JPH01301087A - Grab for parts or the like - Google Patents

Abstract

PURPOSE:To pull up only a part or the like in liquid as well as to prevent the liquid from being gathered in the part by forming plural numbers of projections or projecting strips at the expansion surface side of a tube. CONSTITUTION:When a part or the like in liquid is grabbed, a tube 1 is put in the liquid, expanding it therein, and the part or the like is grabbed. Next, if the part or the like is pulled up, the liquid being gathered in an upper part between the part and the tube 1 is dropped down from a clearance between plural projections or projecting strips formed at the expansion surface side of this tube 1. In consequence, the part alone can be pulled up and, what is more, the liquid is not at all gathered in the part pulled up, so that trouble in dealing with this liquid is multified.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a device for grasping parts, etc., and particularly to a device for grasping parts, etc., which is attached to a robot arm and is useful for grasping parts, etc. in liquid. It is related to.

[Conventional technology]

A conventional gripping device of this type is disclosed in Japanese Patent Application Laid-Open No. 62-297.
The one described in Publication No. 083 is known. As shown in FIG. 16, one end 100A of a cylindrical tube 100 with openings at both ends is expandable by injection of fluid such as air.
is attached to the tip 2A of the mandrel 2, the other end 100B of the tube 100 is folded back and attached to the proximal end 2B of the mandrel 2, and air or the like is injected from inside the mandrel 2 into the tube 100 whose both ends are sealed. It is designed to expand and grab parts, etc. One end 100A of the tube 100 is attached using a caulking ring 5, and the other end 100B is attached using a caulking ring 5'. A passage 6 for air, etc. is formed in the mandrel 2, and this passage 6
An injection lower is formed for injecting hair air, etc.

When gripping a part with a hole in the center, such as a gear, using the gripping device configured in this way, the tip 2A of the mandrel 2 is inserted into the hole of the part, and air, etc. is injected from the injection lower through the passage 6. It is injected into the sealed tube 100 to inflate the tube 100, and the swollen outer circumferential surface of the tube 100 presses against the inner circumferential surface of the hole of the component to grip the component.

[Problem to be solved]

With such conventional devices, when a part, etc. that is submerged in liquid such as water or oil is grabbed, as shown in FIGS. 17 to 19,
When parts and the like are pulled up from the liquid, the parts and tube 10
Liquid accumulated in the upper part between the 0 and 0, and it was difficult to dispose of this liquid.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a device for grasping parts, etc., which, when grasping and pulling up a submerged part, only pulls up the part and allows the liquid to escape.

[Means to solve the problem]

In order to achieve the above-mentioned object, the present invention forms a plurality of protrusions or protrusions on the expansion surface side of the tube.

[Effect]

In this invention, when grasping a part etc. in liquid, the tube is inserted into the liquid, expanded in the liquid to grasp the part etc., and when the grasped part etc. is pulled up, the liquid collected at the top is formed into a plurality of protrusions. Or, the liquid will not drip from the gaps between the protrusions and accumulate on the gripped parts.

〔Example〕

Preferred embodiments of the present invention will be described below with reference to the drawings.

In the first embodiment shown in FIG. 1, one end of a cylindrical tube l with openings at both ends that can be expanded by injecting fluid such as air is attached to the tip 2A of the mandrel 2, as described in the prior art example. Attachment, fold back the other end of the tube l and attach the proximal end 2 of the mandrel 2.
Tube 1 attached to B and sealed at both ends from inside the mandrel 2
The tube 1 is inflated by injecting air or the like into the tube 1 to grip parts and the like. One end of the tube l is attached by a caulking ring 5 (not shown in this embodiment, but is similar to that shown in FIG. 16), and the other end is attached by a caulking ring 5°.

In the mandrel 2, a passage 6 for air, etc. is formed in the same manner as shown in FIG. 16, and an injection lower is also formed.

In the first embodiment shown in FIG. 1, a large number of protrusions 3 are formed on the expansion surface side of the tube 1 along the axial direction of the mandrel 2 at predetermined intervals. Spaces are formed between these protrusions 3. In this first embodiment, as shown in the bottom view of FIG. 2, the protrusion 3 extends to the bottom surface. In addition, Figure 1 m shown in Figure 3
As is clear from the sectional view taken along the -m line, the wall thickness of the tube 1 at the portion where the protrusion 3 is formed is thicker than at the portion where the protrusion 3 is not formed. If there are sharp protrusions or chips on the surface of the part you are trying to grasp, the expanded surface of the tube 1 may be damaged and the tube 1 may become punctured. 3 is formed thickly, the tube l will be removed even if there is a slight scratch on the protrusion 3.
will no longer have a flat tire. The embodiment shown in FIG. 4 shows an embodiment in which the thickness of the protrusion 3 is equal to that of the other portions of the tube 1, and it is of course possible to implement this embodiment with such a tube 1.

The embodiment shown in FIG. 5 is a modification of the first embodiment, in which a protrusion 3 is formed from the upper end of the tube 1 to the lower end.

In a second embodiment shown in FIG. 6, a plurality of protrusions 4 are formed on the inflation surface side of the tube 1 instead of the protrusions 3.

