JPH068179A - Gripping device for parts or the like - Google Patents

Abstract

PURPOSE:To provide a gripping device for parts or the like, which is improved in its gripping force by sufficiently expanding a tube even if a cord is incorporated in the tube without any fear of puncture. CONSTITUTION:One end 3A of a cylindrical tube 3 is sealed and fitted to the outer peripheral surface of one end of a hard substrate 1 where a supply and exhaust passage 2 for a fluid is formed, and a movable member 6 adapted to slide along the axis of the hard substrate 1 while keeping the sealing performance is provided on the outer peripheral surface of the other end of the hard substrate 1. The other end 3B of the tube 3 is sealed and fitted to the movable member 6, and when fluid is supplied into the tube 3, both ends 3A, 3B of which are sealed from the supply and exhaust passage 2 so as to expand the tube 3, the movable member 6 is slid in such a manner that the other end 3B of the tube 3 is forced to approach one end 3A.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grasping device for inflating a tube and pressing the inflated surface against an object such as a component to be grasped to grasp the component.

[0002]

2. Description of the Related Art A conventional gripping device of this type is shown in FIG.
As shown in FIG. 1, one in which both ends of a tube 102 are attached by caulking rings 103 and 104 to an outer peripheral surface of both ends of a hard substrate 101 in which a fluid supply / discharge passage 100 is formed is known.

[0003]

A large amount of fluid may be supplied in order to greatly expand the tubular tube 102 having openings at both ends, but there is a risk of puncture. Further, when a reinforcing cord, a shape stabilizing cord, or the like is embedded in the tube 102, the expansion amount of the tube 102 is significantly limited. To improve the gripping force, the tube 10
Although sufficient expansion of 2 is required, the expansion of the tube 102 was insufficient in the conventional example in which both ends of the tube 102 were fixedly attached at immovable positions.

Therefore, the present invention is to provide a gripping device for parts or the like, which is less likely to be punctured and has a cord-containing tube in which the tube is sufficiently expanded to improve the gripping force for the part or the like. To aim.

[0005]

In order to achieve the above object, the present invention seals and attaches one end of a tubular tube to an outer peripheral surface on one end side of a hard base body in which a fluid supply / discharge passage is formed, A movable member that slides along the axial direction of the hard substrate while maintaining hermeticity is provided on the outer peripheral surface of the other end of the hard substrate, the other end of the tube is hermetically attached to the movable member, and both ends are sealed from the supply / discharge passage. In addition, when the fluid is supplied into the tube to expand the tube, the movable member slides so that the other end of the tube approaches one end.

[0006]

According to the present invention, when a fluid such as air is supplied from the fluid supply / discharge passage, the fluid flows into the enclosed space surrounded by the inner surface of the tube, the hard base body and the movable member, and at this time, both ends of the tube are hermetically attached. Since the movable member also has a sealing property with respect to the hard substrate, the tube expands.
When the tube expands, the other end of the tube attached to the movable member is attracted toward the one end of the tube attached to the hard substrate, whereby the movable member slides. The sliding of the movable member shortens the distance between both ends of the tube and increases the expansion of the tube.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described below with reference to the drawings. In the first embodiment shown in FIG. 1, one end 3A of a tubular tube 3 is hermetically attached by a caulking ring 4 to an outer peripheral surface of one end side of a hard base body 1 in which a fluid supply / discharge passage 2 is formed. 1 on the outer peripheral surface of the other end of the hard base 1
There is provided a movable member 6 which slides along the axial direction of while maintaining hermeticity. The other end 3B of the tube 3 is hermetically attached to the outer peripheral surface of the movable member 6 by a caulking ring 7. The sealing property of the movable member 6 with respect to the hard substrate 1 is maintained by the seal member 8 provided on the hard substrate 1. One end side of the hard substrate 1 is formed in a large diameter portion 1A having a large diameter, and the other end side is formed in a small diameter portion 1B having a small diameter.
The outer diameter of the large diameter portion 1A and the outer diameter of the movable member 6 are the same. A stopper 9 is attached to the end of the small diameter portion 1B. The stopper 9 prevents the movable member 6 from slipping out in the right-hand direction in the drawing. Also, the large diameter portion 1A
1C between the small diameter portion 1B and the stepped portion 1C of the movable member 6
A spring member 10 is provided between the end surface 6A and the end surface 6A. The spring member 10 pushes the movable member 6 back toward the stopper 9.

