cylindrical portion 1a of the case 1 with a gap.

On the lower end surface of the lower flange 13, for example, 3 extends in the direction along the axis and projects downward from the case 1.
The arms 14 are provided at equal intervals in the circumferential direction. The length of the arm 14 is about one-third of the entire length of the claw member 2.
4a are formed. The inner surfaces of the claw body 11 and the arm 14 are continuous cylindrical surfaces, and the outer surfaces of the lower flange 13 and the arm 14 are also continuous cylindrical surfaces.

The claw body 11 including the lower flange 13 has a split groove 1 for promoting elastic deformation of the arm 14 in the radial direction.
5 a and 15 b are formed up to the vicinity of the upper flange 12. The gap between the outer peripheral surface of the lower flange 13 and the inner peripheral surface of the case 1 is caused by excessive deformation of the arm 14.
The size is regulated by the lower end 1d.

The fixing member 4 is formed of a relatively hard material such as metal, and has a column-shaped fixing portion main body 21 having an outer diameter that can be fitted to the rubber sleeve 3 and being slightly longer than the rubber sleeve 3. On the upper end surface of the fixed portion main body 21, a male screw portion 22 that is inserted into the insertion hole 1c of the case 1 and is screwed to the female screw portion Sa of the transport device S is formed. A flange portion 23 for pressing the lower end surface of the rubber sleeve 3 is formed at a lower portion of the outer peripheral surface of the fixing portion main body 21, and a hexagonal-shaped tool into which a tool such as a spanner is fitted is formed on the lower end surface of the fixing portion main body 21. A tool groove 24 is formed.

A fluid receiving chamber 25 for receiving a pressurized fluid such as pressurized air or the like is formed in a concave annular shape with a width in the vertical direction on the outer peripheral surface of the fixed portion main body 21. And male screw part 2
2 and the fixed part main body 21, a fluid flow path 26 extending in the axial direction for guiding the pressure fluid from the fluid flow path Sb of the transfer device S to the fluid receiving chamber 25, and a radial direction from the inner end of the fluid flow path 26. And three fluid flow paths 27 that are branched into three at equal intervals and communicate with the fluid receiving chamber 25.

When assembling this gripping device, the rubber sleeve 3 is fitted inside the claw body 11 of the claw member 2 so that the upper end surfaces of the claw member 2 and the rubber sleeve 3 are aligned. Next, the fixing member 4 is fitted inside the rubber sleeve 3 with the male screw portion 22 first, and the upper end surfaces of the fixing portion main body 21 and the rubber sleeve 3 are made to coincide with each other.

At this time, it is preferable that the upper portion of the outer peripheral surface of the fixing portion main body 21 and the upper portion of the inner peripheral surface of the rubber sleeve 3 be integrated by bonding, baking, or the like. In addition, the fixing unit body 21
It is also preferable to integrate the lower part of the outer peripheral surface and the lower part of the inner peripheral surface of the rubber sleeve 3 by similar means.

Then, the integrated claw member 2, rubber sleeve 3 and fixing member 4 are fitted into the case 1, and the male screw 2
2 is projected from the end wall 1b through the insertion hole 1c of the case 1. Finally, the male screw portion 22 is connected to the female screw portion S of the transfer device S.
a, and a tool is fitted into the tool groove 24 of the fixing member 4 to fasten the fixing member 4 to the apparatus main body S.

When gripping the work W, the transfer device S inserts the arm 14 into the inner diameter hole Wa of the work W without flowing compressed air, and positions the claw portion 14a on the lower surface of the work W.

Next, the compressed air is passed through the fluid passage Sb, the fluid passage 26, and the fluid passage 27 to the fluid receiving chamber 25. Accordingly, the compressed air flowing into the fluid receiving chamber 25 causes the rubber sleeve 3 to expand radially outward, and the expanded rubber sleeve 3 causes the arm 14 to bend radially outward, thereby causing the outer surface of the arm 14 to be bent. The workpiece W is gripped by being pressed against the inner peripheral surface of the inner diameter hole Wa. When releasing the work W, the supply of the compressed air to the fluid receiving chamber 25 may be stopped.

As described above, in the embodiment, the rubber sleeve 3 is elastically deformed by the compressed air, and the arm 14 of the claw member 2 is deformed by the elastically deformed rubber sleeve 3. , And the structure can be simplified and the size and weight can be reduced.
Further, since the arm 14 is flexibly brought into contact with the work W by the elasticity of the rubber sleeve 3 and excessive deformation of the arm 14 is regulated by the lower end 1d of the case 1, the work W is not damaged.

In the above-described embodiment, the case 1, the claw member 2, the rubber sleeve 3, and the fixing member 4 are sequentially provided from the outside to the inside. However, when the outer diameter of the work W is gripped,
It is also possible to arrange them sequentially from inside to outside.

[0024]

As described above, in the gripping device according to the present invention, the pressure fluid flows into the fluid receiving chamber through the fluid flow path, whereby the elastic cylindrical body and the arm are sequentially elastically deformed to be covered. Since the gripper is gripped, a conventional slide block, coil spring, or the like is not required, the structure can be simplified, and the size and weight can be reduced. In addition, since the pressure fluid directly acts on the elastic tubular body without using the conventional air cylinder, the operating speed can be improved, and the arm can be flexibly brought into contact with the grasped object, Damage to the object to be grasped can be prevented.

Further, since there is no sliding portion, there is no need to worry about environmental pollution such as dust generation, and there is an effect that it can be used in a clean room or the like.

[Brief description of the drawings]

FIG. 1 is an exploded perspective view of an embodiment.

FIG. 2 is a bottom view.

FIG. 3 is a sectional view taken along line AA of FIG. 2;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Case 2 Claw member 3 Rubber sleeve 4 Fixing member 11 Claw part main body 12 Upper flange 13 Lower flange 14 Arm 15a, 15b Split groove 21 Fixed part main body 22 Male screw part 23 Flange part 24 Tool groove 25 Fluid receiving chamber 26, 27 Fluid Channel S Conveyor W Work

Claims (8)

[Claims] 1. A gripping device for arranging a plurality of arms in a circumferential direction in a direction along an axis, and deforming the arms in a radial direction to grip an inner or outer diameter of a disk-shaped gripping object. An elastic tubular body elastically deformable in the radial direction in the radial direction of the arm; and a rigid body forming a fluid receiving chamber with a side surface of the elastic tubular body as one wall, and sequentially disposing the rigid body. A fluid passage communicating with the fluid receiving chamber from the outside is formed, and a pressure fluid flows into the fluid receiving chamber through the fluid passage, whereby the elastic tubular body and the arm are sequentially elastically deformed. A gripping device characterized by deforming and gripping the object to be gripped. 2. The gripping device according to claim 1, wherein the arm is formed integrally with one end of the cylindrical main body, and the cylindrical main body is provided with a split groove for promoting elastic deformation of the arm. 3. The gripping device according to claim 1, wherein the rigid body has a mounting portion for the target device. 4. The gripping device according to claim 1, further comprising regulating means for regulating excessive deformation of said arm. 5. The gripping device according to claim 4, wherein said restricting means is a rigid cylindrical body disposed in a direction of elastic deformation of said arm. 6. The gripping device according to claim 5, wherein the rigid tubular body, the arm, the elastic tubular body, and the rigid body are sequentially arranged from the outside to the inside. 7. The gripping device according to claim 1, wherein a claw-like projection is provided at an end of the arm. 8. The gripping device according to claim 1, wherein the elastic tubular body is a rubber sleeve.