JPH05385U - Gripping device - Google Patents

Abstract

(57) [Summary] (Correction) [Structure] The present invention is a gripping device for axially taking out and mounting a work 1 having a flexible hollow structure, a gripping means 2 for gripping the work, and an inner side of the work. It has a guide means having an outer diameter of the same size as the dimension, and a drive means for driving the guide means slidably in the axial direction of the inner diameter of the work. [Effect] According to the present invention, the shape of a work having a flexible hollow structure is not changed, and the work can be reliably taken out and attached without difficulty.

Description

[Detailed description of the device]

 [Purpose of device]

[0001]

[Industrial applications]

 The present invention relates to a gripping device for axially taking out and attaching a work having a flexible hollow structure.

[0002]

[Prior Art]

 Examples of the work having a flexible hollow structure include a soft tube (hereinafter, referred to as a work). As a gripping device for gripping this work, the one shown in FIG. 6 has been conventionally known.

As shown in FIG. 6, the conventional gripping device comprises a claw 2 for gripping a work 1, a parallel chuck 3 for opening and closing the claw 2, and a cored bar 4 inserted into a hollow portion of the work 1. It is configured.

In the conventional gripping device thus configured, the work 1 having the cored bar 4 inserted therein is clamped by the claws 2, and then the parallel chuck 3 closes the claws 2 to grip the work 1. To do. After that, the whole gripping device is moved by a driving device (not shown) while gripping the work 1, and the work 1 is pulled out from the core metal 4.

[0005]

[Problems to be solved by the device]

 However, in the above-mentioned conventional gripping device, the gripping pressure is applied to the entire outer diameter of the work 1 at the beginning of taking out as shown in FIG. 6, and the pulling force F = Fo × M (Fo: work gripping pressure, (M: Friction coefficient) allows extraction and the shape of the work piece 1 does not change. However, as shown in FIG. 7, when the withdrawal amount exceeds half of the total length of the work 1, the gripping pressure Fo of the work 1 is applied only to the portion where the core metal 4 is present, and the gripping force Fo applied to the entire work surface is increased. Is reduced and the pulling force cannot be fully utilized. Therefore, if the gripping pressure Fo is increased in order to increase the pulling force F, the problem that the shape of the work 1 is deformed occurs.

When mounting the work 1, as shown in FIG. 8, for example, when the mounting destination is a core metal, the insertion force F ′ = Fo × M (Fo: work gripping pressure, It is possible to insert the work piece 1 into the core piece 5 with a gripping pressure Fo that does not change the shape of the work piece 1 due to the friction coefficient. There was a problem that it was often impossible to install. Therefore, in view of the above problems, it is an object of the present invention to provide a gripping device that can take out and attach a work without changing the shape of the work. [Device configuration]

[0007]

[Means for Solving the Problems]

 In order to achieve the above object, the present invention provides a gripping device for axially picking up and mounting a work having a flexible hollow structure, a gripping means for gripping the work, and an outer size having the same size as the inner size of the work. A gripping device provided with a guide means having a diameter and a drive means for slidably driving the guide means in the axial direction of the inner diameter of the work.

[0008]

[Action]

 In the gripping device of the present invention configured as described above, when the work is pulled out, the guide means is inserted into the hollow portion of the work after the work is gripped, and the outer peripheral gripping pressure of the work is made constant to pull out the work. By holding the insertion force, the work can be taken out and mounted without changing the shape of the work.

[0009]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings.

As shown in FIGS. 1 to 3, the gripping device of the present embodiment includes a pair of claws 2 a and 2 b for gripping a hollow flexible tube (hereinafter referred to as a work) 1 and the claws 2 a and 2 b. A parallel chuck 3 for opening and closing, a guide rod 6 to be inserted into the hollow portion of the workpiece 1, a cylinder 7 for sliding the guide rod 6, and a bracket 8 for connecting and holding the guide rod 6 and the cylinder 7. It consists of

In the present embodiment thus configured, as shown in FIG. 4, the gripping device is moved by the robot (not shown) onto the work 1 set on the core metal 4, The rear work 1 is clamped by the claws 2a and 2b. Next, the guide rod 6 is advanced by the cylinder 7 until it abuts on the cored bar 4 in the work 1, and is stopped when it abuts. In this state, by retracting the entire gripping device, the work 1 is pulled out from the cored bar 4, and at the same time, the guide rod 6 is advanced by the amount by which the work 1 is pulled out, and the pulling force F is kept constant.

Also, when mounting, similarly to the above, as shown in FIG. 5, the guide rod 6 is inserted into the work 1 by an amount corresponding to the portion where the claws 2 a and 2 b contact the work 1. Thereafter, in this state, the opening on the insertion side of the guide rod 6 is attached to the attachment destination, for example, a cored bar (not shown).

In this embodiment, the parallel chucking method is used, but the invention is not limited to this, and a three-way claw, collet chuck, or other gripping method may be used. Further, the inserting / pulling operation may be a rotation operation with respect to the axis, rather than a linear operation in the axial direction of the work.

[0014]

[Effect of the device]

 As described above, according to the present invention, the work of the flexible hollow structure is not changed in shape, and the work can be reliably taken out and mounted without difficulty.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of the present invention.

FIG. 2 is a left side view showing an embodiment of the present invention.

FIG. 3 is a bottom view showing an embodiment of the present invention.

FIG. 4 is a diagram showing a work drawing operation according to an embodiment of the present invention.

FIG. 5 is a view showing a work inserting operation according to an embodiment of the present invention.

FIG. 6 is a view showing a state immediately after the start of drawing a work by a conventional gripping device.

FIG. 7 is a diagram showing a state in which a workpiece is being pulled out by a conventional gripping device.

FIG. 8 is a view showing a state just before the end of the drawing of the work by the conventional gripping device.

[Explanation of symbols]

1 ... Work, 2a, 2b ... Claw, 3 ... Parallel chuck, 6 ...
Guide rod, 7 ... Cylinder, 8 ... Bracket

Claims (1)

Claims for utility model registration 1. In a gripping device for axially taking out and mounting a work having a flexible hollow structure, a gripping means for gripping the work and an outer part having the same size as the inner size of the work. A gripping device comprising guide means having a diameter and drive means for driving the guide means slidably in the axial direction of the inner diameter of the work.