JP2666215B2 - Device for gripping parts - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for gripping a part or the like, and more particularly to a gripping device for a part or the like which is useful when attached to a robot arm.

[Conventional technology]

As this kind of conventional gripping device, Japanese Patent Laid-Open No. 62-297083 is known.
The one described in Japanese Patent Application Laid-Open Publication No. H10-260, 1993 is known. As shown in FIG. 14, one end 100A of a cylindrical tube 100 having both ends opened and expandable by injection of a fluid such as air is attached to the distal end 2A of the mandrel 2, and the other end 100B of the tube 100 is folded back. The mandrel 2 is attached to the base end 2B of the mandrel 2, and air or the like is injected from the mandrel 2 into the tube 100 whose both ends are sealed to inflate the tube 100 to grasp parts and the like. Tube 100
The attachment of one end 100A is performed by a caulking ring 4,
The other end 100B is attached by the swage ring 5. A passage 6 for air or the like is formed in the mandrel 2, and an injection port 7 for injecting air or the like into the passage 6 is formed. When a component with a hole in the center, such as a gear, is to be gripped by the gripping device configured as described above, the tip 2A of the mandrel 2 is inserted into the hole of the component, and air or the like is passed through the passage 6 from the inlet 7 and the like. Is injected into the sealed tube 100 to inflate the tube 100, and the inner peripheral surface of the hole of the component is pressed against the expanded outer peripheral surface of the tube 100 to grip the component.

[Problem to be solved]

The tube 100 used in the conventional gripping device is
It was made of a material such as rubber or plastic and had nothing embedded inside. Therefore, it is insufficient in terms of strength and is not suitable for grasping heavy parts and the like.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a gripping device for components and the like, which is excellent in strength, can withstand long-term use, and has a wider range of components that can be gripped by the device.

[Means for solving the problem]

In order to achieve the above-mentioned object, the present invention provides a method in which one end of a tubular tube having both ends openable by injecting a fluid is attached to the outside of the distal end of a mandrel, and the other end of the tube is folded to form a folded portion. A device which is attached to the outside of the base end of the mandrel and injects fluid from the mandrel into a tube sealed at both ends to inflate the tube and grasp parts, etc., wherein a plurality of reinforcing cords are provided in the axial direction over the entire length of the tube. Is buried.

[Action]

In the gripping device of the present invention, when a fluid such as air is injected into the tube, the reinforcing tube is buried in the expanded tube, so that the reinforcing cord is superior in strength to that in which nothing is buried, and is repeatedly used. It is hardly deteriorated even when expanded. In addition, the pressure of the expanded outer peripheral surface of the tube against a component or the like is increased, and a heavy component or the like can be reliably grasped.

〔Example〕

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is an exploded view of a tube 1 in which a plurality of reinforcing cords 8 having a diameter of 0.2 mm are buried in a width of 50 mm orthogonal to the cords 8 so as to be parallel to the axis of a mandrel 2. The tube 1 shown in FIG. 2 has a plurality of reinforcing cords 8 buried at an angle to the mandrel 2 so as to cross each other.
The inclination angle θ is set to 20 degrees or less. The reinforcing cord 8 is buried under the same conditions as in FIG. FIG. 3A is a cross-sectional view of the tube shown in FIG. 1, and FIG.
FIG. 3 is a sectional view of the tube shown in FIG. In addition, as shown in FIG. 4, the cylindrical tube 1 having both ends opened has the same diameter at one end 1A and the other end 1B. The tube 1 having the upper and lower ends having the same diameter can be easily manufactured, and productivity can be improved and manufacturing defects can be significantly reduced. Fifth
The figure shows a state in which such a tube 1 is mounted on a mandrel 2 similar to that shown in FIG. Fifth
In the figure, the same members as those in FIG. 14 are denoted by the same reference numerals, and description thereof will be omitted. When the inclination angle θ of the reinforcing cord 8 shown in FIG. 2 exceeds 20 degrees, the folded portion rises when the tube 1 is expanded and when the tube 1 expands in the lateral direction, the outer peripheral surface becomes substantially parallel to the mandrel 2. The expansion ratio does not increase for the effective length of 1. When the angle θ is equal to or less than 20 degrees, the expansion magnification increases.

In the embodiment shown in FIG. 6, the folded portion of the tube 1 is loosened downward. When a fluid is injected into the tube 1 and inflated, as shown in FIG. Is to be exposed. A reinforcing cord 8 is also embedded in the tube 1 used here.

The embodiment shown in FIG. 8 shows an example in which the gripping device of the above-described embodiment is attached to the arm 10 of the robot 9, and the part 11 is moved from the work station 12 to the transfer device 13 or the transfer device This shows an example in which the part 11 is moved from the 13 places to the workstation 12 by the operation of the robot 9. The use of the device of the present invention is effective when transferring a soft part such as ceramic before sintering as the part 11. Alternatively, products with open mouths, such as glass bottles, can be transferred by this device. A member indicated by reference numeral 14 in FIG. 8 is a tube for injecting a fluid.

