JP2008183637A - Holding device and carrier device having it - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a holding device of a body to be held having a simple mechanism and strongly holding the body to be held having an inside screw part in a short period of time and a carrier device having it. <P>SOLUTION: A projected part 111 of a cylindrical body 11 has an outside screw region 111a at least on one part of an outer peripheral part of which an outside screw is formed, and the projected part 111 can be elastically deformed in a convergent state and in a divergent state. The projected part 111 in the convergent state is shaped to be convergent toward one side Z1 in the sliding direction, and the projected part 111 is shaped to be separated more from a sliding axis in the divergent state than in the convergent state. The projected part 111 in the convergent state comes to be in the divergent state as a sliding part 131 intrudes into the inside space of the projected part 111. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a holding device for holding a body to be held having an inner screw portion, and a conveying device having the holding device.

  As a conventional technique, there is a holding device that holds an object to be held by using an internal screw portion formed on the object to be held. FIG. 17 is a side view showing the holding device 1 of the first prior art. The holding device 1 according to the first prior art includes an external screw member 2 and a rotating means 3 that rotates the external screw member 2. The holding device 1 holds the held body 4 by rotating the outer screw member 2 by the rotating means 3 and screwing the outer screw member 2 into the inner screw portion 9 of the held body 4.

  FIG. 18 is a side view showing the holding device 5 of the second prior art. The second prior art holding device 5 includes a balloon 7 and supply means 8 for supplying compressed air supplied from a supply source 6 to the balloon. After the deflated balloon 7 is inserted into the inner threaded portion of the held body 4, the supply means 8 supplies compressed air to the inner space of the balloon 7 to inflate the balloon 7, thereby A frictional force is generated between the inner screw portion 9 and the inner surface of the inner threaded portion 9, and the held body 4 is held using the frictional force.

  In the holding device 1 of the first prior art, a plurality of rotating means 3 corresponding to the number of external screw members 2 to be rotated are required. Further, in accordance with the screwing of the outer screw member 2 with respect to the inner screw portion 9, a linearly moving means for moving the rotating means 3 in the screw axis direction is required. Further, if the outer screw member 2 and the inner screw portion 9 are to be screwed together with a sufficient area, the outer screw member 2 must be sufficiently screwed and rotated, which is necessary until the object to be held is held. There is a problem that preparation time becomes long.

  In the second conventional holding device 5, it is necessary to deform the outer peripheral portion of the balloon 7 into an uneven shape along the thread groove of the inner screw portion 9. Since the balloon 7 is pressed against the inner screw portion 9 and deformed by air pressure, there is a problem that it is difficult to firmly hold the held body. Further, in the inner screw portion 9 having a small inner diameter, the unevenness of the thread groove of the inner screw portion 9 is small, and it becomes more difficult to hold firmly.

  Accordingly, an object of the present invention is to provide a holding device that has a simple mechanism and can firmly hold a held body having an internal thread portion in a short time, and a transport device having the holding device.

The present invention is a holding device for holding a to-be-held body in which an inner screw part is formed,
A substrate;
A movable body coupled to the base body so as to be movable in a sliding direction along a predetermined sliding axis with respect to the base body;
A driving means provided on the base for driving the movable body to move in the sliding direction;
An internal space in which the movable body can enter in the sliding direction is formed, and includes a cylindrical body connected to the base body,
The cylindrical body
An annular portion formed annularly with respect to the sliding axis;
The annular part protrudes from one end in the sliding direction to one side in the sliding direction, has an external thread region in which an external thread is formed on at least a part of the outer peripheral part, and has a circumferential interval around the sliding axis. A plurality of projecting portions arranged in a row, and each projecting portion changes from a tapered state that extends closer to the sliding axis as the inner peripheral portion and the outer peripheral portion proceed in one of the sliding directions to the sliding axis as compared to the tapered state. A holding device having a plurality of projecting portions that can be elastically deformed in an open state separated in a perpendicular direction.

  In the taper state, the present invention is characterized in that the maximum outer diameter of the protruding portion is set to be smaller than the outer diameter of the annular portion.

  Further, according to the present invention, in the open state, the outer peripheral portion of each protrusion extends parallel to the sliding axis, and the axis of each external screw of each protrusion coincides with one virtual straight line.

The present invention further includes angular displacement means for angularly driving the cylindrical body around the sliding axis,
At least a part of the outer peripheral portion of the annular portion is formed with an external screw along an imaginary external screw in which the external screw formed on the outer peripheral portion of the projecting portion is extended in the sliding direction in the open state. It is characterized by.

Further, according to the present invention, the angular displacement means is
A cylindrical body holding portion connected to the base body, holding the cylindrical body so as to be displaceable around the sliding direction and the sliding axis within a predetermined range;
A guide unit that guides the cylindrical body to be angularly displaced about the sliding axis with respect to the cylindrical body holding unit as the cylindrical body is displaced in the sliding direction with respect to the cylindrical body holding unit; It is characterized by having.

Further, according to the present invention, the angular displacement means is
A connecting part for elastically connecting the cylindrical body holding part to the base body so as to be displaceable in a sliding direction;
The cylindrical body holding portion further includes an angular displacement prevention portion that prevents angular displacement about the sliding axis with respect to the base body.

According to the present invention, the movable body enters the internal space of the cylindrical body and is slid with respect to the inner peripheral surface of the cylindrical body. A displacement unit that is driven to displace and transmits power applied from the driving means to the sliding unit;
The connecting portion elastically connects the transmission portion of the movable body and the cylindrical body holding portion.

Further, the present invention is a holding device for holding a body to be held on which an internal screw is formed,
A substrate;
A movable body coupled to the base body so as to be movable in a sliding direction along a predetermined sliding axis with respect to the base body;
A driving means provided on the base for driving the movable body to move in the sliding direction;
An internal space in which the movable body can enter in the sliding direction is formed, and includes a cylindrical body connected to the base body,
The cylindrical body
An annular portion formed annularly with respect to the sliding axis;
The annular part protrudes from one end in the sliding direction to one side in the sliding direction, and at least a part of the outer peripheral part has a flexible region having flexibility and elasticity, and the circumference of the annular part is around the sliding axis. A plurality of protrusions arranged at intervals in the direction, each of the protrusions from a tapered state extending closer to the sliding axis as the inner peripheral portion and the outer peripheral portion proceed in one of the sliding directions compared to the tapered state And a plurality of protrusions that are elastically deformable in an open state separated in a direction perpendicular to the sliding axis.

The present invention also includes the holding device,
A transfer device having a moving means for moving the substrate of the holding device.

  According to the present invention, the protrusion is in a tapered state before the movable body is inserted into the cylindrical body. When the movable body is inserted into the inner space of the cylindrical body by the driving means, and the movable body that has passed through the inner space of the annular portion is further inserted into the inner space of the protruding portion, the movable body slides on the inner peripheral surface portion of the protruding portion. Then, each protrusion is pushed outward and deformed against the elastic restoring force. Thereby, each protrusion part will be in the open state which each protrusion part left | separated in the direction perpendicular | vertical with respect to a sliding axis line compared with a taper state. Further, when the movable body is escaped from the internal space of the projecting portion by the driving means, the contact state between the movable body and the inner peripheral portion of each projecting portion is canceled, and the projecting portion returns to the tapered state by the elastic restoring force.

  By thus driving the movable body to be displaced, each projecting portion of the cylindrical body can be deformed into a tapered state and an extended state. Since the deformation in the open state with respect to the taper state is a deformation within the elastic deformation range, each protrusion can repeat the deformation in the taper state and the open state. In the tapered state, the cylindrical body has a shape that tapers toward one side in the sliding direction. Further, in the open state, the cylindrical body has a shape that spreads in a direction perpendicular to the sliding axis as compared with the tapered state.

  By moving the cylindrical body maintained in the tapered state, it is possible to prevent the contact between the inner screw portion of the held body and each protruding portion, and to insert each protruding portion into the inner screw portion of the held body. . From this state, each protrusion is elastically deformed by the movable body to bring the protrusion into an open state, whereby the external thread region of the protrusion can be screwed into the internal thread. Thereby, a to-be-held body can be hold | maintained with respect to a base | substrate. Further, by performing a procedure reverse to the holding procedure, the screwing of the outer screw region of the protruding portion and the inner screw portion can be released, and the holding of the held body with respect to the base can be released.

  As described above, according to the present invention, in order to screw the protruding portion into the inner screw portion, there is no need to rotate the protruding portion around the axis of the inner screw, and the cylindrical body and the movable body can be moved in one direction in the sliding direction. You only have to go straight to each. Therefore, it is possible to shorten the time required for screwing and unscrewing of each protrusion as compared with the case where the external screw member is screwed and rotated as in the first prior art. Therefore, the object to be held can be held and released in a short time. Further, since it is not necessary to rotate the projecting portion around the axis of the inner screw while being screwed to the inner screw portion, the projecting portion can be screwed to the inner screw portion by a simple mechanism. Further, since the held body is held by screwing of the external thread region of the protruding portion, it is possible to hold the held body more firmly than in the second prior art.

  According to the invention, in the tapered state, the maximum outer diameter of the protruding portion is set to be smaller than the outer diameter of the annular portion. As a result, when the cylindrical body is displaced in one direction in the sliding direction and the tapered cylindrical body is inserted into the inner screw portion, the annular portion becomes the inner screw portion without bringing the protruding portion into contact with the inner screw portion. The projecting portion can be inserted into the inner screw portion until contact is made. Therefore, in a state where the annular portion is in contact with the inner screw portion and positioned, each protruding portion can be shifted from the tapered state to the extended state, and the screwing of each protruding portion to the inner screw portion can be stably performed. .

  Moreover, according to this invention, the outer peripheral part of the protrusion part in an open state is parallel to a sliding axis. Accordingly, the external thread region formed on the outer peripheral surface portions of the plurality of projecting portions in the open state functions as a single parallel screw as a whole. Therefore, when the inner screw formed on the held body is a parallel screw, the held body can be held by screwing the entire outer screw region of the protruding portion into the inner screw portion of the held body. Therefore, a to-be-held body can be hold | maintained firmly.

  In addition, since the external thread region of each protrusion in the open state functions as one parallel screw as a whole, all the protrusions can be screwed to the internal thread of the held body. Therefore, when holding the held body, it is possible to prevent the axis of the internal thread of the held body from deviating from the axis of the external thread of the protruding part, and the plurality of protruding parts have a uniform pressure with respect to the internal screw part. It becomes possible to contact with. Therefore, a to-be-held body can be hold | maintained still more firmly.

  According to the invention, the external thread is formed on at least a part of the outer peripheral portion of the annular portion of the cylindrical body. While maintaining the taper state, the cylindrical body is angularly displaced by the angular displacement means while being inserted into the inner threaded part of the held body without contacting the protruding part and the annular part and the inner threaded part being in contact with each other. Let Accordingly, the outer peripheral portion of the annular portion can be fitted to the inner screw portion without the projecting portion contacting the inner screw portion. Moreover, the external thread of the outer peripheral part of the annular part is along a virtual external thread obtained by extending the external thread formed on the outer peripheral part of the projecting part in the open state to the other side in the sliding direction. Therefore, when the projecting part is opened while the annular part is fitted to the inner threaded part of the held body, the outer screw region formed in the projecting part and the inner thread of the inner threaded part of the held body are surely secured. And they are prevented from coming into contact in a displaced state.

  According to the invention, the cylindrical body holding portion holds the cylindrical body so that it can be displaced around the sliding direction and the sliding axis within a predetermined range. The guide portion angularly displaces the cylindrical body about the sliding axis with respect to the cylindrical body holding portion as the cylindrical body is displaced in the sliding direction with respect to the cylindrical body holding portion. When the cylindrical body comes into contact with the held body and a force is applied from the held body toward the other side in the sliding direction, the cylindrical body is displaced in the other sliding direction with respect to the cylindrical body holding portion. Due to this displacement in the sliding direction, the cylindrical body is guided by the guide portion and angularly displaced about the sliding axis with respect to the cylindrical holding portion. Therefore, when the cylindrical body is pressed against the inner screw portion of the held body, the cylindrical body is angularly displaced about the sliding axis, and the outer screw and the inner screw portion of the annular portion are fitted. As described above, in the present invention, the cylindrical body can be angularly displaced simply by pressing the cylindrical body against the inner screw portion, and a drive source for angularly displacing the cylindrical body around the sliding axis is necessary. The structure can be simplified.

  According to the invention, the cylindrical body holding portion is elastically connected to the base body. As a result, the tubular body holding portion can absorb the impact applied from the tubular body to the tubular body holding portion. Therefore, damage to the cylindrical body and the cylindrical body holding part can be prevented. Further, even when the cylindrical body comes into contact with the held body and the cylindrical body receives an impact from the held body, the cylindrical body holding portion is elastically displaced by the connecting portion, so that the held body is The impact transmitted to the cylindrical body holding part can be reduced. Therefore, damage can be prevented for any of the held body, the cylindrical body, and the cylindrical body holding portion.