In order to operate the grip device constructed as described above, a fluid such as air is supplied into the tube 3 through the fluid supply / discharge passage 2 as shown in FIG. At this time, when the tube 3 expands, the other end 3B of the tube 3 becomes one end 3B.
Attracted to A's side. When the other end 3B of the tube 3 is pulled toward the one end 3A side, the other end 3B of the tube 3
The movable member 6 to which B is attached is also the large diameter portion 1A of the hard substrate 1.
It can be slid toward. The movable member 6 is shown in FIG.
In, the spring member 10 contracts when it slides to the left. When a fluid such as air is further supplied into the tube 3, the movable member 6 slides until the spring member 10 is completely contracted, and at this position, the other end 3B of the tube 3 and the movable member 6 are moved.
Stops. Therefore, in the state in which the fluid is not supplied, that is, in the state in which the fluid is supplied as compared with the exhausted state, the distance between both ends 3A and 3B of the tube 3 becomes short, and as a result, the expansion of the tube 3 becomes large. In particular, both ends 3A of the tube 3,
When 3B is attached to the hard base 1 and the movable member 6 while being straight, the folded-back portion is different from the case where one end of the tube 3 is folded and attached as described in JP-A-63-112392. The entire diameter can be reduced as much as possible. Even if the overall diameter is reduced, the expansion does not become smaller than that of a tube having a folded portion. It is easy to manufacture because it does not need a folding part,
The amount of material used for the tube 3 can be small. When the folded portion is present, the minimum outer diameter of the tube 3 was about 8 mm in the exhausted state, but in this embodiment in which the folded portion is unnecessary, the outer diameter of the tube 3 can be reduced to about 3 mm. Becomes Furthermore, by using the spring member 10, the tube 3 and the movable member 6 can be smoothly and quickly returned even when the supplied fluid is exhausted. Even if the spring member 10 is not provided, the elasticity of the tube 3 allows the tube 3 to return. Furthermore, the maximum bulge diameter of the tube 3 can be controlled by changing the length or spring force of the spring member 10. For example, even if the same tube 3 is used, the spring member 10
It is possible to adjust the maximum bulge diameter of the tube 3 by changing. Rather than forming various tubes 3,
Changing the spring member 10 makes it easier to adjust the degree of bulging and is advantageous in terms of cost.

In the second embodiment shown in FIG. 3, the tube 3
An example in which the other end 3B of the above is folded back inside and attached to the movable member 6 is shown. Also in this example, the movable member 6 and the large-diameter portion 1 of the hard substrate 1
The spring member 10 may be provided between the spring member 10 and A.

As shown in FIG. 4, the other end 3B of the tube 3 may be attached by folding it back to the outer peripheral surface side of the movable member 6 instead of the inner peripheral surface side.

FIG. 5 is a partially developed view of the tube 3, showing an example in which various cords 11 are embedded. In FIG.
The cord 11 is embedded in a bias shape. The crossing angle θ in the bias state is preferably 20 ° or less. 6 is shown in FIG.
The cross section of is shown. Further, as shown in FIG. 7, the buried state of the cord 11 may have a radial structure. FIG. 8 shows a sectional view of FIG. The cord 11 may have one layer or two or more layers. In the case where the cord 11 is embedded, the dimensional stability of the tube 3 is improved, and there is no risk of puncture even if the internal pressure that can be enclosed is high. However, it is difficult to make a large expansion. When using the tube 3 in which such a cord 11 is embedded, in the embodiment shown in FIGS. 1 to 4, the movable member 6 slides and the distance between both ends 3A, 3B of the tube 3 is shortened, so that the tube 3 is sufficiently Allows for easy expansion.

In the third embodiment shown in FIG. 9, the tube 3 is lengthened, a plurality of movable members 6 are provided on the way, and the tube 3 is removed between the caulking rings 4 and 7 and between the caulking rings 7 and 7. It shows an example configured to expand respectively. A supply / discharge passage 2 is provided for each expanded portion. When a fluid such as air is supplied to such a gripping device, the gripping device shown in FIG.
As shown in FIG. 4, the four parts of the tube 3 expand and the movable member 6
Respectively slide so as to be attracted to one end side of the hard substrate 1. Also in this embodiment, the spring member 10 can be provided at the location where the tube 3 expands. Alternatively, the spring member 10 may be provided only between the large diameter portion 1A and the end portion 6A of the movable member 7 which faces the large diameter portion 1A.

[0013]

As described above, according to the present invention, when a fluid such as air is supplied into the tube, one end of the tube is attached to the hard base and the other end of the tube is attached to the movable member. Therefore, the other end of the tube is pulled toward the one end side as the tube expands. As a result, the movable member to which the other end of the tube is attached slides toward the one end of the tube. Therefore, the distance between both ends of the tube in the air supply state is shorter than the distance between both ends of the tube in the exhaust state, and the tube expands to that extent. In particular, even when a tube with a cord is used, it is possible to realize sufficient expansion for grasping a component or the like. In addition, supplying a large amount of fluid to increase the expansion of the tube eliminates the risk of puncturing the tube.

[Brief description of drawings]

FIG. 1 is a sectional view showing a first embodiment of the present invention.

FIG. 2 is a cross-sectional view showing an air supply state in FIG.

FIG. 3 is a sectional view showing a second embodiment.

FIG. 4 is a partial sectional view showing a modified example of the second embodiment.

FIG. 5 is a development view showing a state in which a cord is embedded in a tube.

6 is a sectional view of FIG.

FIG. 7 is a development view of tubes in which the cords are embedded differently.

FIG. 8 is a sectional view of FIG.

FIG. 9 is a sectional view showing a third embodiment.

FIG. 10 is a cross-sectional view showing the air supply state of FIG.

FIG. 11 is a sectional view showing a conventional example. DESCRIPTION OF SYMBOLS 1 Hard base 2 Supply / discharge passage 3 Tube 3A One end of tube 3B Other end of tube 6 Movable member

Claims (1)

[Claims] 1. A cylindrical tube is hermetically attached to an outer peripheral surface on one end side of a hard base body in which a fluid supply / discharge passage is formed, and an outer peripheral surface on the other end side of the hard base body is arranged along an axial direction of the hard base body. When a movable member that slides while maintaining the hermeticity is provided, the other end of the tube is hermetically attached to the movable member, and the fluid is supplied from the supply / discharge passage into the tube whose both ends are sealed to expand the tube. A gripping device for parts or the like, wherein the movable member slides so that the other end of the tube approaches one end.