JPH0656164B2 - Elastic contraction body end closing member mounting structure - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an improvement of an end-closing member mounting structure of an elastic contraction body used as an actuator of a servo mechanism for controlling an angle of an arm portion of a pneumatic robot, for example. is there.

(Prior Art) A manipulator developed for use in the operation of a so-called hot cell shield wall surrounded by a protective wall against radioactive contamination during storage, refilling, distribution, and other experiments and processing of radioactive materials ( With the development of robot technology, the use of Magic Hand has been remarkably expanded in a wide range of applications including replacement of manual labor. There are various types of actuators that operate such manipulators, but motors, especially electric ones, are preferably pneumatic type when explosive protection is necessary because sparks are unavoidable.
In this case, the use is of course general purpose. Many conventional pneumatic actuators are of the so-called air cylinder type. However, since the cylinder piston assembly is usually made of metal, it has a drawback that its own weight is heavy relative to the operating force. On the other hand, Japanese Patent Application No. 58-71404 (JP-A-59-197605)
The elastic contraction body, which is an air back type actuator previously proposed by the present applicant in (No.), is the one in which the outer circumference of an elastic member having a cavity inside is surrounded by a braided structure made of a high tension material. This utilizes the action of contracting in the axial direction by the pantograph action of the braided structure when expanding the diameter by applying pressure to the internal cavity. Such an elastic contractor is lightweight, does not include a sliding portion, does not have a fear of influence of frictional force and air leakage, and can obtain about 10 times as much acting force as an air cylinder type pneumatic actuator. There are advantages.

The device shown in FIG. 3 is known as an example of such an elastic contraction body.

In FIG. 8, 1 is an inner cylinder made of rubber or a rubber-like elastic body, 2 is an outer cylinder made of a braided structure provided on the outer periphery thereof, 3
Is a closing member at both ends, and 4 is a clasp.

The closing member 3 is tightly fitted to the openings at both ends of the inner cylinder 1, preferably a nipple 5 used for sealing and bonding using an adhesive, a flange 6 for positioning, and an eye or clevis having a connecting pin hole. An annular protrusion 8 for preventing slippage is formed on the outer periphery of the nipple 5, which is formed by the end 7 and forms a gentle taper toward the tip thereof together with a sharp taper in the opposite direction. One of the closing members 3 is provided on at least one side with a connection hole 11 communicating with the internal cavity 10 of the inner cylinder 1 through a hole 9 formed in the length direction of the nipple 5, and a fitting 12 is attached thereto.

The clasp 4 is formed of a cylindrical metal member which engages with the flange 6 and covers the outer periphery of the end of the inner cylinder 1, and in particular, an inner flare 13 is formed on the end edge thereof, and is locally pressed in the radial direction toward the nipple 5. The closing member 3 is sealed and attached to the inner cylinder 1.

An air conditioner presser as an external operating pressure source is connected to the elastic contraction body having such a structure by a pipe line including a three-way valve, and a control pressure is applied in the internal cavity 10 of the inner cylinder 1, Expansion of the braid angle θ _O of the outer cylinder 2 to θ _X , that is, pantograph movement causes bulging of the inner cylinder 1 and axial contraction resulting therefrom, that is, reduction of the distance between the connecting pin holes of the closing member 3. Bring

(Problems to be Solved by the Invention) By the way, in the case of such a conventional elastic contraction body, the nipple 5 of the closing member 3 is provided with an annular projection 8 having a sharp tip as a stopper so that the inner cylinder 1 and The outer cylinder 2 was pressed by the clamp 4 as a whole, but the outer cylinder 2 to which the most tension is applied when the elastic contraction body is actuated is only pressed by the clamp 4 to the inner cylinder. The force applied to the outer cylinder 2 is not directly hooked to the gold 4 and is transmitted to the inner cylinder 1, and a large force is applied to the engagement portion of the inner cylinder 1 with the annular projection 8. When such a large force is applied, there is a problem that the sharp tip of the annular projection 8 is difficult to insert into the inner cylinder 1 and the inner cylinder 1 is easily damaged and damaged. In addition, if the annular projection 8 is eliminated to prevent the inner cylinder 1 from being damaged, the inner cylinder can be easily removed, and if the shape of the tip of the annular projection 8 is obtuse, it cannot be prevented from coming off.

(Means for Solving Problems) An object of the present invention is to solve the problems in the conventional end-closing member mounting structure of an elastic contraction body, and to make the elastic contraction body made of rubber or a rubber-like elastic body. (EN) To obtain an end closing member mounting structure of an elastic contraction body that can reliably prevent the end closing member from coming off without damaging the outer cylinder by the cylinder and the braided structure. To achieve this object, the elasticity of the present invention is achieved. The end closing member mounting structure of the shrinkable body is particularly configured such that a protective layer is disposed between the inner cylinder and the outer cylinder at a portion of the inner cylinder corresponding to the closing member insertion portion, and the end portion of the outer cylinder is The closing member is extended to the rear side position of the annular protrusion provided on the rear side of the insertion end portion into the inner cylinder, and the annular hooking member is wound therein and folded back to the front side position of the annular protrusion. Then, squeeze the tubular clamps at the two locations before and after the annular protrusion. It's a rare thing.