  Further, the angular displacement means has an angular displacement prevention part, and prevents the cylindrical body holding part from being angularly displaced about the sliding axis with respect to the base. Thus, even when the connecting portion elastically supports the cylindrical body holding portion with respect to the base, the cylindrical body holding portion is caused by a reaction received from the cylindrical body when the cylindrical body is angularly displaced. Angular displacement with respect to the substrate can be prevented. Accordingly, it is possible to ensure the fitting of the outer thread of the annular part to the inner thread part of the held body. Therefore, when it becomes an open state, the external thread area | region of an protrusion part and an internal thread part can be ensured.

  According to the invention, the movable body has the sliding portion, and the sliding portion can enter the internal space of the cylindrical body and slide with respect to the inner peripheral surface of the cylindrical body. When the sliding portion enters the protruding portion, the sliding portion can push the protruding portion from the inner peripheral surface and elastically deform from the tapered state to the stretched state. Moreover, since the transmission part is elastically connected to the cylindrical body holding part by the connecting part, the transmission part elastically transmits the power from the driving means to the cylindrical body holding part. The cylindrical body holding part is displaced in one of the sliding directions by the power transmitted through the transmission part, so that the cylindrical body held by the cylindrical body holding part comes into contact with the inner screw part and is cylindrical. The annular part of the body is fitted to the inner thread part.

  Therefore, by the displacement drive in the sliding direction of the transmission portion by the driving means, the sliding direction drive and angular displacement drive of the cylindrical body for fitting the annular portion of the cylindrical body and the internal thread portion, and the sliding portion The elastic deformation driving of the protruding portion can be realized by one driving mechanism, and the object to be held can be held by a simple mechanism.

  According to the present invention, the protrusion is in a tapered state before the movable body is inserted into the cylindrical body. When the movable body is inserted into the internal space of the protruding portion by the driving means, and the movable body that has passed through the internal space of the annular portion is further inserted into the internal space of the protruding portion, the movable body slides on the inner peripheral surface portion of the protruding portion. Then, each protrusion is pushed outward and deformed against the elastic restoring force. Thereby, each protrusion part is separated from each other in a direction perpendicular to the sliding axis as compared with the tapered state, and is in an open state. Further, when the movable body is escaped from the internal space of the projecting portion by the driving means, the contact state between the movable body and the inner peripheral portion of each projecting portion is canceled, and the projecting portion returns to the tapered state by the elastic restoring force.

  Thus, by driving the movable body to be displaced, each projecting portion of the cylindrical body can be deformed into a tapered state and an open state. Since the deformation in the open state with respect to the taper state is a deformation within the elastic deformation range, each protrusion can repeat the deformation in the taper state and the open state. In the tapered state, the cylindrical body has a shape that tapers toward one side in the sliding direction. Further, in the open state, the cylindrical body has a shape that spreads in a direction perpendicular to the sliding axis as compared with the tapered state.

  By moving the cylindrical body maintained in the tapered state, it is possible to prevent the contact between the inner screw portion of the held body and each protruding portion, and to insert each protruding portion into the inner screw portion of the held body. . From this state, each projecting portion is elastically deformed by the movable body so that the projecting portion is in an open state, whereby the flexible region of the projecting portion is pressed and deformed with respect to the inner screw portion, and the flexible region is It can be engaged with the threaded portion. A to-be-held body can be hold | maintained by engaging a protrusion part with an internal thread part. Further, by performing a procedure reverse to the holding procedure, the engagement between the protruding portion and the inner screw portion can be released, and the holding of the held body can be released.

  Thus, according to the present invention, in order to engage the protruding portion with the inner thread portion of the held body, it is not necessary to rotate the projecting portion around the axis of the inner screw. It is only necessary to move straight in one of the sliding directions. Therefore, compared with the case where the external screw member is rotated as in the first prior art, it is possible to shorten the time required to engage and disengage the protrusions. Therefore, the object to be held can be held and released in a short time. In addition, since it is not necessary to rotate the cylindrical body around the axis of the internal screw while being engaged with the internal threaded portion, it is possible to engage the cylindrical body with the internal threaded portion of the body to be held by a simple mechanism. It becomes. Further, when the projecting portion is brought into an open state by the entrance of the movable body, the flexible region comes into contact with the inner screw portion and is deformed along the shape of the screw of the inner screw portion. As a result, the inner screw portion and the protruding portion are engaged with each other to generate a frictional force, and the object to be held can be held. Since the movable body is located inside the projecting portion in the open state, excessive deformation of the flexible region is prevented. Therefore, the object to be held can be held firmly as compared with the second prior art.

  According to the invention, the transport device includes the holding device and a moving unit that moves the base of the holding device. By moving the base of the holding device by moving the base of the holding device with the moving device while moving the base of the holding device by moving the base of the holding device to a predetermined holding position. Can be made. Further, after the base of the holding device is moved to a predetermined holding release position by the moving device, the holding of the held body by the holding device is released, whereby the conveyance of the held body can be completed. By having the holding device described above, the transport device has a simple mechanism and can securely transport the held body in a short time while firmly holding the held body having the inner screw portion.

  Hereinafter, a plurality of embodiments for carrying out the present invention will be described with reference to the drawings. In the following description, parts corresponding to matters already described in the forms preceding each form may be denoted by the same reference numerals, and overlapping descriptions may be omitted. When only a part of the configuration is described, the other parts of the configuration are the same as those described in the preceding section. Not only the combination of the parts specifically described in each embodiment, but also the embodiments can be partially combined as long as the combination does not hinder.

  FIG. 1 is a side view showing a part of the holding device 10 according to the first embodiment of the present invention. The holding device 10 according to the first embodiment of the present invention is a device that holds a held object 20 that is an object to be held. In the present embodiment, the holding device 10 can convey the held object 20 by being conveyed by the moving device while holding the object 20 to be held. Moreover, in this Embodiment, the to-be-held body 20 means what the internal thread part 21 is formed. The inner screw portion 21 is a recess in which an inner screw is formed. The inner screw may be referred to as a female screw.

  The holding device 10 includes a cylindrical body 11 that can be switched between a screwed state and a screw-released state with respect to the inner screw portion 21, and a movable body 13 for switching the state of the cylindrical body 11. The By applying a deformation force to the cylindrical body 11 by the movable body 13, the cylindrical body 11 is elastically deformed into an open shape that can be screwed to the inner screw portion 21. Further, by canceling the application of the deformation force by the movable body 13, the cylindrical body 11 is restored and deformed into a tapered shape that can be unscrewed with respect to the inner screw portion 21. The cylindrical body 11 is screwed into the inner screw portion 21, whereby the holding device 10 can hold the inner screw portion 21.

  The holding device 10 includes a base body 16, a movable body 13, a driving unit 15, a cylindrical body 11, and an angular displacement unit 12. The base body 16 is set with a predetermined sliding axis L10. Hereinafter, the direction in which the sliding portion of the movable body 13 slides in the cylindrical body 11 is referred to as “sliding direction Z”, and the sliding direction Z passing through the center of gravity of the cross section perpendicular to the sliding direction Z of the sliding portion. This straight line is referred to as a “sliding axis”. In the sliding direction Z, the direction from the annular portion 112 toward the protruding portion is referred to as “sliding direction one Z1”, and the other direction is referred to as “sliding direction other Z2”. In the first embodiment, the axial direction of the cylinder formed by the annular portion 112 coincides with the sliding direction Z, and the axial line of the cylinder formed by the annular portion 112 is the sliding axis. In the present invention, the direction of clockwise rotation or angular displacement when viewed from the sliding direction other Z2 side to the sliding direction one Z1 is referred to as “circumferential direction R1”, and the counterclockwise rotation or angular displacement direction is referred to as “circumferential direction”. This is referred to as the other direction R2.

  The drive means 15 includes a backward-acting air cylinder 151 and a spacer 153 that drive the piston rod in the sliding direction Z. The driving unit 15 is provided on the base body 16 via the spacer 153 and drives the movable body 13 to be displaced in the sliding direction Z. The movable body 13 is connected to the base body 16 via the driving body 13 and is provided so as to be movable in the sliding direction Z with respect to the base body 16. The movable body 13 is formed in a rod shape extending in the sliding direction Z. The movable body 13 is connected to the piston rod portion 15b of the driving means 15 exposed from the cylinder tube 15a.

  The cylindrical body 11 is indirectly connected to the base body 16. The cylindrical body 11 is disposed at a position where the movable body 13 that is displaced and driven by the driving means 15 can come into contact. The cylindrical body 11 is deformed from the tapered state to the stretched state when the movable body 13 abuts and a deformation force is applied by the movable body 13. The tapered state corresponds to a state in which the screwing with respect to the inner screw portion 21 can be released. The open state corresponds to a state in which the inner screw portion 21 can be screwed.

  FIG. 2 is a side view showing the cylindrical body 11 in the tapered state, and FIG. 3 is a side view showing the cylindrical body 11 in the open state. FIG. 4 is a cross-sectional view of the cylindrical body 11 cut along the line AA in FIG.

  The cylindrical body 11 includes a plurality of projecting portions 111, an annular portion 112, an engaging projection portion 113, and a collar portion 114. The annular portion 112 is formed in a cylindrical shape around the sliding axis L10, and both ends of the sliding axis direction Z are opened. In the present embodiment, the annular portion 112 is formed in a cylindrical shape, and the internal space 115 is formed in a columnar shape. The projecting portion 111 is a deformed portion that is switched between a screwable state and a screwable state with respect to the annular portion 112 when a deforming force is applied from the movable body 13.

  In the present embodiment, each protruding portion 111 is connected to the end portion 111a of the annular portion 112 in the sliding direction one Z1, and protrudes from the annular portion 112 in the sliding direction one Z1. As shown in FIG. 4, the protrusions 111 are arranged with a space 51 in the circumferential direction around the sliding axis L <b> 10 with respect to one cylindrical body 11. A region in which the external thread is not formed on the outer peripheral surface portion is provided at the end of the other sliding direction Z2 of the protruding portion 111. Hereinafter, this region is referred to as a “non-screw region”. An external thread is formed on the outer peripheral surface portion of the one Z1 in the sliding direction than the non-thread region 111b of the protruding portion 111. A region where the external screw is formed is referred to as an “external screw region”.

  In the present embodiment, the protrusions 111 are formed in the same shape. When the sliding part 131 enters the internal space of the projecting part 111 and is in the open state, the external thread in the external thread region 111a of the projecting part 111 becomes a parallel thread. When the sliding portion 131 of the movable body 13 is not located in the internal space 115 formed by the plurality of protruding portions 111, the plurality of protruding portions 111 proceed from the end of the other sliding direction Z2 to the one sliding direction Z1. Accordingly, it has a tapered shape approaching the sliding axis, and this state of the cylindrical portion 11 is referred to as a “tapered state”. When the sliding portion 131 of the movable body 13 is positioned in the internal space 115 formed by the plurality of protruding portions 111, each protruding portion 111 extends in parallel along the sliding axis. This state of the cylindrical body 11 is referred to as an “open state”.

  In the present embodiment, the protruding portions 111 are provided at equal intervals in the circumferential direction around the sliding axis L10 with respect to one annular portion 112, and are respectively disposed at positions that are point-symmetric with respect to the sliding axis L10. More specifically, four protrusions 111 are provided, and the two protrusions 111 adjacent to each other in the circumferential direction are arranged around the sliding axis L10 with an interval of 90 °. Further, the protruding portion 111 is formed in a tapered shape in which the circumferential dimension around the sliding axis L10 is reduced as it advances in one sliding direction Z1. In the present embodiment, the protruding portion 111 is formed in a substantially trapezoidal shape or a substantially triangular shape that is convex in the sliding direction one Z1.

  As shown in FIG. 2, in the tapered state, each protrusion 111 is formed in a tapered shape that tapers as the whole proceeds in one sliding direction Z <b> 1. Specifically, each projecting portion 111 is bent inward in the radial direction from the connecting portion with the annular portion 112 in the direction approaching the sliding axis L10. In the present embodiment, in the tapered state, the end 111d of the one Z1 in the sliding direction of each protrusion 111 is in contact with or close to each other in the vicinity of the sliding axis L10. As a result, each protrusion 111 extends closer to the sliding axis L10 as the inner peripheral portion and the outer peripheral portion proceed in one sliding direction Z1. In the tapered state, an internal space 52 is formed on the radially inner side of each protrusion 111. In the tapered state, the inner space 52 is covered on the one side Z1 side in the sliding direction by the end portion 111d of the one sliding direction Z1 of each protrusion 111, and communicates with the inner space 115 of the annular portion 112 in the other sliding direction Z2.

