JPH01301087A - Grab for parts or the like - Google Patents
Grab for parts or the likeInfo
- Publication number
- JPH01301087A JPH01301087A JP13225788A JP13225788A JPH01301087A JP H01301087 A JPH01301087 A JP H01301087A JP 13225788 A JP13225788 A JP 13225788A JP 13225788 A JP13225788 A JP 13225788A JP H01301087 A JPH01301087 A JP H01301087A
- Authority
- JP
- Japan
- Prior art keywords
- tube
- liquid
- mandrel
- parts
- protrusions
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000012530 fluid Substances 0.000 claims description 4
- 239000007788 liquid Substances 0.000 abstract description 24
- 230000003014 reinforcing effect Effects 0.000 description 9
- 229920001971 elastomer Polymers 0.000 description 5
- 239000000203 mixture Substances 0.000 description 5
- 239000005060 rubber Substances 0.000 description 5
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 229920000642 polymer Polymers 0.000 description 3
- 244000043261 Hevea brasiliensis Species 0.000 description 2
- 229920005549 butyl rubber Polymers 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229920003052 natural elastomer Polymers 0.000 description 2
- 229920001194 natural rubber Polymers 0.000 description 2
- 229920000181 Ethylene propylene rubber Polymers 0.000 description 1
- 229920000459 Nitrile rubber Polymers 0.000 description 1
- 241000277269 Oncorhynchus masou Species 0.000 description 1
- 125000000484 butyl group Chemical group [H]C([*])([H])C([H])([H])C([H])([H])C([H])([H])[H] 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009477 glass transition Effects 0.000 description 1
- 229920003049 isoprene rubber Polymers 0.000 description 1
- 229920001084 poly(chloroprene) Polymers 0.000 description 1
- 229920003048 styrene butadiene rubber Polymers 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 229920003051 synthetic elastomer Polymers 0.000 description 1
- 239000005061 synthetic rubber Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、部品等をつかむための装置に関し、特にロ
ボットのアームに取付けて液中の部品等をつかむのに有
用な部品等のつかみ装置に関するものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a device for grasping parts, etc., and particularly to a device for grasping parts, etc., which is attached to a robot arm and is useful for grasping parts, etc. in liquid. It is related to.
従来のこの種つかみ装置としては、特開昭６２−２９７
０８３号公報に記載のものが知られている。これは、第
１６図に示すように、エアー等の流体の注入により膨張
可能な両端開口の筒状のチューブ１００の一端１００Ａ
を心棒２の先端部２Ａに取付け、チューブ１００の他端
１００Ｂを折り返して心棒２の基端部２Ｂに取付け、心
棒２内から両端が密封されたチューブ１００内にエアー
等を注入してチューブ１００を膨張させ部品等をつかむ
ようになっている。チューブ１００の一端１００Ａの取
付けは、かしめリング５により行われ、他端１００Ｂの
取付けはかしめリング５′により行われる。心棒２内に
はエアー等の通路６を形成してあり、さらにこの通路６
ヘエアー等を注入するための注入ロアが形成しである。A conventional gripping device of this type is disclosed in Japanese Patent Application Laid-Open No. 62-297.
The one described in Publication No. 083 is known. As shown in FIG. 16, one end 100A of a cylindrical tube 100 with openings at both ends is expandable by injection of fluid such as air.
is attached to the tip 2A of the mandrel 2, the other end 100B of the tube 100 is folded back and attached to the proximal end 2B of the mandrel 2, and air or the like is injected from inside the mandrel 2 into the tube 100 whose both ends are sealed. It is designed to expand and grab parts, etc. One end 100A of the tube 100 is attached using a caulking ring 5, and the other end 100B is attached using a caulking ring 5'. A passage 6 for air, etc. is formed in the mandrel 2, and this passage 6
An injection lower is formed for injecting hair air, etc.
このように構成されたつかみ装置により、例えば歯車の
ように中央に孔の開いた部品をつかむ場合、心棒２の先
端部２Ａを部品の孔に差し込み、注入ロアから通路６を
通ってエアー等を密封されたチューブ１００内に注入し
てチューブ１００を膨らまし、このチューブ１００の膨
らんだ外周面で部品の孔の内周面を圧接し部品をつかむ
。When gripping a part with a hole in the center, such as a gear, using the gripping device configured in this way, the tip 2A of the mandrel 2 is inserted into the hole of the part, and air, etc. is injected from the injection lower through the passage 6. It is injected into the sealed tube 100 to inflate the tube 100, and the swollen outer circumferential surface of the tube 100 presses against the inner circumferential surface of the hole of the component to grip the component.
