JPS62297083A - Gripper for part, etc. - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] 3. Detailed Description of the Invention [Field of Industrial Application] This invention is a method for grasping a part having a hole in the center, such as a gear, by using the inner peripheral surface of the hole as a handhold. The present invention relates to a device, and particularly to a device for grasping parts, etc., which is useful when attached to a robot arm.

[Conventional technology]

Conventional mechanical gripping devices, ie, those that grip parts by the movement of a plurality of claws, are not suitable for soft parts that are easily scratched or those where the parts gripped by the claws have curved surfaces.

For parts and the like that require delicate handling, a means has been developed in which a flexible film made of rubber or the like is expanded and the expanded flexible film is pressed into a hole formed in the part to grip it. As shown in FIG.
01 and inflated the flexible membrane 100 by injecting air from the passage 102 of the cylindrical body 101.

[Problem to be solved]

In the conventional gripping device, as shown in FIG. 6, even when the tip of the flexible membrane 100 is inserted into the hole 104 of the thin part 103 and expanded, the flexible membrane 100 remains firmly attached to the inner peripheral surface of the hole 104. Therefore, the component 103 could not be grasped securely. In addition, most of the flexible membrane 100 uses a rubber pladder formed by molding, which does not expand thickly when air is injected (poor elasticity), has poor durability, and is relatively expensive. Met. Furthermore, the size range of parts that can be grasped is narrow, and the flexible membrane 100 itself is relatively hard, limiting the objects that can be grasped.

Therefore, this invention uses a tube to
The purpose of this invention is to provide a device for grasping parts, etc., which is inexpensive and has a wide range of applications, with increased elasticity and durability.

[Means for solving problems]

In order to achieve the above-mentioned object, the present invention attaches both ends of a tube expandable by air injection to a rigid proximal end and a rigid distal end, respectively, and one end of the tube attached to the distal end. Fold it back and attach it to the distal end.The proximal end forms a passage for injecting air into the tube, which is sealed at both ends.Insert the distal end into a hole or groove formed in a component to inflate the tube. It is configured so that it can be used to grasp parts, etc.

[Effect]

In this invention, when air is injected into the tube from the passage, since the tip of the tube is folded back, this part is the thickest (expands).

[Conventional technology]

In the embodiment shown in FIG. 1, both ends IA and IB of the tube 10, which can be expanded by injection of air, are tightly fitted into the hard proximal end 2 and the distal end 3, respectively. This attachment means is attached to the proximal end 2 and the distal end 3 using a caulking ring 4.5, and both ends IA and IB of the tube 1 are in a sealed state. In this embodiment, the proximal end 2 and the distal end 3 are integrally formed of a plastic material or a metal material, and at least the proximal end 2 is used to inject air into the tube 1 whose both ends are sealed. A passage 6 is formed. Further, the head 2A of the base end 2 is formed with a threaded hole 2B for attachment to a robot arm, which will be described later, and an injection port 2C for injecting air into the passage 6. The tube 1 is made of a material such as rubber or plastic. To grip the component 10 using the gripping device configured in this way, the tip 3 is inserted into the hole 10A of the component 10 as shown in FIG. 2, and air is injected into the tube 1 to inflate it. . One end IB of the tube 1 attached to the tip 3 is folded back and attached to the tip 3, so when air is injected into the tube 1, the tube 1 on the tip side expands greatly, and the second end IB is folded back and attached to the tip 3. As shown in the figure, even a thin component 10 can be gripped securely. In this embodiment, the proximal end part 2 and the distal end part 3 are integrally molded, and the tube 1 is placed over the distal end part 3 of this integral body, and the tube 1 is fitted with a caulking ring 5.
One end IB of the tube is secured, and then the tube 1 is turned over to cover the proximal end 2. At this time, the inner circumferential surface of the tube 1 is brought into close contact with the proximal end portion 2 of this integral body, and the caulking ring 4 is fitted onto the upper portion of the contact portion to secure the tube 1 to the other end IA: the IC proximal end portion 2.

When the proximal end portion 2 and the distal end portion 3 are integrally molded, the integral member serves as a core to prevent eccentricity when the tube 1 is expanded.

Another embodiment shown in FIG. 3 shows an example in which the proximal end part 2 and the distal end part q are constructed separately, and the other constructions are the same as those shown in FIG. 1, so the explanation will be omitted.

FIG. 4 shows a specific example in which the gripping device of the present invention is attached to the arm 21 of the robot 20, and the part 10 is moved from the workstation 30 to the transfer device 40, or from 400 locations on the transfer device to the robot 20. This shows an example in which the robot is moved to a workstation 30 by actuation.

The use of the apparatus of the present invention is effective when transferring a soft part such as a ceramic before sintering as the part 10. Alternatively, products with open mouths, such as glass bottles, can be transferred using this device.

Note that the member indicated by number 22 in FIG. 4 is a tube for injecting air.

〔effect〕

As explained above, according to the present invention, both ends of the tube that can be expanded by air injection are tightly fitted and attached to the hard proximal end and the distal end, respectively, and one end of the tube attached to the distal end is attached to the hard base end and the distal end. Fold it back and attach it to the distal end.The proximal end forms a passage for injecting air into the tube, which is sealed at both ends.Insert the distal end into a hole or groove formed in a component to inflate the tube. Since the tip of the tube expands greatly by injecting air into the tube, even thin parts can be gripped reliably, increasing the range of parts that can be gripped.

In addition, since the expansion of the tube is used, parts can be reliably gripped without damaging them, and if the parts have holes or grooves, the grip can be applied to a wide range regardless of the shape. Furthermore, since the tube is used, there are no friction parts, which improves durability.
The entire device can be provided at low cost.

[Brief explanation of drawings]

FIG. 1 is a cross-sectional view showing a preferred embodiment of the present invention, FIG. FIG. 4 is a schematic front view showing the state of attachment to a robot arm, FIG. 5 is a sectional view showing a conventional example, and FIG. 6 is a diagram for explaining the drawbacks of the conventional example. 1...Tube, 2...Proximal end, 3...Distal end, 6...Passage .

Claims (1)

[Scope of Claims] 1. Both ends of a tube that can be expanded by inflating air are fitted tightly into the hard base end and the distal end, respectively, and one end of the tube attached to the distal end is folded back to form the distal end. A passage is formed at the proximal end to inject air into the tube, which is sealed at both ends.The tip is inserted into a hole or groove formed in a component, etc., and the tube is expanded to release the component. A device for grasping parts, etc., which is characterized by grasping.