  Each protrusion 111 is in a tapered state in a natural state where no external force is applied from the movable body 13. Each protrusion 111 is in an open state when an external force is applied from the movable body 13. Each protrusion 111 has a specific shape in the stretched state and the tapered state, and the material of the protrusion 111 is selected so that the amount of deformation necessary for deformation from the tapered state to the expanded state is within the elastic deformation range. Is done. The protrusion 111 is preferably made of metal in consideration of wear resistance. In the present embodiment, each protrusion 111 is made of a superelastic alloy such as a titanium-nickel (Ti-Ni) alloy.

  As shown in FIG. 3, in the extended state, the end 111d of one side Z1 in the sliding direction of each protrusion 111 is separated radially outward with respect to the sliding axis L10 as compared to the position in the tapered state. To position. Further, in the open state, each protrusion 111 extends in parallel with the sliding axis L10 as it advances in the sliding direction one Z1. Therefore, in the open state, the inner diameter of each protrusion 111 is uniform regardless of the position in the sliding direction Z. In addition, the inner diameter of each protruding portion 111 is the same as the inner diameter of the annular portion 112. In the open state, an internal space 53 is formed on the radially inner side of each protrusion 111. The internal space 53 opens to one side Z1 in the sliding direction and communicates with the internal space 115 of the annular portion 112 in the other sliding direction Z2.

  Each protrusion 111 is formed with an external screw on at least a part of the outer peripheral portion with respect to the sliding axis L10. The external screw may be referred to as a male screw. In the present embodiment, an outer screw region 111 a and a non-screw region 111 b are formed on the outer peripheral surface portion of each protrusion 111. The non-screw region 111b is continuous with the end portion 112a of the Z1 in the sliding direction of the annular portion 112. Further, the external thread region 111a is continuous with the end portion 111c of one side Z1 in the sliding direction of the non-screw region 111b.

  Specifically, the external screw region 111a is a region where an external screw is formed on the radially outer side portion with respect to the sliding axis L10 in the open state shown in FIG. The external screw is formed with threads in the sliding direction Z, and the thread groove extends in the circumferential direction around the sliding axis L10. In the open state, the external thread formed in the external thread region 111a of each projecting portion 111 is a series of screw threads along a virtual external thread formed as a virtual parallel thread centered on the sliding axis L10. It becomes a shape.

  The non-screw region 111b is a region in which no external screw is formed on the radially outer side portion with respect to the sliding axis L10 in the open state shown in FIG. In the open state, the non-screw region 111b is formed such that the radial dimension r2 from the sliding axis L10 is smaller than the radial dimension r1 from the sliding axis L10 in the outer screw region 111a (r2 <r1). In the present embodiment, in the unfolded state, the non-screw region 111b is formed such that the radial dimension r2 from the sliding axis L10 is constant with respect to the sliding direction Z. In the present embodiment, the protruding portions 111 are elastically restored and bent in the non-screw region 111b, so that the stretched state is changed to the tapered state.

  The annular portion 112 is formed in a cylindrical shape having a uniform inner diameter with respect to the sliding axis L10. An external thread is formed at the end 112a of the annular portion 112 in one sliding direction Z1. The screw is preferably formed around the sliding axis L10 at least once. The external thread formed in the annular portion 112 is a parallel thread centered on the sliding axis L10 and has a series of external thread shapes. When each protrusion 111 is in the open state, the external screw formed on the annular portion 112 is a virtual external screw that extends the external screw formed on the outer peripheral portion of the protrusion 111 in the other sliding direction Z2. Formed along the shape.

  Of the annular portion 112, a thick portion that is a remaining portion other than the external screw portion where the external screw is formed has an outer peripheral diameter larger than the outer peripheral diameter of the external screw portion. Further, the annular portion 112 has the same inner diameter in the outer screw portion and the thick portion, and the inner diameter is uniform with respect to the sliding direction Z. Further, in the tapered state, the maximum outer diameter d2 of the protruding portion 111 with the sliding axis L10 as the center line is set to be smaller than the outer diameter of the annular portion 112, and is larger than the outer screw diameter d1 formed in the annular portion 112 at the maximum. It is formed small.

  The collar portion 114 is formed so that its outer shape is circular when viewed in the Z direction, and makes a round around the sliding axis L10 coaxially with the sliding axis L10. Further, the collar portion 114 protrudes outward from the annular portion 112 in the radial direction of the sliding axis L10. Specifically, the collar portion 114 is formed at the end portion in the sliding direction one Z <b> 1 in the thick portion of the annular portion 112, and is adjacent to the other sliding direction Z <b> 2 with respect to the external thread portion of the annular portion 112.

  The engagement protrusion 113 is formed on the thick portion of the annular portion 112 and protrudes outward in the radial direction from the outer peripheral surface of the thick portion. The engaging projection 113 is formed in a columnar shape centered on a radial axis L11 extending perpendicular to the sliding axis L10, and the outer peripheral surface is smoothly formed. It is preferable that the outer peripheral portion of the engaging protrusion 113 is formed to be rotatable around the radial axis L11.

  The movable body 13 includes a sliding part 131, a transmission part 132, and a stopper 133. The transmission part 132 is formed in a rod shape extending in the sliding direction Z. The other end 131b of the transmission portion 132 in the sliding direction Z2 is connected to the piston rod portion 13b of the driving means 15. The sliding part 131 is connected to the end part 131a of one side Z1 in the sliding direction of the transmission part 132. When the transmission part 132 is displaced in the Z direction with respect to the base body 16, the sliding part 131 is also elastically displaced in the Z direction with respect to the base body 16.

  The transmission part 132 is formed in a non-circular shape whose cross-sectional shape perpendicular to the sliding axis L10 is uniform in the sliding direction Z. In other words, the cross-sectional shape of the transmission portion 132 changes in the radial dimension with respect to the sliding axis L10 as it advances in the circumferential direction around the sliding axis L10. In the present embodiment, the cross-sectional shape of the transmission portion 132 is a so-called D-shape that is surrounded by an arc corresponding to a circumferential angle of 180 ° or more and a chord connecting both ends of the arc in the circumferential direction.

  The sliding part 131 is formed in a cylindrical shape having the sliding axis L10 as an axis. The outer diameter of the sliding part 131 is formed substantially the same as the inner diameter of the annular part 112. The area of the cross section of the sliding part 131 perpendicular to the sliding direction Z is formed larger than the area of the cross section of the transmitting part 132 perpendicular to the sliding direction Z. Specifically, the diameter of the sliding part 131 is formed larger than the maximum diameter of the transmission part 132. Further, the end portion 132a of the sliding portion 131 in the sliding direction one Z1 is formed in a tapered shape that decreases in diameter as it proceeds in the sliding direction one Z1.

  The stopper 133 is provided in the transmission part 132, and is arrange | positioned rather than the sliding part 131 in the other sliding direction Z2. In the present embodiment, the stopper 133 is formed in a ring shape and makes a round around the sliding axis L10 coaxially with the sliding axis L10. Further, the stopper 133 protrudes outward in the radial direction of the sliding axis L10 from the transmission portion 132.

  The internal space of the cylindrical body 11 is formed so that the sliding part 131 of the movable body 13 can enter. Specifically, the sliding portion 131 is arranged coaxially with the annular portion 112, and proceeds from the other sliding direction Z <b> 2 to the sliding direction one Z <b> 1 with respect to the tubular body 11, thereby causing the annular portion 112. It becomes possible to enter the interior space 115 of the vehicle. The sliding part 131 further advances in the sliding direction Z1 with respect to the cylindrical body 11 from the state in which the sliding part 131 has entered the annular part 112, so that the sliding part 131 is tapered as shown in FIG. It enters the internal space 52 of each protruding portion 111 in a state and slides on the inner peripheral surface of each protruding portion 111. Thereby, each protrusion 111 is pushed outward by the sliding part 131. As a result, each protrusion 111 is elastically deformed and elastically deformed to the open state shown in FIG.

  By moving the sliding portion 131 in the other sliding direction Z2 from the state in which each protruding portion 111 is deformed to the open state by the sliding portion 131, each protruding portion 111 approaches the natural state by the elastic restoring force. By releasing the contact between the sliding portion 131 and the inner peripheral surface portion of each protruding portion 111, each protruding portion 111 is restored to a tapered state. As described above, each protrusion 111 is set so that the amount of deformation necessary for deformation from the taper state to the stretched state is within the elastic deformation range, so that the taper state and the stretched state are repeated alternately. Can be switched.

  The holding device 10 includes a cylindrical body holding part 121 and a connecting part 126. The cylindrical body holding unit 121 holds the cylindrical body 11 against the base body 16. In the present embodiment, the cylindrical body holding portion 121 is connected to the base body 16 while holding the cylindrical body 11 so as to be displaceable about the sliding direction Z and the sliding axis L10 within a predetermined range. The connecting portion 126 elastically connects the cylindrical body holding portion 121 to the base body 16 so as to be displaceable in the sliding direction Z.

  Specifically, the cylindrical body holding portion 121 is provided with a slider portion 125. The slider portion 125 is fitted to a slide rail 161 provided on the base body 16. Accordingly, the cylindrical body holding portion 121 is guided so as to be movable in the sliding direction Z with respect to the base body 16, and is prevented from moving in directions other than the sliding direction Z. The connecting part 126 elastically connects the cylindrical body holding part 121 and the stopper 133 of the movable body 13. The cylindrical body holding part 121 is held by the connecting part 126 so as to be elastically displaceable in the sliding axis direction Z with respect to the base body 16. In the present embodiment, the connecting portion 126 is realized by a compression coil spring. The connecting portion 12 is disposed coaxially with the sliding axis L10 and surrounds a part of the transmission portion 132 of the movable body 13 around the sliding axis L10. One end of the connecting portion 12 in the sliding direction Z1 is fixed to the other end of the cylindrical body holding portion 121 in the other sliding direction Z2. Further, the other end in the sliding direction Z2 of the connecting portion 12 is fixed to the stopper 133. The connection part 12 gives the spring force which makes it mutually separate in the sliding direction Z to the stopper 133 and the cylindrical body holding part 121, respectively. Accordingly, when the transmission unit 132 is displaced in the Z direction with respect to the base body 16, the cylindrical body holding portion 121 is also elastically displaced in the Z direction with respect to the base body 16.

  A stopper 161a for preventing displacement of the cylindrical body holding portion 121 and the angular displacement means 12 in the sliding direction one Z1 is provided at the end of the sliding rail 161 in the sliding direction one Z1. The stopper 161a is fixed to the slide rail 161. Even if the slider portion 125 of the cylindrical body holding portion 121 slides with respect to the slide rail 161 and is displaced in one sliding direction Z1, the slider portion of the cylindrical body holding portion 121 is moved to the stopper 161a in the other sliding direction. There is no displacement in the sliding direction one Z1 from the position abutting from the Z2 side.

  A cylindrical end 121a having an outer diameter that coincides with the inner diameter of the coil spring of the connecting portion 126 is formed at the end of the cylindrical body holding portion 121 where the end of the connecting portion 126 in the sliding direction one end Z1 contacts. The coil spring of the connecting portion 126 fits into the cylindrical end portion 121a of the cylindrical body holding portion 121. The cross section perpendicular to the sliding direction Z of the cylindrical body holding portion 121 in the sliding direction one Z1 from the cylindrical end portion 121a is larger than the outer diameter of the cylindrical end portion 121a of the cylindrical body holding portion 121. Is a square with a long side. As a result, the displacement of the end portion Z1 in the sliding direction of the connecting portion 126 with respect to the cylindrical body holding portion 121 is prevented from being displaced in the sliding direction direction Z1. The stopper 133 of the movable body 13 with which the other end Z2 in the sliding direction of the connecting portion 126 contacts is formed with a cylindrical end portion 133a of the stopper having an outer diameter that matches the inner diameter of the coil spring of the connecting portion 126. The coil spring of the connecting portion 126 is fitted into the cylindrical end portion 133a of the stopper. The stopper 133 in the other sliding direction Z2 than the cylindrical end portion 133a has a columnar shape having an outer diameter larger than the outer diameter of the cylindrical end portion 133a of the stopper into which the connecting portion 126 is fitted. This prevents the end of the other sliding direction Z2 of the connecting portion 126 from being displaced relative to the stopper 133 in the other sliding direction Z2.