このような従来の装置では、水や油等の液中にある部品
等をつかんだ場合、第１７図〜第１９図に示すように、
液中から部品等を引き上げたときに部品とチューブ１０
０との間の上部に液が溜まってしまい、この液の処理に
困ってしまっていた。With such conventional devices, when a part, etc. that is submerged in liquid such as water or oil is grabbed, as shown in FIGS. 17 to 19,
When parts and the like are pulled up from the liquid, the parts and tube 10
Liquid accumulated in the upper part between the 0 and 0, and it was difficult to dispose of this liquid.
そこで、この発明は、液中の部品等をつかんで引き上げ
たときに部品のみ引き上げ、液は逃がしてやるようにし
た部品等のつかみ装置を提供することを目的とする。SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a device for grasping parts, etc., which, when grasping and pulling up a submerged part, only pulls up the part and allows the liquid to escape.
上述の目的を達成するため、この発明は、チューブの膨
張面側に複数の突起又は突条を形成したものである。In order to achieve the above-mentioned object, the present invention forms a plurality of protrusions or protrusions on the expansion surface side of the tube.
この発明においては、液中の部品等をつかむ場合、チュ
ーブを液中へ挿入し、液中において膨張させて部品等を
つかみ、つかんだ部品等を引き上げる場合、上部に溜ま
った液は複数の突起又は突条間の隙間から滴下し、つか
んだ部品に液が溜まることはない。In this invention, when grasping a part etc. in liquid, the tube is inserted into the liquid, expanded in the liquid to grasp the part etc., and when the grasped part etc. is pulled up, the liquid collected at the top is formed into a plurality of protrusions. Or, the liquid will not drip from the gaps between the protrusions and accumulate on the gripped parts.
以下に、この発明の好適な実施例を図面を参照にして説
明する。Preferred embodiments of the present invention will be described below with reference to the drawings.
第１図に示す第１実施例では、先の従来例で説明したと
同様に、エアー等の流体の注入により膨張可能な両端開
口の筒状のチューブｌの一端を心棒２の先端部２Ａに取
付け、チューブｌの他端を折り返して心棒２の基端部２
Ｂに取付け、心棒２内から両端が密封されたチューブ１
内にエアー等を注入してチューブ１を膨張させ部品等を
つかむようになっている。チューブｌの一端の取付けは
、かしめリング５ （本実施例では図示されていないが
、第１６図に示すと同様である）により行われ、他端の
取付けはかしめリング５°により行われる。In the first embodiment shown in FIG. 1, one end of a cylindrical tube l with openings at both ends that can be expanded by injecting fluid such as air is attached to the tip 2A of the mandrel 2, as described in the prior art example. Attachment, fold back the other end of the tube l and attach the proximal end 2 of the mandrel 2.
Tube 1 attached to B and sealed at both ends from inside the mandrel 2
The tube 1 is inflated by injecting air or the like into the tube 1 to grip parts and the like. One end of the tube l is attached by a caulking ring 5 (not shown in this embodiment, but is similar to that shown in FIG. 16), and the other end is attached by a caulking ring 5°.
心棒２内にはエアー等の通路６が第１６図と同様に形成
しであると共に注入ロアが形成しである。In the mandrel 2, a passage 6 for air, etc. is formed in the same manner as shown in FIG. 16, and an injection lower is also formed.
第１図に示す第１実施例では、チューブ１の膨張面側に
心棒２の軸線方向に沿って多数の突条３を所定間隔をあ
けて形成しである。これら突条３の間は空隙となる。こ
の第１実施例では、第２図の底面図に示すように、突条
３は底面まで延びている。また、第３図に示す第１図ｍ
−ｍ線断面図から明らかなように、突条３の形成部分の
チューブ１の肉厚が突条３が形成されていない個所より
も厚く形成されている。つかもうとする部品等の表面に
鋭利な突起や切り屑等がある場合、チューブ１の膨張面
に傷が入りチューブ１がパンクしてしまうことがあるが
、第３図に示すように突条３を肉厚に形成した場合には
、突条３の個所に少しくらいの傷が付いてもチューブｌ
がすぐにはパンクしないようになる。第４図の実施例は
突条３の肉厚をチューブｌの他の部分と諮問−の厚みに
形成した実施例を示し、このようなチューブ１でも勿論
実施例可能である。In the first embodiment shown in FIG. 1, a large number of protrusions 3 are formed on the expansion surface side of the tube 1 along the axial direction of the mandrel 2 at predetermined intervals. Spaces are formed between these protrusions 3. In this first embodiment, as shown in the bottom view of FIG. 2, the protrusion 3 extends to the bottom surface. In addition, Figure 1 m shown in Figure 3
As is clear from the sectional view taken along the -m line, the wall thickness of the tube 1 at the portion where the protrusion 3 is formed is thicker than at the portion where the protrusion 3 is not formed. If there are sharp protrusions or chips on the surface of the part you are trying to grasp, the expanded surface of the tube 1 may be damaged and the tube 1 may become punctured. 3 is formed thickly, the tube l will be removed even if there is a slight scratch on the protrusion 3.