(Operation) According to this structure, the outer cylinder to which the most tensile force is applied can be locked to the annular projection by the locking member, so that it can be firmly prevented from coming off, and the protective layer is provided between the inner cylinder and the outer cylinder. The inner cylinder and the outer cylinder are less likely to be damaged because they are interposed.

(Embodiment) FIG. 1 shows an embodiment of a structure for attaching an end closing member of an elastic contraction body of the present invention, and FIG. 2 shows a cross section taken along the line AA of FIG. In FIGS. 1 and 2, 1 is an inner cylinder made of rubber or a rubber-like elastic body, 2 is an outer cylinder made of a braided structure provided on the outer periphery thereof, and 14 is provided between the inner cylinder 1 and the outer cylinder 2. The protective layer is made of a polymer compound such as rubber, vinyl, or plastic, and a material having higher hardness and tension than the inner cylinder is used for the purpose of protecting the inner cylinder. Reference numeral 3 denotes a closing member, which has an annular projection 15 for locking the outer cylinder 2. The annular protrusion 15 is set to have the same height as the inner cylinder 1, the protective layer 14, and the outer cylinder 2 or slightly higher. The inner cylinder 1 and the protective layer 14 are provided on the front side of the annular projection 15, that is, on the left side in the drawing, and the outer cylinder 2
Is folded back at a position beyond the annular projection 15 so that the folded back portion is located on the inner cylinder 1 and the protective layer 14, and the folded portion has an annular hook. Member 16
Is pinched. The hooking member 16 is preferably made of an elastic member such as rubber, but it may be tied with a string-shaped member, and in this case, it may be a member having no elasticity. Reference numeral 4 denotes a clamp, which is swaged at two positions before and after the annular protrusion 15.

According to this configuration, the outer cylinder 2 is hooked by the hooking member 16 being hooked by the annular projection 15, but the folded-back portion of the outer cylinder 2 is tightened together with the inner cylinder 1 and the protective layer 14. Since the outer cylinder 2 is fastened by the gold 4, the retaining effect of the outer cylinder 2 is high. Further, since the protective layer 14 is provided between the inner cylinder 1 and the outer cylinder 2, the inner cylinder 1 is damaged by the braided structure of the outer cylinder 2. It can be prevented from sticking.

(Effect) As described in detail above, in the end closing member mounting structure of the elastic contraction body of the present invention, the looped back portion of the outer cylinder made of the braided structure is annularly hooked to the annular projection provided on the closing member. Since it is configured to be hooked by a member and a protective layer is provided between the inner cylinder and the outer cylinder, the outer cylinder to which the most tensile force is applied is firmly prevented from coming off, so that the air pressure applied to the elastic contraction body is further increased. High pressure is possible, the output of the elastic contraction body can be increased, and the outer cylinder and the inner cylinder are less likely to be damaged, so that the durability is improved and it can be used for a longer period of time.

[Brief description of drawings]

FIG. 1 is a partially cutaway front view showing the configuration of an embodiment of the elastic contraction body end closing member mounting structure of the present invention, and FIG. 2 is a sectional view taken along the line AA of FIG. FIG. 6 is a partial cross-sectional front view showing a conventional end-closing member mounting structure for an elastic contraction body. 1 ... Inner cylinder, 2 ... Outer cylinder, 3 ... Closing member, 4 ... Clasp, 5 ... Nipple, 6 ... Flange, 7 ... Clevis end, 8 ... Annular ridge, 9 ... Hole, 10 ... … Internal cavity 11 …… Connecting hole, 12 …… Fiting 13 …… Flare, 14 …… Protective layer 15 …… Round protrusion, 16 …… Latch member

Claims (1)

[Claims] 1. A front end portion of a closing member is inserted into an inner cylinder made of rubber or a rubber-like elastic body to cover the inner cylinder and the outer cylinder of the braided structure, which covers the outer circumference of the inner cylinder. An end closing member mounting structure fixed to the closing member by caulking a tubular clamp disposed on the outer peripheral side of the outer cylinder, wherein the inner cylinder has a portion corresponding to the closing member insertion portion, A protective layer is arranged between the inner cylinder and the outer cylinder, and the end portion of the outer cylinder is
The closing member is extended to the rear side position of the annular protrusion provided on the rear side of the insertion end portion into the inner cylinder, and the annular hooking member is wound therein and folded back to the front side position of the annular protrusion. A structure for mounting an end portion closing member of an elastic contraction body, wherein the tubular clasp is caulked at two positions before and after the annular protrusion.