  FIG. 5 is a cross-sectional view of the angular displacement preventing portion 123 of the angular displacement means 12 according to the first embodiment of the present invention, taken along the cutting plane line BB shown in FIG. The cylindrical body holding portion 121 is generally formed in a cylindrical shape. In the present embodiment, the cylindrical body holding portion 121 is disposed coaxially with the sliding axis L10 and has an outer shape formed in a quadrangular prism shape. In the present embodiment, the outer diameter of the cylindrical body holding portion 121122 is formed such that the cross-sectional shape perpendicular to the sliding axis L10 is a square shape centered on the sliding axis L10, and the length of one side is cylindrical. It is formed equal to the diameter of the collar 144 of the body 11.

  The slider portion 125 is fixed to a part of the outer peripheral surface portion of the cylindrical body holding portion 121. Further, the cylindrical body holding portion 121 is formed with a cylindrical internal space 122 that is coaxial with the sliding axis L10 and opens to one side Z1 in the sliding direction. The inner diameter of the internal space 122 of the cylindrical body holding part 121 is formed substantially the same as the outer diameter of the thick part of the annular part 112 of the cylindrical body 11. In the internal space 122 of the cylindrical body holding part 121, the sliding part 131 of the movable body 13 and the thick part of the annular part 112 of the cylindrical body 11 are formed so as to be accommodated.

  The cylindrical body holding portion 121 is formed with a lid portion that covers the internal space 122 from the other side Z2 in the sliding direction as a part of the cylindrical body holding portion 121. The lid portion 122 continues to the other Z2 side portion in the sliding direction of the outer peripheral portion. The lid portion 122 is fixed to the end portion of the connecting portion 126 in one axial direction in the sliding direction Z1. A through hole penetrating in the sliding direction Z is formed in the lid portion 122. The through hole is formed in a shape that allows the transmission portion 132 to be loosely fitted in the sliding direction Z. Therefore, in the present embodiment, the cross-sectional shape perpendicular to the sliding axis L10 of the through hole is formed in a D shape. The through hole is formed smaller than the diameter of the sliding portion 131.

  As described above, in the cylindrical body holding portion 121, the slider portion 125 is fitted to the slide rail 161 and the lid portion 122 is fitted to the transmission portion 132. Accordingly, the cylindrical body holding portion 121 is prevented from being angularly displaced about the sliding axis L10 with respect to the base body 16 and the transmission portion 132. Therefore, in this embodiment, the slider portion 125 and the lid portion 122 are angular displacement prevention portions that prevent the cylindrical body holding portion 121 from being angularly displaced about the sliding axis L10 with respect to the base body 16.

  The through hole is formed smaller than the diameter of the sliding portion 131. Therefore, when the sliding part 131 moves in the other sliding direction Z2 with respect to the cylindrical body holding part 121, the sliding part 131 comes into contact with the lid portion 122 from one sliding direction Z1. From this state, when the sliding portion 131 further moves in the other sliding direction Z2, it applies a moving force to the lid portion 122 to displace the cylindrical body holding portion 121 in the other sliding direction Z2.

  6 is a cross-sectional view taken along the cutting plane line CC of FIG. The cylindrical body holding part 121 is formed with a guide part in a part of the outer peripheral part. The guide portion defines a long hole 124 that penetrates in the radial direction of the sliding axis L10 and extends in the sliding direction Z. The long hole 124 defined in the guide portion serves as an insertion space into which the engaging projection 113 of the tubular body 11 accommodated in the tubular body holding portion 121 is inserted. The long hole 124 extends in a direction that is angularly displaced in the circumferential direction around the sliding axis L10 as it advances from one sliding direction Z1 to the other sliding direction Z2. The dimension of the long hole 124 in the width direction is greater than the diameter of the engaging protrusion 113.

  An inner portion of the guide portion with respect to the sliding axis L10 is formed to extend spirally with respect to the sliding axis L10, and is angularly displaced around the sliding axis L10 as it proceeds from one sliding direction Z1 to the other sliding direction Z2. . In the present embodiment, as the sliding direction proceeds from one Z1 to the other sliding direction Z2, the angular displacement is made to the circumferential direction R1. Of the guide portion, a plane that passes through the sliding direction one Z1 side portion of the long hole 124 and the sliding axis L1, and a plane that passes through the sliding direction other Z2 side portion of the long hole 124 and the sliding axis L1. The formed angle is set to 10 ° or more. This angle is preferably about 20 °, and is set to about 20 ° in this embodiment. In the first embodiment, the external threads formed on the outer peripheral surface portions of the annular portion 112 and the protruding portion 111 are right-handed screws, and the angular displacement of the cylindrical body 11 when the engaging protrusion 113 is displaced to Z2 is , R1 is angularly displaced. This makes it possible to hold the held body when the inner screw formed on the inner thread portion 21 of the held body is a right-hand thread.

  A thick portion of the annular portion 112 of the tubular body 11 is accommodated in the internal space 122 of the tubular body holding portion 121, and an outer peripheral portion of the protruding portion 113 of the tubular body 11 is a long hole 124 defined by the guide portion. Abutting on the inner periphery facing the surface. When the cylindrical body 11 moves in the sliding direction Z with respect to the cylindrical body holding portion 121, the engaging protrusion 113 is slidably guided to the inner peripheral surface facing the elongated hole 124, and is moved around the sliding axis L10. Move to the angular displacement. Therefore, when the cylindrical body 11 moves in the sliding direction Z with respect to the cylindrical body holding portion 121, the cylindrical body 11 is angularly displaced about the sliding axis L10.

  The cylindrical body 11 is in contact with the inner peripheral surface of the end portion of the sliding direction one Z1 in the guide portion, thereby preventing further displacement in the sliding direction one Z1 and angular displacement in the other circumferential direction R2. . Further, before the tubular body 11 abuts on the inner peripheral surface of the end portion of the other sliding direction Z2 in the guide portion, the collar portion abuts on the end surface on the Z1 side in the sliding direction of the tubular body holding portion 121. This prevents further displacement in the other sliding direction Z2 and clockwise angular displacement with respect to the sliding axis L10. In addition, the cylindrical body holding portion 121 also holds the cylindrical body 11 within a predetermined range by the contact of the engaging protrusion 113 with the inner peripheral surface of the end of the other sliding direction Z2 in the guide portion. It is held so that it can be displaced around the sliding direction Z and the sliding axis.

  Thus, in this embodiment, the cylindrical body holding part 121 holds the cylindrical body 11 so that it can be displaced around the sliding direction and the sliding axis within a predetermined range. Further, as the tubular body 11 is displaced in the sliding direction with respect to the tubular body holding portion 121 by the guide portion, the tubular body 11 is angularly moved around the sliding axis with respect to the tubular body holding portion 121. Displace.

  When the tubular body 11 comes into contact with the body to be held and a force is applied from the body to be held toward the other sliding direction Z2, the tubular body 11 is moved against the tubular body holding portion 121 in the other sliding direction Z2. It is displaced to. Due to the displacement in the sliding direction, the cylindrical body 11 is guided by the guide part and angularly displaced about the sliding axis with respect to the cylindrical body holding part 121. Therefore, when the cylindrical body 11 is pressed against the inner screw portion 21 of the held body, the cylindrical body holding portion 121 is cylindrical in the rotation direction when the outer screw of the annular portion 112 is screwed in one of the sliding directions Z1. The shape body 11 can be angularly displaced about the sliding axis. Therefore, in the present embodiment, the cylindrical body holding portion 121, the driving body, and the movable body 13 can realize angular displacement means that angularly drives the cylindrical body 11 about the sliding axis. More specifically, the angular displacement means 12 is configured to further include an angular displacement prevention part 123, a slider 125, and a connecting part 126.

  FIG. 7 is a flowchart showing a process of holding the held body 20 by the held body holding device 10 according to the first embodiment of the present invention. FIG. 8 is a side view of the held body holding device 10 showing the process of holding the held body 20 by the held body holding apparatus 10 according to the first embodiment of the present invention. In the first embodiment, a parallel screw is formed on the inner screw portion 21 of the held body. Prior to this processing, the internal thread portion 21 of the held body is positioned in one sliding direction Z1 of the protruding portion 111 by the conveying means and the positioning means.

  After the start of this process, the process proceeds to the sliding direction Z driving step of step a1, and the holding device 10 for the object to be held is displaced in the sliding direction Z1 by the sliding direction Z driving means 32, so The part 112 is brought into contact with the inner screw part 21 of the held body. (The sliding direction Z drive means 32 will be described with reference to FIG. 10.) Next, the process proceeds to the step of displacing the angular displacement means in step a2, and compressed air is supplied to the air cylinder 151 by the compressed air supply compressor 152 and the like to move. The transmission part 132 of the body 13 is displaced in the sliding direction one Z1. Due to the displacement of the transmission part 132 in one sliding direction Z1, the sliding part 131 of the movable body 13 is displaced in one sliding direction Z1, and the connecting body is displaced in one sliding direction Z1. Due to the displacement of the connecting body, the cylindrical body holding part 121 is displaced in the sliding direction one Z1. Since the annular portion 112 of the cylindrical body 11 is in contact with the inner threaded portion 21 of the held body, the cylindrical body 11 is displaced relative to the cylindrical body holding portion 121 in the other sliding direction Z2. As a result, the engagement protrusion 113 of the tubular body 11 is angularly displaced in one circumferential direction R1 with respect to the tubular body holding part 121, and the tubular body 11 is also circumferentially displaced with respect to the tubular body holding part 121. Angular displacement. Accordingly, the external thread portion formed on the outer peripheral surface portion of the annular portion 112 is displaced by about 20 ° in the circumferential direction one R 1 with respect to the base body 16. In the displacement step of the angular displacement means in step a2, the sliding portion 131 slides inside the annular portion 112 of the cylindrical body 11. However, when the displacement step of the angular displacement means is completed, the sliding portion 131 enters the projection 111. Has not yet entered.

  In the displacement step of the angular displacement means in step a2, the outer threaded portion of the outer peripheral surface portion of the annular portion 112 is displaced by about 20 ° while the annular portion 112 is in contact with the inner threaded portion 21 of the held body. The outer threaded portion of the outer peripheral surface portion 112 easily fits into the inner threaded portion 21 of the held body. In the first embodiment, “fitting” means that the screw of the outer threaded portion of the annular portion 112 is fitted to the screw of the inner threaded portion 21 of the object to be held in a state where the positions of the crests and troughs are aligned. Called. In addition, when the external screw portion and the internal screw portion 21 in the fitted state exhibit resistance due to the engagement with respect to a force that attempts to separate them in the axial direction of the screw, this engagement is referred to as “screw engagement”. And “fitting” includes “screwing”.

  Next, the process proceeds to the open state forming step of step a3, and compressed air is further supplied to the air cylinder 151 by the compressed air supply compressor 152, and the transmitting part 132 of the movable body 13 is further displaced in the sliding direction Z1. Due to the displacement of the transmission part 132 in one sliding direction Z1, the sliding part 131 of the movable body 13 is further displaced in one sliding direction Z1 and enters the internal space 52 of the protrusion 111. As the sliding part 131 enters the inner space 52 of the protruding part 111, the protruding part 111 of the cylindrical body 11 is pushed and expanded from the inner peripheral surface by the sliding part 131, and is elastically deformed from the tapered state to the stretched state. When the protruding portion 111 is changed from the tapered state to the extended state, the outer screw region 111a of the protruding portion 111 is screwed into the inner screw portion 21 of the held body. This completes the holding of the held body 20 by the held body holding device 10. Thereafter, this process ends.

  As shown in FIG. 8, in the sliding direction Z driving step of step a1, the holding device 10 for the object to be held is displaced in the sliding direction one Z1 by the first displacement amount L1 by the sliding direction Z driving means 32. To do. At the stage where the sliding direction Z driving process of step a1 is completed, there is a gap of the second displacement amount L2 between the tubular body holding portion 121 and the tubular body 11, and the distance of the second displacement amount L2 at the maximum. Only in the displacement step of the angular displacement means in step a2, the cylindrical body 11 can be displaced with respect to the cylindrical body holding portion 121. In the step of displacing the angular displacement means in step a2, compressed air is supplied to the air cylinder 151 by the compressed air supply compressor 152, the transmission part 132 of the movable body 13 is displaced, and the sliding part 131 is slid by the third displacement amount L3. Displacement in one direction Z1.

  Due to the displacement of the cylindrical body holding part 121 in the sliding direction one Z1 and the relative displacement of the cylindrical body 11 in the sliding direction other Z2 with respect to the cylindrical body holding part 121, the cylindrical body 11 becomes the cylindrical body holding part. It is displaced by about 20 ° in the circumferential direction R1 with respect to 121. In the cylindrical body holding portion 121, a D-shaped hole is formed in the sliding direction Z by a first distance L4 at the end on the other Z2 side in the sliding direction of the rectangular columnar portion. As shown in FIG. 5, since the D hole is fitted in the transmission part 132 having a D-shaped cross section perpendicular to the sliding direction Z, the cylindrical body holding part 121 is located with respect to the transmission part 132. There is no angular displacement around the sliding axis.