will no longer have a flat tire. The embodiment shown in FIG. 4 shows an embodiment in which the thickness of the protrusion 3 is equal to that of the other portions of the tube 1, and it is of course possible to implement this embodiment with such a tube 1.
第５図に示す実施例は、第１実施例の変形例を示し、チ
ューブ１の上端から下端にかけて突条３を形成したもの
を示す。The embodiment shown in FIG. 5 is a modification of the first embodiment, in which a protrusion 3 is formed from the upper end of the tube 1 to the lower end.
第６図に示す第２実施例では、突条３の代わりにチュー
ブ１の膨張面側に複数の突起４を形成したものを示す。In a second embodiment shown in FIG. 6, a plurality of protrusions 4 are formed on the inflation surface side of the tube 1 instead of the protrusions 3.
第７図はこのような突起４の形状を変えたものを示す。FIG. 7 shows such a projection 4 having a different shape.
第８図乃至第１０図に示す底面図は、それぞれ突条３の
形状を変えた例を示し、つかむべき部品等の材質や形状
等に応じて突条３の形状も種々に工夫することができる
。The bottom views shown in FIGS. 8 to 10 each show an example in which the shape of the protrusion 3 is changed, and the shape of the protrusion 3 can be modified in various ways depending on the material and shape of the parts to be gripped. can.
第１１図に示す第３実施例は、チューブ１を内側に膨張
させるつかみ装置を示し、心棒２は第１２図に示すよう
に両端開口の円筒状に形成し、この両端開口の円筒状心
棒２に対し両端開口のチューブｌの両端を内側から外側
に折り曲げて円筒内に取付けたものである。このチュー
ブ１の内側が膨張面となり、この膨張面に突条３又は突
起４を形成する。The third embodiment shown in FIG. 11 shows a gripping device for inflating the tube 1 inwardly, and the mandrel 2 is formed into a cylindrical shape with both ends open as shown in FIG. On the other hand, both ends of the tube l, which is open at both ends, are bent from the inside to the outside and installed inside the cylinder. The inside of this tube 1 becomes an expansion surface, and a protrusion 3 or a protrusion 4 is formed on this expansion surface.
第１３図に示す実施例では、チューブｌ内に補強コード
８を埋設したものを示す。この例では、補強コード８を
斜めに埋設しである。第１４図に示す例では、心棒２の
軸心に平行になるように直径０．２ｍ−の複数の補強コ
ードをコード８に直交する５０ｍ嘗の幅内に１２０本埋
設したものを示す。In the embodiment shown in FIG. 13, a reinforcing cord 8 is embedded within the tube l. In this example, the reinforcing cord 8 is buried diagonally. In the example shown in FIG. 14, 120 reinforcing cords each having a diameter of 0.2 m are buried within a width of 50 m orthogonal to the cord 8 so as to be parallel to the axis of the mandrel 2.
第１５図に示すチューブ１は複数の補強コード８を互い
に交叉するように心棒２に対して傾斜して埋設しである
。この傾斜角度θは２０°以下が好ましい。第１５図に
示す補強コード８も第１４図と同様の条件で埋設した。The tube 1 shown in FIG. 15 has a plurality of reinforcing cords 8 buried at an angle with respect to the mandrel 2 so as to cross each other. This inclination angle θ is preferably 20° or less. The reinforcing cord 8 shown in FIG. 15 was also buried under the same conditions as in FIG. 14.
また、補強コード８を２層以上チューブ１内に埋設する
ことも可能である。It is also possible to embed the reinforcing cord 8 in two or more layers within the tube 1.
