JP4163566B2 - Gripping device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a gripping device that supplies a fluid such as air to inflate an expansion body and grips a workpiece at a swelled portion of the expansion body.
[0002]
[Prior art]
As a gripping device using an expanding body, a device in which an expanding body is attached to the outer peripheral surface of a base is inserted into a mouth portion of a workpiece, and the expanding surface of the expanding body is brought into contact with the inner peripheral surface of the mouth portion (for example, a patent Reference 1), a type in which an expansion body is attached to the inner peripheral surface of a cylindrical base, a work is inserted into a space surrounded by the expansion body, and the expansion surface of the expansion body is brought into contact with the outer peripheral surface of the work (for example, Patent Document 2) is known.
[0003]
[Patent Document 1]
JP2003-11078A (first page)
[Patent Document 2]
JP 7-53174 A (first page)
[0004]
[Problems to be solved by the invention]
In the prior arts described in Patent Documents 1 and 2, the workpiece can only be approached from above. Therefore, in the case of the type in which the expansion body bulges outside, it must be designed to be smaller than the diameter of the work. It was not possible to design, and it had to be designed according to the size of the workpiece. In addition, when the workpiece has a flange at the top, such as a front T-shape, it is impossible or difficult to grasp the portion below the flange.
[0005]
Accordingly, an object of the present invention is to provide a gripping device that can be approached from the side of a workpiece and that can grasp a workpiece that has not been grasped by an approach from above until now.
[0006]
[Means for Solving the Problems]
In order to achieve the above-described object, the present invention performs expansion and contraction by supplying and discharging a fluid to and from a cylindrical interior of a cylindrical expansion body attached to the inner peripheral surface of a U-shaped frame-shaped guide. In a gripping device that grips a workpiece in the opening of the frame-shaped guide when the body expands inside the frame-shaped guide, the frame- shaped guide has a groove that is open on the inner peripheral surface side where the opening exists. Then, one cylindrical inflatable body is set in the groove of the frame-shaped guide along this groove, and the opening side of the groove forming portion of the portion connecting the U-shaped parallel portions of the frame-shaped guide is closed. A preventive member is provided so that the expansion body in this portion does not expand inward, and only the expansion body in the U-shaped parallel portion of the frame-shaped guide is expanded inward, so that the workpiece can be expanded from the side of the workpiece or from above the workpiece. it is obtained by the grab.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Preferred embodiments of the present invention will be described below with reference to the drawings.
[0008]
The embodiment shown in FIGS. 1 and 2 includes a frame-shaped guide 1 having an opening 3 in which a part of a frame 2 is cut out, and a cylindrical expansion attached to the inner peripheral surface of the frame-shaped guide 1. A body 4 is provided, and a fluid such as air is supplied to and discharged from the inside of the cylindrical body of the expansion body 4 so as to expand and contract. The expansion surface of the expansion body 4 is gripped by the expansion surface. The frame-shaped guide 1 is formed in a U-shape and is formed from a hard material such as metal or plastic. Further, a groove 5 in which the cylindrical expansion body 4 is set is formed on the inner peripheral surface of the frame-shaped guide 1, and a preventing member is provided so that a part of the expansion body 4 set in the groove 5 cannot be expanded inward. 6 is provided so as to block a part of the groove 5. The portions of the inflatable body 4 that are not blocked by the prevention member 6 are portions that are arranged to face each other. In the embodiment of FIG. 1, the portions of the inflatable body 4 existing in parallel portions of the U-shaped frame-shaped guide 1 are expanded inward, and the prevention member 6 is connected to the portion connecting the U-shaped parallel portions. The expansion body 4 of this part is not expanded inward. In this embodiment, one cylindrical expansion body 4 is set along the U-shaped groove 5 .
[0009]
A rubber tube is preferably used as the cylindrical expansion body 4, and both ends thereof are fixed to the hard cylinder portions (metal rings, etc.) 4A, 4B, and a frame is formed using these hard cylinder portions 4A, 4B. An inflatable body 4 is attached to the guide 1. Further, a fluid supply / exhaust port 7 for supplying and discharging fluid and a supply / discharge pipe 8 are connected to one end side of the expansion body 4, and the other end side of the expansion body 4 is sealed. Of course . Also, or adjust the amount of expansion by embedding reinforcing yarns in the expansion body 4, also increase the strength to withstand high inflation pressures.
[0010]
3, using 2 months the gripping device shown in Figures 1 and 2, showing a state in which grabbed a plate-shaped workpiece W _1, such as rectangular or square from the left and right sides. The opening 3 of the frame-shaped guide 1 is brought close to the side of the workpiece W ₁ , the workpiece W ₁ is introduced into the frame-shaped guide 1 from the opening 3, the expansion body 4 is expanded, and the workpiece W ₁ is expanded on its expansion surface. grab a workpiece W ₁ is pressed against the upper and lower surfaces.
