Handling unit and handling device

A handling unit comprising:

• a collet, a housing, an operation body, and an operation body biasing means, wherein
• the collet integrally includes:
• a reference part provided on part of the collet in an axial direction;
• a plurality of elastic deformation parts connected to an axial direction tip side of the reference part;
• a plurality of finger parts connected to an axial direction tip side of the plurality of elastic deformation parts, respectively;
• and
• a plurality of driven parts which receives driving force caused by elastic deformation of the plurality of elastic deformation parts when the plurality of finger parts moves in a radial direction,
• the housing encloses the collet and includes:
• a cylinder structure which is placed on an outer circumferential side or an axial direction base end side of the collet and which has a fluid supply port;
• a collet locking part which locks the collet at a predetermined locking position in the axial direction,
• a tip side internal surface portion placed on an internal surface on the axial direction tip side of the housing;
• and
• a base end side internal surface portion placed on an internal surface of the cylinder structure through a first stepped part which increases an inner dimension of the tip side internal surface portion on the axial direction base end side and which is formed on the axial direction tip side with respect to a second stepped part, and
• the operation body includes:
• a driving part which provides the driving force to the plurality of driven parts to cause the elastic deformation;
• a pressure reception part which receives fluid pressure supplied from the fluid supply port inside the cylinder structure;
• and
• a cylinder slide contact part which slides and contacts with an internal surface of the cylinder structure so as to move air-tightly in the axial direction;
• a tip side outer surface portion placed on an outer surface in a range in which the position in the axial direction overlaps the tip side internal surface portion;
• and
• a base end side outer surface portion including the cylinder slide contact part provided through the second stepped part which increases an outer dimension of the tip side outer surface portion on the axial direction base end side of the operation body, and
• the operation body biasing means is placed between the first stepped part and the second stepped part, and formed of an elastic body which biases the operation body toward the axial direction base end side due to elastic restoring force, and
• a coaxial position and posture of the reference part with respect to an axis are held by the housing or the operation body.

A handling devise comprising:

• a handling unit, a unit driving system, a fluid supply means, and a control unit, wherein
• the handling unit includes a collet, a housing, and an operation body,
• the collet integrally contains:
• a reference part provided on part of the collet in an axial direction;
• a plurality of elastic deformation parts connected to an axial direction tip side of the reference part;
• a plurality of finger parts connected to an axial direction tip side of the plurality of elastic deformation parts, respectively;
• and
• a plurality of driven parts which receives driving force caused by elastic deformation of the plurality of elastic deformation parts when the plurality of finger parts moves in a radial direction,
• the housing encloses the collet and contains:
• a cylinder structure which is placed on an outer circumferential side or an axial direction base end side of the collet and which has a fluid supply port;
• and
• a collet locking part which locks the collet at a predetermined locking position in the axial direction,
• the operation body contains:
• a driving part which provides the driving force to the plurality of driven parts due to the elastic deformation;
• a pressure reception part which receives fluid pressure supplied from the fluid supply port inside the cylinder structure;
• and
• a cylinder slide contact part which slides and contacts with an internal surface of the cylinder structure so as to move air-tightly in the axial direction,
• a coaxial position and posture of the reference part with respect to an axis are held by the housing or the operation body,
• the unit driving system determines a position and posture of the handling unit,
• the fluid supply means supplies fluid into the cylinder structure, and
• the control unit controls the unit driving system and the fluid supply means.