  In the open state forming step of step a3, compressed air is further supplied to the air cylinder 151 by the compressed air supply compressor 152, the transmission part 132 of the movable body 13 is further displaced, and the sliding part 131 is slid by the fourth displacement amount L5. Displacement in one direction Z1. Due to the displacement of the fourth displacement amount L5 in the sliding direction one Z1 of the sliding portion 131, the protruding portion 111 of the cylindrical body 11 is deformed from the tapered state to the open state, and the outer screw region 111a is screwed to the inner screw portion 21. Match. This completes the holding of the held body 20 by the held body holding device 10.

  FIG. 9 is a side view of the transport device 30 according to the first embodiment of the present invention. The transport device 30 according to the first embodiment includes a support unit 312 including the holding device 10 for a held body, a sliding direction Z driving unit 32, an X direction driving unit 33, an apparatus frame 35, and a control unit 34. It is composed. The sliding direction Z driving means 32 and the X direction driving means 33 are moving devices that move the supporting means 312 including the holding device 10 for the object to be held.

  The support means 312 includes a held body holding device 10, a fixing plate 312a, an arm 312b, an arm fixing plate 312c, a Z rail slider 312d, a nut fixing plate 312e, and a nut 312f. Yes. The sliding direction Z drive means 32 includes a Z main frame 321 including a Z slide rail 321a, a motor and ball screw fixing plate 322, and a Z drive unit 323. The Z drive unit 323 includes a Z drive motor 323a, a ball screw 323b, and a Z drive timing belt 323c. The X direction drive means 33 includes a base frame 331, an X drive unit 332, and an X slide rail 333. The base frame 331 includes an X rail slider 331a and a timing belt gripping portion 331b. The X drive unit 332 includes an X drive motor 332a, an X drive timing belt 332b, and a timing pulley 332c. The device frame 35 includes a column 351 and a beam 352a extending in the X direction.

  Hereinafter, one direction perpendicular to the sliding direction Z is referred to as an “X direction”, and a direction perpendicular to the sliding direction Z and the X direction is referred to as a “Y direction”. In the present invention, the absolute position change and the relative position change with respect to the object may be referred to as “movement” or “displacement”, and the meaning of these terms is not distinguished.

  The conveying device 30 conveys the held member 20 by moving the holding devices 10 of the four held members at the same time. The support unit 312 is a part that supports the holding device 10 of the held body, and the sliding direction Z driving unit 32 moves the supporting unit 312 in the sliding direction Z, so that the holding device 10 of the held body is moved. Move in the sliding direction Z. The fixing plate 312a is a member that mechanically connects the holding devices 10 of the plurality of objects to be held to each other and fixes the whole as one component. The arm 312b is mechanically connected to the fixing plate 312a and the nut fixing plate 312e, holds the fixing plate 312a, and moves the fixing plate 312a and the holding device 10 of the held body as the nut fixing plate 312e moves. Do. The arm 312b includes two members formed so that the sliding direction Z is a longitudinal direction, and a member that fixes the two members to each other, and has a ladder shape. The arm 312b may be made of a square steel pipe, or may be made of an angle, a channel, a grooved steel, an H-shaped steel, or the like.

  The arm fixing plate 312c is mechanically connected to the Z-rail slider 312d and the nut fixing plate 312e, holds the nut fixing plate 312e, and holds the nut fixing plate 312e, the arm 312b, the fixing plate 312a, and the holding object holding device 10. Move. The Z rail slider 312d is fixed to the arm fixing plate 312c, sandwiches a part of the Z slide rail 321a, and moves in the sliding direction Z by sliding with respect to the Z slide rail 321a. Allows translation of 312c. The nut fixing plate 312e is mechanically connected to the arm 312b, the arm fixing plate 312c, and the ball screw 323b in the Z driving unit 323, and moves in the sliding direction Z by the rotation of the ball screw 323b. 312c is moved in the sliding direction Z. The nut fixing plate 312e is not displaced in the X direction and the Y direction with respect to the ball screw 323b.

  The ball screw 323b is formed so that the sliding direction Z is a longitudinal direction, and an external thread of a parallel screw having an axis in the sliding direction Z is formed on the outer peripheral surface portion of the ball screw 323b. The nut fixing plate 312e slides with respect to the rotation of the ball screw 323b and does not pivot with respect to the axis of the ball screw 323b. The nut fixing plate 312e is formed as one component so that the nut fixing plate 312e can slide with respect to the rotation of the ball screw 323b and the engagement with the ball screw 323b is not released by the coupling force of the nut 312f. ing.

  The sliding direction Z driving means 32 has a function of driving the supporting means 312 including the holding device 10 for the object to be held in the sliding direction Z. The Z main frame 321 supports the supporting means 312 so as to be slidable in the sliding direction Z, and the Z main frame 321 has a Z slide rail 321a. A part of the Z slide rail 321a is engaged with the Z rail slider 312d, and the supporting means 312 is prevented from being displaced in the X direction and the Y direction with respect to the Z main frame 321. The motor and ball screw fixing plate 322 is fixed to the Z main frame 321 and the base frame 331 in the X direction driving means 33, and supports the Z drive motor 323a and the ball screw 323b included in the Z drive unit 323. The drive motor 323a and the ball screw 323b are prevented from being displaced in the X direction and the Y direction with respect to the Z main frame 321. The Z driving unit 323 generates a driving force and displaces the nut fixing plate 312e, the Z rail slider 312d, and the arm fixing plate 312c engaged with the ball screw 323b and the Z main frame 321 in the sliding direction Z by the driving force. . The Z drive motor 323a applies a rotational force to the Z drive timing belt 323c, and the Z drive timing belt 323c transmits the rotational force of the Z drive motor 323a to the ball screw 323b.

  The X direction driving means 33 has a function of moving the supporting means 312 including the holding device 10 for the object to be held and the sliding direction Z driving means 32 in the X direction. The base frame 331 is fixed to the Z main frame 321 and the motor and ball screw fixing plate 322 included in the Z drive unit 323, and slidably engages with the X slide rail 333. As the X drive timing belt 332b engaged with the X drive timing belt 332b and a portion of the X drive timing belt 332b engaged with the X drive timing belt 332b move in the X direction, the Z main frame 321 and the motors included in the Z drive unit 323 and The ball screw fixing plate 322 has a function of moving in the X direction in parallel with the X slide rail 333.

  An X rail slider 331 a included in the base frame 331 is slidably engaged with the X slide rail 333. The timing belt gripping portion 331b included in the base frame 331 pinches a part of the X driving timing belt 332b, and moves in the X direction as the timing belt moves in the X direction.

  The X drive unit 332 has a function of preventing the base frame 331 from being displaced in the sliding directions Z and Y, and moving the base frame 331 in the X direction. The X drive motor 332a included in the X drive unit 332 applies a driving force to the X drive timing belt 332b and moves a part of the X drive timing belt 332b in the X direction. A part of the X driving timing belt 332b is engaged with the X driving motor 332a and the timing pulley 332c, and the driving force of the X driving motor 332a is used as a timing within the base frame 331 that sandwiches a part of the X driving timing belt 332b. This is transmitted to the belt gripping portion 331b, and the base frame 331 is moved in the X direction. The timing pulley 332c does not have a driving force itself, and supports the X driving timing belt 332b, thereby enabling the X driving timing belt 332b to transmit the driving force to the timing belt gripping portion 331b. .

  The X slide rail 333 is disposed in parallel with the beam 352a extending in the X direction in the apparatus frame 35 and in contact with the other sliding direction Z2 side of the beam 352a extending in the X direction. The X slide rail 333 is slidably engaged with the X rail slider 331a of the base frame 331 to prevent the base frame 331 from being displaced in the sliding directions Z and Y directions.

  The apparatus frame 35 has a stable positional relationship with the support means 312, the sliding direction Z driving means 32, and the X direction driving means 33, so that the plurality of means can be accurately positioned by position determination by the control means 34. Has a function of supporting the plurality of means. The apparatus frame 35 includes a plurality of columns 351 extending in the sliding direction Z, beams 352 for fixing the columns 351 to each other so that the plurality of columns 351 can be stably positioned in the sliding direction Z, and the other Z2 side in the sliding direction. The X slide rail 333 is arranged in contact with the beam 352a and extends in the X direction. In the first embodiment, it is assumed that the sliding direction Z is a vertical direction, and the sliding direction Z1 direction is a direction toward the ground in the vertical direction. A place where the held body 20 should be placed after holding and moving the held body 20 is referred to as a “target position”.

  In FIG. 9, a conveyor 41 that carries the held body 20 having the inner screw portion 21 into the transport device 30, a pallet 51 for placing the held body 20 on the carry-in conveyor 41, and held from the target position. An unloading conveyor 42 for unloading the body 20 and a pallet 52 for receiving the held object 20 on the unloading conveyor are shown. The conveyor 41 detects the position of the body 20 to be held, automatic position detection means for positioning the body 20 to be held, and automatic positioning means for positioning the body 20 to be held. Signal transmitting means for transmitting to the means 34.

  FIG. 10 is a block diagram showing the electrical connection relationship of the transport apparatus 30 according to the first embodiment of the present invention. The control means 34 included in the transport device 30 is electrically connected to the X drive motor 332 a included in the X direction drive means 33, the Z drive motor 323 a included in the sliding direction Z drive means 32, and the compressed air supply compressor 152. Connected to. Under the control of the control means 34, the timing of driving the air cylinder 151 by the compressed air supply compressor 152 is controlled, and the timing of holding the held body 20 by the holding apparatus 10 of the held body is determined. Further, the amount of displacement in the sliding direction Z of the support means 312 by the Z drive motor 323a and the timing of the displacement are determined by the control by the control means 34. Also, the amount of displacement in the X direction and the timing of displacement of the sliding direction Z driving means 32 and the supporting means 312 by the X driving motor 332a are determined by the control by the control means 34.

  FIG. 11 is a flowchart showing a transporting process of the held body by the transport apparatus 30 according to the first embodiment of the present invention. Prior to this processing, the inner threaded portion 21 of the held body is positioned in one side Z1 in the sliding direction of the protruding portion 111 by the conveying means and the positioning means, and the control means 34 ends the positioning of the held body 20. An information signal is received.

  After the start of this process, the process proceeds to the holding step of step b1, and the internal thread portion 21 of the held body is held by the holding apparatus 10 of the held body. Details of this process are described in FIG. 5 and FIG. 6 and the part explaining these figures. The control of the compressed air supply compressor 152 by the control means 34 for the holding device 10 to hold the held member 20 is performed in the holding step of step b1. Next, the process proceeds to the sliding direction Z moving step of step b2, and the supporting means 312 holding the held body 20 is moved by the sliding direction Z driving means 32 in the other sliding direction Z2. In this step, the rotation of the Z drive motor 323a is transmitted to the ball screw 323b by the Z drive timing belt 323c, and the nut fixing plate 312e is displaced to the other sliding direction Z2 by the rotation of the ball screw 323b, and the Z rail slider 312d Z The arm fixing plate 312c, the arm 312b, the fixing plate 312a, and the holding device holding device 10 are displaced in the other sliding direction Z2 with sliding with respect to the slide rail 321a. Control of the Z drive motor 323a by the control means 34 for moving the support means 312 in the other sliding direction Z2 is performed in the sliding direction Z moving step of step b2.

  Next, the process proceeds to the X direction moving step of Step b3, and the sliding direction Z driving means 32, the supporting means 312 and the held body 20 are moved in the X direction by the X direction driving means 33. In this step, the X driving timing belt 332b is driven by the rotation of the X driving motor 332a, and this driving is transmitted to the base frame 331 through the timing belt gripping portion 331b, thereby moving the sliding direction Z driving means 32 and the supporting means 312 to X. Move in the direction. By this movement, the conveyance device 30 positions the held body 20 on the other side Z2 side in the sliding direction of the target position. The control of the X drive motor 332a by the control means 34 for moving the sliding direction Z drive means 32, the support means 312 and the held body 20 to the target position is performed in the X direction movement process of step b3.

  Next, the process proceeds to the placing step of step b4, the supporting means 312 and the held body 20 are moved in the sliding direction Z1 and the held body 20 is placed at the target position. In this process, the rotation of the Z drive motor 323a is transmitted to the ball screw 323b by the Z drive timing belt 323c, and the nut fixing plate 312e is displaced in the sliding direction Z1 by the rotation of the ball screw 323b, and the Z rail slider 312d Z The arm fixing plate 312c, the arm 312b, the fixing plate 312a, and the holding device holding device 10 are displaced in the sliding direction one Z1 with sliding with respect to the slide rail 321a. The control of the Z drive motor 323a by the control means 34 for moving the support means 312 and the held body 20 in the sliding direction one Z1 is performed in the mounting step of step b4. Next, the process proceeds to the holding release process in step b5, and the holding of the held body 20 by the holding apparatus 10 of the held body is released. This is done by following the reverse steps of the steps described in FIG. 5, FIG. 6 and the portions described in these figures to trace the change over time.