FIG. 7 shows such a projection 4 having a different shape.

The bottom views shown in FIGS. 8 to 10 each show an example in which the shape of the protrusion 3 is changed, and the shape of the protrusion 3 can be modified in various ways depending on the material and shape of the parts to be gripped. can.

The third embodiment shown in FIG. 11 shows a gripping device for inflating the tube 1 inwardly, and the mandrel 2 is formed into a cylindrical shape with both ends open as shown in FIG. On the other hand, both ends of the tube l, which is open at both ends, are bent from the inside to the outside and installed inside the cylinder. The inside of this tube 1 becomes an expansion surface, and a protrusion 3 or a protrusion 4 is formed on this expansion surface.

In the embodiment shown in FIG. 13, a reinforcing cord 8 is embedded within the tube l. In this example, the reinforcing cord 8 is buried diagonally. In the example shown in FIG. 14, 120 reinforcing cords each having a diameter of 0.2 m are buried within a width of 50 m orthogonal to the cord 8 so as to be parallel to the axis of the mandrel 2.

The tube 1 shown in FIG. 15 has a plurality of reinforcing cords 8 buried at an angle with respect to the mandrel 2 so as to cross each other. This inclination angle θ is preferably 20° or less. The reinforcing cord 8 shown in FIG. 15 was also buried under the same conditions as in FIG. 14.

It is also possible to embed the reinforcing cord 8 in two or more layers within the tube 1.

A rubber composition is used as the material constituting the tube 1, and is mainly responsible for mechanical strength and durability.The main polymer of this rubber composition is natural rubber, synthetic rubber, or a mixture thereof. Specifically, rubbers with a glass transition temperature of 120°C or less are used, such as natural rubber, isoprene rubber, styrene-butadiene rubber, chloroprene rubber, acrylonitrile-butadiene rubber, butyl rubber, modified butyl rubber, and ethylene-propylene rubber. Rubber compositions using these polymers alone or in combination are preferred. In addition, any commonly used chemicals other than the polymers to be blended in these rubber compositions can be used.

Note that the protrusion 3 is not necessarily parallel to the mandrel 2 (but may be a protrusion that is inclined with respect to the axis of the mandrel 2, or may be a spiral shape). .

Furthermore, it goes without saying that the shape of the protrusion 4 is not limited to that shown in the drawings. Furthermore, in the case of a device that grips parts etc. inside the mandrel 2, protrusions 3 of various shapes are used.
It is possible to form a protrusion 4 or a protrusion 4.

A grasp of the various embodiments configured in this way! When using the A position to grab a part submerged in liquid, the liquid will not accumulate on the top surface of the part even if the part is grabbed from the liquid and then pulled up. The liquid drips from the ridges or the spaces between the protrusions.

〔effect〕

As explained above, according to the present invention, a plurality of protrusions or protrusions are formed on the inflated surface side of the tube that is inflated to grasp parts, etc., so that even if the parts submerged in the liquid are grabbed and pulled up, the liquid will be removed together with the parts. There is no need to worry about what to do after being pulled up. In addition, if the ridges or protrusions are thicker than other parts of the tube, even if there are chips attached to the parts, the tube may bank if the ridges or protrusions are slightly damaged. Nor.

[Brief explanation of the drawing]

FIG. 1 is a front view showing a first embodiment of the present invention, FIG. 2 is a bottom view of FIG.
The figure is a cross-sectional view of only the tube showing another example of the tube.
FIG. 5 is a front view showing a modification of the first embodiment, FIG. 6 is a front view showing the second embodiment, FIG. 7 is a front view showing a modification of the second embodiment, and FIGS. 10 is a bottom view showing various variations of the protrusion, FIG. 11 is a plan view showing the third embodiment, FIG. 12 is 'f, FIG.
The figure is a longitudinal cross-sectional view of a portion of a tube showing an example of embedding a reinforcing cord, Figure 14 is a developed view of a tube with a different way of burying the reinforcing cord, and Figure 15 is a developed view of a tube showing another way of burying a reinforcing cord. , FIG. 16 is a cross-sectional view showing a conventional example;
7 to 19 are schematic diagrams illustrating the disadvantages of the conventional example. 1...Tube, 2...Mandrel, 3...Protrusion, 4...Protrusion. Applicant Brideston Co., Ltd. Agent Patent Attorney Masu 1) Takeo 1!1 Figure 146 Figure 薯7 = ! 13! ihen9 SA! 10 G-in-law 11
Bi@12 (Wealth 13!!' W 14 ri8 爲15 h 16 Figure No. 19 Wi5

Claims (1)

[Claims] 1. Attach one end of a cylindrical tube with openings at both ends that can be expanded by injecting fluid to the tip of the mandrel, attach the other end of the tube to the proximal end of the mandrel, and insert the tube from inside the mandrel into a tube whose both ends are sealed. A device for gripping parts, etc. by injecting fluid to inflate a tube and gripping parts, etc., characterized in that a plurality of protrusions or protrusions are formed on the expansion surface side of the tube.