[0011]
Figure 4 shows a state in which grabbed the body portion of the head is thick workpiece W ₂ from the side. The work W ₂ is introduced from the opening 3 of the frame-shaped guide 1, and the expansion body 4 is expanded in that state, and the periphery of the body portion of the work W ₂ is pressed by the expansion surface of the expansion body 4. Thick diameter of the head of the workpiece W ₂ in this case is larger than the space surrounded by the frame-shaped guide 1, therefore the head of the work W ₂ be approached from above in the vertical direction in the frame-shaped guide 1 Can't insert. For that purpose, it was to grab and approach from the side of the workpiece W _2. If the size of the diameter of the head can pass through the frame-shaped guide 1, it is also possible to seize the head or torso to approach from above the workpiece W _2.
[0012]
The embodiment shown in FIG. 5 shows a state in which the shaft portion at the center of the dumbbell-shaped workpiece W ₃ having flange portions at both ends is gripped from above.
[ 0013 ]
The expansion body 4 is attached to the groove 5 by attaching caulking rings (not shown) to the hard cylindrical portions 4A and 4B at both ends, and fastening the caulking rings to the frame body 2. Of course, attachment by means other than the caulking ring, for example, adhesion or the like is also possible.
[ 0014 ]
Examples of How to make the expansion member 4, a material obtained by vulcanizing the rubber material into a cylindrical shape, a planar shape of the frame-shaped guide 1, Ru using bent to fit the U-shape.
[ 0015 ]
【The invention's effect】
As described above, according to the present invention, fluid is supplied to and discharged from the cylindrical interior of the cylindrical expansion body attached to the inner peripheral surface of the U-shaped frame-shaped guide to achieve expansion and contraction. In a gripping device that grips a workpiece in the opening of the frame-shaped guide when the body expands inside the frame-shaped guide, the frame-shaped guide has a groove that is open on the inner peripheral surface side where the opening exists. Then, one cylindrical inflatable body is set in the groove of the frame-shaped guide along this groove, and the opening side of the groove forming portion of the portion connecting the U-shaped parallel portions of the frame-shaped guide is closed. A preventive member is provided so that the expansion body in this portion does not expand inward, and only the expansion body in the U-shaped parallel portion of the frame-shaped guide is expanded inward, so that the workpiece can be expanded from the side of the workpiece or from above the workpiece. since the grab, it puts lead to workpiece through the opening into the frame-shaped guide, Rise By gripping the workpiece by inflating the body, it can also reach the workpiece from the side not above only, can grip a workpiece of various shapes. Further, the work can be softly held by the expanded body. Furthermore, not only a predetermined shape but also several kinds of workpieces having different sizes and shapes can be handled by a gripping device having one shape and structure.
[Brief description of the drawings]
FIG. 1 is a plan sectional view showing an embodiment of the present invention.
FIG. 2 is a central longitudinal sectional view of FIG.
FIG. 3 is a cross-sectional view of a state where a plate-like workpiece is gripped.
FIG. 4 is a perspective view showing a state in which a workpiece having a thick head is gripped.
FIG. 5 is a perspective view of a state in which a dumbbell-shaped workpiece is gripped.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Frame-shaped guide 2 Frame 3 Opening part 4 Expansion body
5 groove
6 Prevention member

Claims (2)

When a fluid is supplied to and discharged from the cylindrical inside of the cylindrical expansion body attached to the inner peripheral surface of the U-shaped frame-shaped guide to expand and contract, and when the expansion body expands inside the frame-shaped guide, In the gripping device that grabs the workpiece in the opening of the frame-shaped guide,
The frame-shaped guide has a groove having an opening on the inner peripheral surface side where an opening exists, and a single cylindrical expansion body is set in the groove of the frame-shaped guide along the groove.
A blocking member is provided so as to block the opening side of the groove forming portion of the portion connecting the U-shaped parallel portions of the frame-shaped guide so that the expansion body in this portion does not expand inward,
A gripping device characterized in that only a U-shaped parallel portion expansion body of a frame-shaped guide is expanded inward so that the workpiece is grasped from the side of the workpiece or from above the workpiece . A fluid supply / discharge port and a supply / discharge tube for supplying and discharging fluid to and from the expansion body at the other end by inserting and fixing both ends of the expansion body sealed at one end of the cylindrical shape into the hard cylinder portion connect the gripping device according to claim 1, wherein the mounting Rukoto expansion body caulking ring attached to the rigid tube portion attached to the frame shape guides the inner peripheral surface of the frame-shaped guide.

Images