  First, the sliding portion 131 of the movable body 13 located in the internal space 53 of the protruding portion 111 is moved in the other sliding direction Z2. As a result, the protruding portion 111 elastically returns from the stretched state to the tapered state, and the screwing of the outer screw portion of the protruding portion 111 to the inner screw portion 21 is released. Next, by moving the transmission part 132 of the movable body 13 in the other sliding direction Z2, the cylindrical body holding part 121 is moved in the other sliding direction Z2. Since the cylindrical body 11 is given a force in the sliding direction one Z1 due to its own weight, if the cylindrical body holding part 121 moves to the other sliding direction Z2, the cylindrical body 11 becomes the cylindrical body holding part. Relative displacement in the sliding direction one Z1 with respect to 121. Since the engaging projection 113 is engaged with the long hole 124, the tubular body 11 is angularly displaced in the other circumferential direction R <b> 2 with respect to the tubular body holding portion 121. As a result, the fitting of the annular portion 112 to the inner threaded portion 21 is easily eliminated, and the release of the holding of the held body by the holding device 10 is completed. The control of the compressed air supply compressor 152 by the control means 34 for the holding device 10 of the held body to release the holding of the held body 20 is performed in the holding releasing process of step b5.

  Next, the process proceeds to an initial position return step of step b6, and the support means 312, the sliding direction Z driving means 32 and the X direction driving means 33 are moved to the positions before the start of this processing. This is performed by following the reverse process of the sliding direction Z movement process of step b2 and the X direction movement process of step b3 so as to trace the change over time. That is, the sliding means Z driving means 32 moves the supporting means 312 to the other sliding direction Z2, and then the X direction driving means 33 moves the sliding direction Z driving means 32 and the supporting means 312 to the other X direction. Return to the position before starting this process. Control of the Z drive motor 323a by the control means 34 for moving the support means 312 in the other sliding direction Z2, and control means for moving the sliding direction Z drive means 32 and the support means 312 in the other X direction. The control of the X drive motor 332a by 34 is performed in the initial position returning step of step b6. Thereafter, this process ends.

  In this process, prior to the placing step of step b4, the pallet for placing the held body 20 is positioned on the one side Z1 side in the sliding direction of the target position by the conveying means and the positioning means. To do. In this process, the control of the drive timing of the compressed air supply compressor 152, the Z drive motor 323a, and the X drive motor 332a by the control means 34 is performed throughout the process.

  According to the first embodiment, the projecting portion 111 of the cylindrical body 11 has an external thread region 111a in which an external thread is formed on at least a part of the outer peripheral portion, and the projecting portion 111 has a tapered state and an open state. It can be transformed into a state. In the tapered state, the protruding portion 111 has a shape that tapers toward the one side Z1 in the sliding direction, and in the opened state, the protruding portion 111 has a shape that is farther from the sliding axis than in the tapered state. Thus, in the tapered state, the protruding portion 111 is not screwed into the inner threaded portion 21 of the held body, and the cylindrical body 11 is moved in the sliding direction one Z1, and the protruding portion 111 is moved to the inner threaded portion of the held body. After the insertion into 21, the projecting portion 111 is brought into an open state, so that the entire outer screw region 111a of the projecting portion 111 can be screwed into the inner thread portion 21. The protrusion 111 is screwed into the inner threaded portion 21 by elastic deformation of the protrusion 111 from the tapered state to the extended state, and the elastic deformation is slid in one sliding direction Z1 of the movable body 13. Done by displacement. When the movable body 13 is displaced in one direction Z1 in the sliding direction, the projecting portion 111 that has been tapered due to the sliding of the movable body 13 is pushed from the inner peripheral surface to be separated from the sliding axis, and is in an open state. The outer screw region 111 a can be screwed with the inner screw of the held body 20.

  Therefore, it is not necessary to rotate the protrusion 111 around the axis of the inner screw in a state where the protrusion 111 is screwed to the inner screw 21 of the held body. Therefore, the distance of sliding required for screwing can be shortened compared with screwing an external screw member to the internal screw part 21 by rotating an external screw member. Therefore, it is possible to hold and release the held body 20 in a shorter time compared to rotating the external screw member and holding the held body 20 by the external screw member.

  Further, since it is not necessary to rotate the protrusion 111 around the axis of the inner screw while being screwed to the inner screw portion 21, a mechanism for screwing the outer screw member to the inner screw portion 21 by rotating the outer screw member. Compared to the above, it becomes possible to screw the protruding portion 111 to the inner threaded portion 21 of the held body by a simple mechanism. Further, since the held body 20 is held by screwing the entire outer thread region 111a of the protruding portion 111, the outer surface of the balloon is pressed against the inner surface of the inner threaded portion 21 by air pressure, and the outer surface of the balloon and the inner threaded portion 21 are Compared to a device that holds the held body 20 by frictional force with the inner surface, the held body 20 can be held firmly.

  Further, the protruding portion 111 can be elastically deformed from the tapered state to the open state. As a result, the protruding portion 111 can elastically return from the stretched state to the tapered state, so that the holding of the held body 20 can be released by the elastic return, and the holding of the held body 20 and the release of the holding are repeated. be able to. Therefore, it is possible to provide the held body holding device 10 that has a simple mechanism and firmly holds the held body 20 having the inner screw portion 21 in a short time.

  Further, according to the first embodiment, in the tapered state, the maximum outer diameter of the protruding portion 111 is equal to or smaller than the outer diameter of the annular portion 112. As a result, the cylindrical body 11 is displaced in the sliding direction one Z1 so that the protruding portion 111 is brought into contact with the held body 20 when the tapered cylindrical body 11 is inserted into the inner screw portion 21 of the held body. Without this, the protruding portion 111 can be inserted into the inner screw portion 21 until the annular portion 112 contacts the held body 20. Therefore, the protrusion 111 does not hold the held body 20 in the tapered state, the protrusion 111 holds the held body 20 in the extended state, and the protrusion 111 elastically returns from the extended state to the tapered state. It is possible to realize the release of the hold of the held body 20. Therefore, it is possible to hold and release the held body 20 in a short time compared to screwing the outer screw member by rotation.

  Moreover, according to 1st Embodiment, the outer peripheral part of the protrusion part 111 in an open state is parallel to a sliding axis. Thus, the external thread region 111a formed on the outer peripheral surface portion of the plurality of projecting portions 111 in the open state functions as one parallel screw as a whole. Therefore, when the inner screw formed on the held body 20 is a parallel screw, the held body 20 is screwed onto the inner surface of the inner screw portion 21 of the held body with the entire outer screw region 111a of the protruding portion 111. Can be held. Therefore, compared with the apparatus which hold | maintains the to-be-held body 20 with the frictional force of the outer surface of a balloon and the inner surface of the internal thread part 21, the to-be-held body 20 can be hold | maintained firmly.

  In addition, the axis of the external thread of each protrusion 111 in the open state coincides with one virtual straight line. As a result, the external thread regions 111a of the plurality of projecting portions 111 function as a single parallel screw as a whole in the open state, and all the projecting portions 111 can be screwed into the inner thread of the body 20 to be held. It becomes. Therefore, when the held body 20 is held, it is possible to prevent the axis of the inner screw of the held body 20 from deviating from the axis of the outer screw of the protruding portion 111, and the plurality of protruding portions 111 are connected to the inner screw portion 21. It becomes possible to contact with uniform pressure. Accordingly, when holding the held body 20, the weight of the held body 20 can be equally shared and supported by the plurality of protruding portions 111, and the axis of the external screw of the protruding portion 111 when in the open state As compared with the case where the axis of the held body 20 deviates from the axis of the inner screw, the held body holding device 10 that holds the held body 20 firmly can be provided.

  Further, according to the first embodiment, an external screw is formed on at least a part of the outer peripheral portion of the annular portion 112 of the cylindrical body 11. Thus, when the cylindrical body 11 comes into contact with the inner screw portion 21 of the held body, the outer screw portion of the outer peripheral portion of the annular portion 112 is fitted to the inner screw portion 21 formed in the held body 20. Is possible. Further, the external thread of the external thread portion of the outer peripheral portion of the annular portion 112 is an external screw along a virtual external screw obtained by extending the external screw formed on the outer peripheral portion of the protruding portion 111 in the other sliding direction Z2. As a result, the outer threaded portion of the annular portion 112 is fitted into the inner threaded portion 21 of the held body, so that the outer screw region 111a in the open state can be reliably engaged with the inner threaded portion 21 of the held body. it can.

  In addition, the holding device 10 for the object to be held according to the first embodiment further includes angular displacement means 12. Thereby, the cylindrical body 11 can be angularly displaced about the sliding axis, and when the annular portion 112 of the cylindrical body 11 contacts the inner threaded portion 21 of the held body in the tapered state, The fitting between the outer threaded portion of the annular portion 112 and the inner threaded portion 21 of the held body can be ensured by the angular displacement. Accordingly, it is possible to provide a holding device 10 for a held body that can reliably hold the held body 20 by securely screwing the protrusion 111 into the inner wall of the inner threaded portion 21 when it is in the open state. be able to.

  In addition, according to the first embodiment, the angular displacement means 12 has the cylindrical body holding portion 121, and the cylindrical body holding portion 121 moves the cylindrical body 11 in the sliding direction and within a predetermined range. It is held so that it can be displaced around the sliding axis. Thereby, the cylindrical body 11 can be displaced within a predetermined range with respect to the cylindrical body holding portion 121. Further, the angular displacement means 12 has a guide portion, and the guide portion causes the tubular body 11 to be displaced in the sliding direction with respect to the tubular body holding portion 121. The cylindrical body holding portion 121 is angularly displaced about the sliding axis. As a result, the angular displacement means 12 causes the cylindrical body 11 to slide with respect to the angular displacement means 12 in the sliding direction Z when the cylindrical body 11 contacts the held body 20 and is given a force from the held body 20. The cylindrical body 11 can be angularly displaced about the sliding axis with respect to the inner thread portion 21 of the held body by the displacement.

  Therefore, when the cylindrical body 11 comes into contact with the inner threaded portion 21 of the held body, the outer threaded portion of the cylindrical body 11 and the inner threaded portion 21 of the held body are fitted by the angular displacement of the cylindrical body 11. Can be sure. Therefore, when the extended state is established, the external thread region 111a of the protruding portion 111 and the internal thread portion 21 of the held body can be reliably screwed together, and the held body 20 can be firmly held. The holding device 10 for the object to be held can be provided.

  Further, according to the first embodiment, the cylindrical body holding portion 121 is elastically connected to the base body 16. As a result, the cylindrical body 11 slides with respect to the cylindrical body holding portion 121, and when it reaches a position where the sliding is prevented, an impact applied from the cylindrical body 11 to the cylindrical body holding portion 121 is applied. The connection part 126 can absorb. Therefore, damage to the cylindrical body 11 and the cylindrical body holding part 121 can be prevented. Further, even when the cylindrical body 11 comes into contact with the held body 20 and the cylindrical body 11 receives an impact from the held body 20, the cylindrical body holding portion 121 is elastically displaced, thereby holding the held body. The impact transmitted from the body 20 to the cylindrical body holding part 121 can be reduced. Therefore, it is possible to prevent damage to any of the held body 20, the cylindrical body 11, and the cylindrical body holding portion 121.

  Further, the angular displacement means 12 has an angular displacement prevention part 123, and prevents the cylindrical body holding part 121 from being angularly displaced about the sliding axis with respect to the base body 16. As a result, when the angular displacement means 12 angularly displaces the cylindrical body 11 about the sliding axis, the angular displacement means 12 is angularly displaced with respect to the base body 16 by the reaction that the angular displacement means 12 receives from the cylindrical body 11. Can be prevented. Therefore, the angular displacement of the cylindrical body 11 with respect to the base body 16 by the angular displacement means 12 can be ensured. Therefore, the outer threaded portion of the annular portion 112 can be reliably fitted to the inner threaded portion 21 of the held body. Therefore, the screwing of the external thread region 111a of the projecting portion 111 and the internal thread portion 21 of the held body can be ensured when the stretched state is reached.

  Further, according to the first embodiment, the movable body 13 has the sliding portion 131, and the sliding portion 131 enters the internal space 52 of the cylindrical body 11 with respect to the inner peripheral surface of the cylindrical body 11. Slide. As a result, the sliding portion 131 enters and slides into the protruding portion 111, whereby the sliding portion 131 can spread the protruding portion 111 from the inner peripheral surface and elastically deform from the tapered state to the open state. Therefore, the protruding portion 111 can be screwed into the inner screw portion 21 of the held body. Therefore, by rotating the outer screw member, the sliding distance necessary for screwing can be shortened as compared with the case where the held body 20 is held by the outer screw member. Therefore, it is possible to hold and release the held body 20 in a short time.