チューブ１を構成する材料としては、ゴム組成物が用い
られ、主に機械的強度及び耐久性を担うべきものであり
、このゴム組成物の主ポリマーとしては天然ゴム若しく
は合成ゴム及びこれらの混合ゴムが用いられ、具体的に
は天然ゴム、イソプレンゴム、スチレン−ブタジェンゴ
ム、クロロプレンゴム、アクリロニトリル−ブタジェン
ゴム、ブチルゴム、変性ブチルゴム、エチレン−プロピ
レンゴム等のガラス転移温度が一２０゛Ｃ以下のゴムか
ら選ばれたポリマーを単独で若しくは混合して用いたゴ
ム組成物が好ましい。また、これらゴム組成物に配合さ
れるポリマー以外の薬品は、通常用いられているもので
あればすべて用いることができる。A rubber composition is used as the material constituting the tube 1, and is mainly responsible for mechanical strength and durability.The main polymer of this rubber composition is natural rubber, synthetic rubber, or a mixture thereof. Specifically, rubbers with a glass transition temperature of 120°C or less are used, such as natural rubber, isoprene rubber, styrene-butadiene rubber, chloroprene rubber, acrylonitrile-butadiene rubber, butyl rubber, modified butyl rubber, and ethylene-propylene rubber. Rubber compositions using these polymers alone or in combination are preferred. In addition, any commonly used chemicals other than the polymers to be blended in these rubber compositions can be used.
なお、突状３は必ずしも心棒２に対して平行なものでな
（でも良く、心棒２の軸心に対して傾斜した突条であっ
ても良いし、螺旋形状のものであっても差し支えない。Note that the protrusion 3 is not necessarily parallel to the mandrel 2 (but may be a protrusion that is inclined with respect to the axis of the mandrel 2, or may be a spiral shape). .
さらに、突起４の形状も図示するものに限定されるもの
ではないことは勿論である。さらにまた、心棒２の内側
で部品等をつかむ装置の場合にも、種々の形状の突条３
や突起４の形成が可能である。Furthermore, it goes without saying that the shape of the protrusion 4 is not limited to that shown in the drawings. Furthermore, in the case of a device that grips parts etc. inside the mandrel 2, protrusions 3 of various shapes are used.
It is possible to form a protrusion 4 or a protrusion 4.
このように構成された各種実施例のつかみ′！Ａ置を使
用して液中の部品等をつかむ場合、液中から部品等をつ
かんだ後引き上げた場合でも部品の上面に液が溜まるこ
とはない。液は、突条又は突起間の空隙から滴下する。A grasp of the various embodiments configured in this way! When using the A position to grab a part submerged in liquid, the liquid will not accumulate on the top surface of the part even if the part is grabbed from the liquid and then pulled up. The liquid drips from the ridges or the spaces between the protrusions.
以上説明したように、本発明によれば、膨張させて部品
等をつかむチューブの膨張面側に複数の突起又は突条を
形成したので、液中の部品をつかんで引き上げても液が
部品と共に引き上げられてその後の処理に困るようなこ
とはない。また、突条や突起の肉厚をチューブの他の個
所よりも厚くしたものでは、部品等に切り屑等が付着し
ていた場合でも突条や突起が若干傷付くのみではチュー
ブがバンクすることもない。As explained above, according to the present invention, a plurality of protrusions or protrusions are formed on the inflated surface side of the tube that is inflated to grasp parts, etc., so that even if the parts submerged in the liquid are grabbed and pulled up, the liquid will be removed together with the parts. There is no need to worry about what to do after being pulled up. In addition, if the ridges or protrusions are thicker than other parts of the tube, even if there are chips attached to the parts, the tube may bank if the ridges or protrusions are slightly damaged. Nor.
第１図はこの発明の第１実施例を示す正面図、第２図は
第１図の底面図、第３図は第１図ｍ−ｍ線断面図、第４
図はチューブの他の例を示すチューブのみの横断面図、
第５図は第１実施例の変形例を示す正面図、第６図は第
２実施例を示す正面図、第７図は第２実施例の変形例を
示す正面図、第８図乃至第１０は突条の各種バリエーシ
ョンを示す底面図、第１１図は第３実施例を示す平面図
、第１２図は′ｆ、１１図ｘｕ−ｘｎ線断面図、第１３
図は補強コードを埋設した例を示すチューブの一部分の
縦断面図、第１４図は補強コードの埋設態様を変えたチ
ューブの展開図、第１５図もまた別の埋設態様を示すチ
ューブの展開図、第１６図は従来例を示す断面図、第１
７図乃至第１９図は従来例の不都合を説明する概略図で
ある。
１ ・・・チューブ、
２ ・・・心 棒、
３ ・・・突 条、
４ ・・・突 起。
出願人 株式会社 ブリデストン
代理人 弁理士 増 １）竹 夫
１！１ 図
１４６ 図 薯７ ＝
！ １３ ！ｉ 遍９ ＳＡ！ １０ Ｇ舅 １１
び
＠１２ （富１３ ！！’
Ｗ １４ リ
８ 爲１５ ｈ
１６ 図
第 １９ Ｗｉ５FIG. 1 is a front view showing a first embodiment of the present invention, FIG. 2 is a bottom view of FIG.
