| 摘要 |
PURPOSE:To make it possible to stably grip a cylindrical body by a gripping device such as a hand or the like of a robot for gripping the cylindrical body from the inside thereof, without being limited by the weight of the cylindrical body, by expanding a resilient member in the outer-diametrical direction due to compression thereof. CONSTITUTION:A resilient member 1 is clamped between a bottom plate 3 attached to the lower end of an output rod 2 and an upper plate 4 fitted in the output rod 2, and is supported on the bottom plate 3. Further, the resilient member 1 is fitted on projections 5, 6 and is limited to its movement in a direction orthogonal to the axial direction of the output rod 2. A pipe 18 for feeding pressure fluid into a pressure fluid outlet and inlet port 17 is connected to a bottom plate 10 while a gas communication pipe 20 is connected to a gas outlet and inlet port 19 in an upper plate 12. When pressurized fluid is fed under pressure from the pipe 18 into a piston cylinder 8, the output rod 2 is pushed up to lift the bottom plate 3, and the resilient member 1 is compressed so as to expand since the upper plate 4 is stationary against the displacement of the rod 2, and the resilient member is made into press-contact with the inner surface of a cylindrical body 21 which is gripped.
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