  Moreover, the movable body 13 has a transmission part 132 connected to the sliding part 131, and the transmission part 132 is displaced and driven in the sliding direction. Since the transmission part 132 is elastically connected to the cylindrical body holding part 121 by the connecting part 126, the transmission part 132 elastically transmits the power from the driving means 15 to the cylindrical body holding part 121. At the same time, the power from the driving means 15 is also transmitted to the sliding portion 131. Therefore, the displacement of the cylindrical body holding part 121 of the angular displacement means 12 and the elastic deformation of the protruding part 111 by the sliding part 131 are realized by one driving mechanism by the displacement driving of the transmission part 132 in the sliding direction. Can do. Therefore, the held body 20 can be held by a simple mechanism as compared with the case where the rotation and translation of the outer screw member are performed by different drive mechanisms while adjusting the rotation amount and the translational movement amount.

  Further, according to the first embodiment, the sliding portion 131 has a cross-sectional shape and area perpendicular to the sliding axis substantially equal to a cross-sectional shape and area perpendicular to the sliding axis of the internal space 115 of the annular portion 112. They are formed to be the same. As a result, when the sliding portion 131 is displaced in the sliding direction and pushes the protruding portion 111 from its inner peripheral surface, the sliding portion 131 applies an equal external force to the plurality of protruding portions 111, and each protruding portion It is possible to simultaneously elastically deform the plurality of projecting portions 111 so that the axis of the external screw 111 coincides with one virtual straight line.

  Further, the sliding portion 131 is displaced in one sliding direction Z1, thereby sliding on the inner peripheral surface of the protruding portion 111, and elastically deforming each protruding portion 111 at the same time to form an extended state. As a result, the protrusion 111 can be elastically deformed so that the axis of the external thread of the protrusion 111 coincides with one virtual straight line. Therefore, it is possible to ensure that the entire outer screw region 111a of the protruding portion 111 is screwed into the inner screw portion 21 of the held body, and the held body 20 can be held firmly. The device 10 can be realized.

  Further, according to the first embodiment, the transport device 30 includes the holding device 10 for the object to be held and a moving unit that moves the holding device 10. Accordingly, the held body 20 can be moved by holding the held body 20 by the holding apparatus 10 and moving the holding apparatus 10 by the moving apparatus. Further, after the holding device 10 is moved by the moving device, the holding of the held body 20 by the holding device 10 is released, whereby the conveyance of the held body 20 can be completed.

  Moreover, according to 1st Embodiment, the collar 114 is formed in the sliding direction other Z2 side rather than the external thread part of the annular part 112 of the cylindrical body 11. FIG. When the collar 114 is viewed in the sliding direction Z, the outer shape is circular, and the outer diameter thereof is larger than the outer screw diameter d1 of the annular portion 112. As a result, the outer threaded portion of the annular portion 112 is fitted to the inner threaded portion 21 of the held body, and even if the position of the cylindrical body 11 is displaced in the sliding direction one Z1 with respect to the inner threaded portion 21 by the fitting. It is possible to prevent the cylindrical body 11 from entering the inner screw portion 21 beyond a predetermined distance in the sliding direction Z. Even if a force to displace the cylindrical body 11 in the sliding direction Z1 beyond the predetermined distance in the sliding direction Z acts on the cylindrical body 11, the collar 114 contacts the held body 20. Thus, it is possible to disperse the pressure generated between the inner threaded portion 21 of the held body and the outer threaded portion of the annular portion 112 by the collar 114. Therefore, it can prevent that the to-be-held body 20 and the cyclic | annular part 112 are damaged by the pressure which arises between the internal thread part 21 of a to-be-held body, and the external thread part of the cyclic | annular part 112. FIG.

  Moreover, according to 1st Embodiment, the external shape of the cylindrical body holding | maintenance part 121 is carrying out the square pillar shape. Thus, when the cylindrical body holding portion 121 is slidably connected to the base body 16 directly in the sliding direction Z, it is possible to provide the slider 125 which is a connection part for performing the connection. It becomes easier than when the outer shape of 121 is cylindrical.

  According to the first embodiment, the end of the cylindrical body holding portion 121 on the other side Z2 side in the sliding direction of the cylindrical body holding portion 121 has an outer diameter that matches the inner diameter of the coil spring of the connecting portion 126. A cylindrical end portion 121 a is formed, and the coil spring of the connecting portion 126 fits into the cylindrical end portion 121 a of the cylindrical body holding portion 121. Thereby, when the transmission part 132 of the movable body 13 displaces the connecting part 126, the coil spring of the connecting part 126 can be prevented from being unstablely displaced in the X direction and the Y direction.

  According to the first embodiment, the sliding portion 131 may be chamfered in a region where the surface on the one side Z <b> 1 side in the sliding direction of the sliding portion 131 intersects the cylindrical side surface of the sliding portion 131. As a result, when the sliding portion 131 moves and slides on the cylindrical body 11 and enters the internal space 52 formed in the protruding portion 111, the sliding portion 131 is applied from the inner peripheral surface of the protruding portion 111. It is possible to reduce the component in the sliding direction Z of the pressure and increase the component in at least one direction of the X direction and the Y direction. Therefore, it becomes easy for the sliding part 131 to apply an external force to the inner peripheral surface of the protruding part 111 in a direction in which the protruding part 111 is separated from the sliding axis. This also facilitates sliding of the sliding portion 131 with respect to the protruding portion 111. Moreover, the part which made a part of the sliding part 131 protrude in a taper shape to the sliding direction one Z1 side may be provided in the edge part of the sliding direction 131 Z1 side. As a result, when the inner threaded portion 21 of the held body is a taper screw whose inner diameter on the other side in the sliding direction Z2 is larger than the inner diameter of the inner thread on the one side Z1 in the sliding direction, the protrusion 111 is formed. The projecting portion 111 can be screwed into the inner threaded portion 21 of the held body in an open state.

  Further, according to the first embodiment, the driving means 15 includes the air cylinder 151, and the transmission portion 132 on the other side Z <b> 2 in the sliding direction than the stopper 133 is connected to the air cylinder 151. As a result, the movable body 13 can be displaced in the sliding direction Z within a short time compared to rotating the external screw member and holding the held body 20 by the external screw member. Further, when the annular portion 112 comes into contact with the inner screw portion 21, an impact transmitted from the inner screw portion 21 to the cylindrical body 11 can be absorbed by the air cylinder 151. Therefore, it can prevent that the to-be-held body 20 and the cyclic | annular part 112 are damaged by the pressure which arises between the internal thread part 21 of a to-be-held body, and the external thread part of the cyclic | annular part 112. FIG.

  Further, in the first embodiment, the protruding portion 111 has a non-screw region 111b. The non-screw region 111b is a portion that repeatedly bends and extends when the protruding portion 111 repeats deformation in a tapered state and an open state. Therefore, since the external screw region where the external screw is formed is not deformed, the protrusion 111 can be prevented from being fatigued even if the deformation is repeated.

  In the first embodiment, the length of the sliding portion 131 in the sliding direction Z is equal to or longer than the length of the protruding portion 111 in the sliding direction Z in the stretched state. Thereby, when the sliding part 131 slides on the inner peripheral surface of the protruding part 111, the sliding part 131 can stably deform the protruding part 111 repeatedly.

  In the first embodiment, at least the protrusion 111 of the cylindrical body 11 is made of a Ti—Ni alloy having superelasticity. Thereby, the range in which the protrusion 111 is elastically deformed can be increased. Therefore, even if the tapered protruding portion 111 is greatly deformed, it can be elastically restored to return to the open state. Moreover, even if the protrusion part 111 repeats a deformation | transformation, the fatigue of the protrusion part 111 can be prevented and the holding | maintenance apparatus durable with respect to a deformation | transformation can be implement | achieved.

  In the first embodiment and the second embodiment, the driving means is configured to include an air cylinder. Thereby, it becomes easy to drive a plurality of drive means simultaneously by one compressed air supply compressor, and a plurality of holding devices can be operated by one drive source. Accordingly, it becomes easy to stably hold the held body having the plurality of inner screw portions 21.

  In the first and second embodiments, the holding device does not have a grippable portion, has a complicated structure, and can hold a held body that is difficult to hold with a mechanical chuck. In addition, since there are many slits or irregularities, it is possible to hold even an object to be held that has few adsorbable parts.

  Further, in the first embodiment and the second embodiment, the sliding portion 131 has a cross-sectional shape and area perpendicular to the sliding axis Z of the sliding portion 131, and is perpendicular to the sliding axis Z in the internal space of the annular portion 112. The cross-sectional shape and area are substantially the same. Thereby, when the sliding part 131 enters the annular part 112 and slides on the inner peripheral surface of the protruding part 111 to push the protruding part 111 away from the sliding axis L10, the sliding part 131 has a plurality of sliding parts 131. It is possible to apply a uniform external force to the protrusions 111 and simultaneously deform the plurality of protrusions 111 so that the axis of the external thread of each protrusion 111 coincides with one virtual straight line. Therefore, it can be ensured that the outer screw region 111a of the protruding portion 111 is screwed into the inner screw portion 21 of the held body.

  In another embodiment, the cylindrical body 11 may be a metal other than a Ti—Ni alloy. By forming the projecting portion 111 with metal instead of rubber, it is possible to withstand deterioration due to wear.

  In the first embodiment, the protrusion 111 has the non-screw region 111b. However, in other embodiments, the protrusion 111 may not have the non-screw region 111b. That is, the screw formed in the external thread region of the protruding portion 111 and the screw provided on the outer peripheral surface portion of the annular portion 112 may be continuously formed.

  In the first embodiment, four protrusions 111 are provided on one cylindrical body 11, but there may be a plurality of protrusions 111 provided on the cylindrical body 11. For example, in another embodiment, the cylindrical body 11 may be provided with three or five or more protruding portions 111.

  In the first embodiment, the length of the sliding portion 131 in the sliding direction Z is equal to or longer than the length of the protruding portion 111 in the open state in the sliding direction Z. The length of 131 in the sliding direction Z may be less than the length of the protruding portion 111 in the sliding direction Z in the open state.

  In the first embodiment, the inner screw portion 21 provided on the held body 20 is formed as a parallel screw. However, in another embodiment, the inner screw portion 21 of the held body is one of the sliding directions Z1. A taper screw may be used in which the inner diameter of the inner screw on the other Z2 side in the sliding direction is larger than the inner diameter of the inner screw on the side.

  Further, in the first embodiment, the long hole 124 formed in the cylindrical body holding portion 121 is cylindrical when the engagement protrusion 113 is relatively displaced in the other sliding direction Z2 with respect to the cylindrical body holding portion 121. Although the body 11 is provided so as to be angularly displaced in one circumferential direction R <b> 1, in another embodiment, the elongated hole formed in the cylindrical body holding portion 121 has an engaging projection portion with respect to the cylindrical body holding portion 121. The cylindrical body 11 may be provided so as to be angularly displaced in the other circumferential direction R2 when relatively displaced in the other sliding direction Z2.

  Further, in the first embodiment, the outer shape of the collar 114 formed on the annular portion 112 when viewed in the sliding direction Z is circular, but the collar formed on the annular portion 112 slides on this. It is sufficient if the cross section when viewed in the direction Z is larger than the cross section when the internal space of the inner screw into which the protruding portion 111 in the opened state is screwed is viewed in the sliding direction Z. For example, the outer shape when the collar is viewed in the sliding direction Z in another embodiment may be a rectangle, and in another embodiment, it may be a polygon other than a rectangle.

  Further, in the first embodiment, the angular displacement preventing portion 123 is formed with a D hole, and the sectional shape perpendicular to the sliding direction Z of the transmitting portion 132 fitted therein is D-shaped. The sectional shape perpendicular to the sliding direction Z of the hole of the angular displacement preventing part 123 and the transmitting part 132 into which the angular displacement is inserted is such that the angular displacement preventing part 123 is angular with respect to the transmitting part 132 and the angular displacement means is angular around the sliding axis. It is sufficient if it includes a structure that prevents displacement. For example, in another embodiment, the shape of the hole of the angular displacement prevention portion 123 may be a keyhole shape, and the transmission portion 132 may be a shape in which a key is fitted in the key groove.

  Further, in the first embodiment, the sliding direction Z driving step of step a1 is such that the sliding direction Z driving means 32 displaces the holding device 10 for the object to be held in the other sliding direction Z2. In the sliding direction Z driving step of step a1, the cylindrical body holding portion 121 and the cylindrical body 11 are displaced in the sliding direction one Z1 by displacement of the movable body 13 in one sliding direction Z1, and the cylindrical body 11 is displaced. The annular portion 112 may be brought into contact with the inner screw portion 21 of the held body.