The figure is a cross-sectional view of only the tube showing another example of the tube.
FIG. 5 is a front view showing a modification of the first embodiment, FIG. 6 is a front view showing the second embodiment, FIG. 7 is a front view showing a modification of the second embodiment, and FIGS. 10 is a bottom view showing various variations of the protrusion, FIG. 11 is a plan view showing the third embodiment, FIG. 12 is 'f, FIG.
The figure is a longitudinal cross-sectional view of a portion of a tube showing an example of embedding a reinforcing cord, Figure 14 is a developed view of a tube with a different way of burying the reinforcing cord, and Figure 15 is a developed view of a tube showing another way of burying a reinforcing cord. , FIG. 16 is a cross-sectional view showing a conventional example;
7 to 19 are schematic diagrams illustrating the disadvantages of the conventional example. 1...Tube, 2...Mandrel, 3...Protrusion, 4...Protrusion. Applicant Brideston Co., Ltd. Agent Patent Attorney Masu 1) Takeo 1!1 Figure 146 Figure 薯7 = ! 13! ihen9 SA! 10 G-in-law 11
Bi@12 (Wealth 13!!' W 14 ri8 爲15 h 16 Figure No. 19 Wi5
Claims (1)
ーブの一端を心棒の先端部に取付け、チューブの他端を
心棒の基端部に取付け、心棒内から両端が密封されたチ
ューブ内に流体を注入してチューブを膨張させ部品等を
つかむ装置において、チューブの膨張面側に複数の突起
又は突条を形成したことを特徴とする部品等のつかみ装
置。1. Attach one end of a cylindrical tube with openings at both ends that can be expanded by injecting fluid to the tip of the mandrel, attach the other end of the tube to the proximal end of the mandrel, and insert the tube from inside the mandrel into a tube whose both ends are sealed. A device for gripping parts, etc. by injecting fluid to inflate a tube and gripping parts, etc., characterized in that a plurality of protrusions or protrusions are formed on the expansion surface side of the tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13225788A JPH01301087A (en) | 1988-05-30 | 1988-05-30 | Grab for parts or the like |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13225788A JPH01301087A (en) | 1988-05-30 | 1988-05-30 | Grab for parts or the like |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01301087A true JPH01301087A (en) | 1989-12-05 |
Family
ID=15077046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13225788A Pending JPH01301087A (en) | 1988-05-30 | 1988-05-30 | Grab for parts or the like |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01301087A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0624884U (en) * | 1992-08-31 | 1994-04-05 | 本田技研工業株式会社 | Internal hole surface gripping device for work |
| US7284900B2 (en) | 2001-10-19 | 2007-10-23 | Monogen, Inc. | Apparatus and method for mixing specimens in vials |
| JP2011255459A (en) * | 2010-06-09 | 2011-12-22 | Bridgestone Corp | Gripping device |
| JP2014172144A (en) * | 2013-03-12 | 2014-09-22 | Bridgestone Corp | Holding device |
| JP2020069612A (en) * | 2018-10-31 | 2020-05-07 | 学校法人立命館 | Gripping device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62297083A (en) * | 1986-06-13 | 1987-12-24 | 株式会社ブリヂストン | Gripper for part, etc. |
-
1988
- 1988-05-30 JP JP13225788A patent/JPH01301087A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62297083A (en) * | 1986-06-13 | 1987-12-24 | 株式会社ブリヂストン | Gripper for part, etc. |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0624884U (en) * | 1992-08-31 | 1994-04-05 | 本田技研工業株式会社 | Internal hole surface gripping device for work |
| US7284900B2 (en) | 2001-10-19 | 2007-10-23 | Monogen, Inc. | Apparatus and method for mixing specimens in vials |
| JP2011255459A (en) * | 2010-06-09 | 2011-12-22 | Bridgestone Corp | Gripping device |
| JP2014172144A (en) * | 2013-03-12 | 2014-09-22 | Bridgestone Corp | Holding device |
| JP2020069612A (en) * | 2018-10-31 | 2020-05-07 | 学校法人立命館 | Gripping device |
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