The embodiment shown in FIG. 9 shows one in which two tubes 1 are provided on the mandrel 2, a pipe hose 15 is connected to the inlet 7, and a valve 16 is provided in the middle of the pipe hose 15.
A fluid supply source 17 is connected to the end of the valve 16. Fluid such as air supplied from the fluid supply source 17 is distributed to the piping hose 15 from the valve 16 and flows into the passage 6 to expand the tubes 1 respectively. In the embodiment shown in FIG. 10, a mandrel 2 is provided for each one tube, and these are connected by a plurality of connecting rods 18. Reference numeral 19 in FIGS. 9 and 10 indicates a hollow cylindrical component.

The embodiment shown in FIGS. 11 and 12 shows an arrangement in which the component 20 is gripped from the outside. The mandrel 2 is formed in a cylindrical shape having both ends opened.
Both ends of the tube 1 having both ends opened are bent from the inside to the outside and attached in the cylinder. One such tube 1
Is attached to a plurality of suspension members 21 so that the plurality of tubes 1 expand to grip the component 20.

In the embodiment shown in FIG. 13, the basic configuration is the same as that shown in FIGS. 11 and 12, but instead of separately injecting a fluid such as air into the tube 1, several The fluid such as air is divided into groups and injected into the tube 1.

In the above embodiments, the material constituting the reinforcing cord 8 is preferably an organic fiber such as nylon or polyester. The tube 1 itself is preferably made of oil-resistant rubber such as chloroprene. Further, the reinforcing cord 8 may have one layer or two or more layers. The reinforcing cords 8 are preferably embedded at intervals of 5 mm or less when the tube 1 is not expanded. The reinforcing cord 8 has a diameter of 0.2 to 1 mm.
The width in the direction perpendicular to the buried cord 8 is 50mm or less within 50mm.
150 will be buried.

〔effect〕

As described above, according to the present invention, since a plurality of reinforcing cords are buried in the axial direction over the entire length of the tube, the strength and durability of the tube are improved, and a heavy object can be firmly gripped. . When the embedment angle of the cord is set to 20 degrees or less, the expansion ratio also increases. Further, depending on the embedding condition of the reinforcing cord, the tube is sufficiently expanded and the outer surface of the expanded tube does not become parallel to the mandrel but expands in a circular shape, so that the applicable range of applicable parts is large, and the expanded tube is rich in flexibility. Further, the tube can be easily manufactured, and the productivity can be improved.

[Brief description of the drawings]

FIG. 1 shows a developed view of the tube, FIG. 2 shows a similar developed view, FIG. 3 (a) is a sectional view of FIG. 1, FIG. 3 (b) is a sectional view of FIG. FIG. 4 is a perspective view of a tube,
FIG. 5 is a cross-sectional view showing a state where the tube is expanded, FIG. 6 is a partial cross-sectional view showing another embodiment, FIG. 7 is a front view when the tube is expanded in FIG. 6, and FIG. FIG. 9 is a cross-sectional view showing another embodiment, FIG. 9 is a cross-sectional view showing still another embodiment, FIG. 11 is a plan view showing another embodiment, 12 is a sectional view taken along the line AA 'of FIG. 11, FIG. 13 is a sectional view showing still another embodiment, and FIG. 14 is a sectional view showing a conventional example. 1 ... Tube, 1A, 1B ... Both ends of tube, 2 ... Mandrel, 2A ... Tip of mandrel, 2B ... Base end of mandrel, 8 ... Reinforcement cord.

Claims (4)

(57) [Claims] An end of a tubular tube having both ends openable and expandable by injection of a fluid is attached to the outside of the distal end of the mandrel, and the other end of the tube is folded outside the proximal end of the mandrel so that a folded portion is formed. A device for injecting a fluid from a mandrel into a tube sealed at both ends from the mandrel to inflate the tube to grasp parts and the like, wherein a plurality of reinforcing cords are embedded in the axial direction over the entire length of the tube. Device for gripping parts. 2. The gripping device for parts and the like according to claim 1, wherein the embedding angle of the reinforcing cord with respect to the mandrel is 20 degrees or less. 3. A cylindrical tube having both ends openable and expandable by injection of a fluid, is folded inside the cylinder of a circular mandrel having both ends opened by folding the upper and lower ends of the tube at the upper and lower edges of the mandrel. A device which is mounted on the upper and lower ends of the mandrel so as to inject fluid from the mandrel into a tube sealed at both ends and inflates to grasp parts, etc., wherein a plurality of reinforcing cords are provided in the axial direction of the tube over the entire length of the tube. A gripping device for parts, etc., buried. 4. The gripping device for parts and the like according to claim 3, wherein the embedding angle of the reinforcing cord with respect to the mandrel is set to 20 degrees or less.