  Further, in the first embodiment, the transport device 30 transports the held body 20 by simultaneously moving the holding devices 10 of the four held bodies. However, in another embodiment, the transport device includes at least one held body. The body holding device 10 may be mounted, and the number of the holding body holding devices 10 to be mounted is not specified.

  In the first embodiment, the arm 312b has a ladder-like shape including two members formed so that the sliding direction Z is the longitudinal direction and a plurality of members that fix the two members to each other. The arm is sufficient if it is a member that fixes the fixing plate to the nut fixing plate and the arm fixing plate. For example, in another embodiment, the arm may not be formed in a ladder shape but may be formed from one member formed so that the sliding direction Z is the longitudinal direction.

  In the first embodiment, at least the protruding portion 111 of the cylindrical body 11 is a super-elastic alloy such as a Ti—Ni alloy, but the material of the cylindrical body 11 is not particularly defined in the present invention. For example, in another embodiment, the cylindrical body 11 may be a member made of a resin or a metal that does not have superelasticity.

  In the first embodiment, the conveying device 30 is a means for moving the held member 20, a sliding direction Z driving means 32 for moving in the sliding direction Z, and an X direction driving means for moving in the X direction. However, in another embodiment, the conveyance device further includes means for driving the holding body holding device 10, the sliding direction Z driving means 32, and the X direction driving means 33 in the Y direction. It may be. In still another embodiment, the holding member 20 may be swiveled, or the sliding direction Z driving means 32 and the X direction driving means 33 may be swiveled. . It is also possible to employ a configuration in which a mechanical chuck and a suction pad are used in combination.

  In addition, according to the present embodiment, the long hole formed in the cylindrical body holding portion 121 is cylindrical when the engagement protrusion is relatively displaced in the other sliding direction Z2 with respect to the cylindrical body holding portion 121. The body 11 may be provided so as to be angularly displaced in the other circumferential direction R2. Accordingly, it is possible to hold the held body 20 in which the inner screw formed in the held body 20 is a left-hand thread.

  According to the present invention, the sliding direction Z driving step of step a1 displaces the cylindrical body holding portion 121 and the cylindrical body 11 in the sliding direction one Z1 by the displacement of the movable body 13 in the sliding direction one Z1. It is good also as a process of making the annular part 112 of the cylindrical body 11 contact the internal thread part 21 of a to-be-held body. Thereby, when the annular portion 112 comes into contact with the inner screw portion 21, an impact transmitted from the inner screw portion 21 to the cylindrical body 11 can be absorbed by the connecting portion 126. Further, the impact can be absorbed by the air cylinder 151. Therefore, it can prevent that the to-be-held body 20 and the cyclic | annular part 112 are damaged by the impact transmitted to the cylindrical body 11 from the internal thread part 21 of a to-be-held body.

  Moreover, since the cylindrical body 11 can be reduced in weight by making the cylindrical body 11 into the member which consists of resin in this invention, the weight reduction of the holding | maintenance apparatus of a to-be-held body can be achieved.

  In addition, the transport device according to the present invention further includes means for driving the holding device 10 for the object to be held, the sliding direction Z driving means 32, and the X direction driving means 33 in the Y direction. In addition, the held body 20 can be transported. Further, it may have means for turning the held body 20 or means for turning the sliding direction Z driving means 32 and the X direction driving means 33. As a result, the target position can be changed, and a highly versatile transport apparatus can be realized.

  FIG. 12 is a side view of the cylindrical body 11 showing each stage of the process of manufacturing the cylindrical body 11 in the first embodiment of the present invention. FIG. 13 is a flowchart showing a process of manufacturing the cylindrical body 11 in the first embodiment of the present invention. Prior to this processing, the collar 114 of the cylindrical body 11 is provided on a part of the outer peripheral surface of the portion that becomes the annular portion 112. Except for the cylindrical body 11, the cylindrical body 11 has a cylindrical shape.

  After the start of this process, the process proceeds to the screw forming step of step c1, and an external screw is formed on the Z1 side in the sliding direction from the collar 114. The axis of the external screw is made to coincide with the axis of the cylinder of the cylindrical body 11. Next, the process proceeds to the thread removal process of step c2, and the outer peripheral surface thread that is separated from the outer thread near the collar 114 by about one round in the sliding direction, on the Z1 side, has two to three rounds in the sliding direction Z. Delete over 360 °. Thereby, the non-screw region 111b is formed. Next, the cutting process of step c3 is performed, the outer peripheral surface portion that becomes the protruding portion 111 is left, and the space between the outer peripheral surface portion that becomes the protruding portion 111 and the outer peripheral surface portion adjacent thereto is cut. As a result, the external thread region 111a of the protrusion 111 is left. Next, the process proceeds to the internal space forming step of step c4, and a hole is formed along the center line of the member to be the cylindrical body 11. As a result, a member having the same shape as that in the open state is formed, and the annular portion 112 and the protruding portion 111 are formed. Next, the process proceeds to the projecting part bending step of step c5, and the projecting part 111 is bent at the other end Z2 side in the sliding direction of the projecting part 111 so that the projecting part 111 is tapered in a state where no external force acts on the projecting part 111. The end on the one side Z <b> 1 side in the sliding direction of the portion 111 is brought close to the axis of the cylinder of the cylindrical body 11. Next, the process proceeds to the engagement projection forming step of step c5, and the engagement projection is attached to the outer peripheral surface near the end on the other side Z2 in the sliding direction from the collar 114. As a result, the engagement protrusion 113 is formed. Thereafter, this process ends.

  The collar 114 attaches an engaging protrusion after inserting the cylindrical body 11 into the cylindrical body holding part 121. The manufacturing method of this cylindrical body 11 is an example, and may be manufactured by other methods. For example, the internal space of the cylindrical body 11 may be formed first, and the protrusion 111 may be formed after that.

  FIG. 14 is a side view of a held body holding device 10A according to a second embodiment of the present invention. The holding device 10 </ b> A according to the second embodiment is a device that holds a held body 20 that is an object to be held. The holding device 10A according to the second embodiment can also be attached to the transport device according to the first embodiment. When the holding device 10 </ b> A holds the held member 20, the held device 20 can be transferred by being transferred by the moving device.

  The holding device 10 </ b> A according to the second embodiment includes a cylindrical body 11 </ b> A, a movable body 13 </ b> A, a driving unit 15, a base body 16, and a connecting body 17. Of these, the driving means 15 and the base 16 are the same as those in the first embodiment. The movable body 13 </ b> A of the holding device 10 </ b> A is indirectly coupled to the base body 16 via the driving unit 15 so as to be movable in the sliding direction Z with respect to the base body 16. The cylindrical body 11 </ b> A is formed with an internal space in which the movable body 13 </ b> A can enter in the sliding direction Z and is connected to the base body 16.

  FIG. 15 is a side view partially showing a cross-sectional view of the cylindrical body 11A according to the second embodiment of the present invention. The cylindrical body 11A includes a protruding portion 111A, an annular portion 112A, a collar 114A, and a slider 116 of the cylindrical body 11A. The annular portion 112A has a shape that goes around the sliding axis. The protruding portion 111A is formed so as to protrude from the end of one sliding direction Z1 of the annular portion 112A in one sliding direction Z1.

  A plurality of projecting portions 111A are formed on one cylindrical body 11A11, and the plurality of projecting portions 111A are arranged at intervals around the sliding axis in the circumferential direction. In the tapered state, the inner peripheral portion and the outer peripheral portion of the protruding portion 111A have a shape that extends closer to the sliding axis as it advances in the sliding direction one Z1, and in the opened state, the inner peripheral portion and the outer peripheral portion of the protruding portion 111A are Compared to the tapered state, the shape is separated in a direction perpendicular to the sliding axis. The protruding portion 111A can be elastically deformed from the taper state to the stretched state, and can be elastically restored from the stretched state to the taper state. The sliding portion 131A is inserted into the internal space 115A in the protruding portion 111A, and the sliding portion 131A slides on the inner peripheral surface of the annular portion 112A and the protruding portion 111A, whereby the protruding portion 111A in the tapered state is elastically deformed. It becomes an open state.

  When the movable body 13A is displaced in one sliding direction Z1, the projecting portion 111A, which has been in a tapered state due to the sliding of the movable body 13A, is pushed from the inner peripheral surface and is separated from the sliding axis to be in an expanded state. Engagement of the protruding portion 111A with the inner screw portion 21 is performed by elastically deforming the protruding portion 111A from the tapered state to the open state. In the tapered state, the protruding portion 111A does not engage with the inner threaded portion 21 of the held body 20, and the cylindrical body 11A is moved in the sliding direction one Z1 so that the protruding portion 111A becomes the inner threaded portion 21 of the held body. After the insertion, the projecting portion 111A is engaged with the inner screw portion 21 by placing the projecting portion 111A in an open state.

  The protrusion 111A includes a flexible region 116 having flexibility and elasticity in at least a part of the outer peripheral portion thereof. When the movable body 13A spreads the protruding portion 111A from the inner peripheral surface and the protruding portion 111A is in the open state in the inner threaded portion 21 of the held body, the flexible member 116 contacts the inner threaded portion 21. In contact with each other, pressure is received from both inner peripheral surfaces of the inner screw portion 21. Since the flexible member 116 has flexibility, it is deformed along the shape of the screw of the inner screw portion 21. As a result, a frictional force with the inner screw portion 21 is generated, and the held body 20 can be held.

  Since the movable body 13A is located inside the projecting portion 111A in the open state, when the flexible member 116 receives pressure from the inner peripheral surface of the inner screw portion 21, the flexible member 116 Although deformed within the thickness range, the deformation beyond the range is prevented by the protrusion 111A and the movable body 13A. Further, since the flexible member 116 has elasticity, even if the flexible member 116 is deformed by contact with the inner screw portion 21, after the holding of the held body 20 is released, it returns to the shape before holding. Thereby, holding | maintenance of the to-be-held body 20 and its cancellation | release can be performed repeatedly.

  An internal space 115A is formed inside the annular portion 112A and the plurality of protruding portions 111A. The movable body 13A includes a sliding part 131A, a transmission part 132A, and a stopper 133A. The annular portion 112A of the cylindrical body 11A and the sliding portion 131A of the movable body 13A are formed in a quadrangular prism shape. Inside the annular portion 112A and the protruding portion 111A, an internal space 115A is formed for the sliding portion 131A of the movable body 13A to enter and slide.

  The cross-sectional shape perpendicular to the sliding direction Z of the outer peripheral surface and the inner peripheral surface of the annular portion 112A is rectangular, and the cross-sectional shape perpendicular to the sliding direction Z of the sliding portion 131A is also rectangular. The axial direction of the rectangular column of the sliding part 131A and the sliding direction Z coincide with each other, and the axis of the rectangular column of the sliding part 131A is the sliding axis in the second embodiment. The area of the cross section perpendicular to the sliding direction Z of the sliding portion 131A is substantially the same as the area of the cross section perpendicular to the sliding direction Z of the internal space of the annular portion 112A.

  The cylindrical body 11A is mechanically connected directly to the base body 16 so as to be slidable in the sliding direction Z with respect to the base body 16, and a slider 116 of the cylindrical body 11A is provided as a connection portion with the base body 16. is doing. A stopper 161a that prevents displacement of the cylindrical body 11A in the sliding direction one Z1 is provided at the end of the sliding direction 161Z1 in the sliding direction. The stopper 161a is fixed to the slide rail 161. Even if the slider 116 of the cylindrical body 11A slides with respect to the slide rail 161 and is displaced in one sliding direction Z1, the slider portion of the cylindrical body 11A contacts the stopper 161a from the other Z2 side in the sliding direction. There is no displacement in the sliding direction one Z1 rather than the position. Further, the annular portion 112A of the cylindrical body 11A and the stopper 133A of the movable body 13A are elastically connected by the connecting body 17, and the cylindrical body 11A is connected to the base body 16 by the elasticity of the connecting body 17. It is held elastically in the sliding direction Z.

  A plurality of protruding portions 111A are formed on the Z1 side in the sliding direction from the annular portion 112A of the cylindrical body 11A. A collar 114A is formed on the outer peripheral surface portion of the end portion of the annular portion 112A in one sliding direction Z1. When the collar 114A is viewed in the sliding direction Z, the outer shape is a square, and one side thereof is longer than one side of the square formed by a cross section perpendicular to the sliding direction Z of the annular portion 112A. In the second embodiment, no screw is formed on the outer peripheral surface portion of the annular portion 112A.

  The other end in the sliding direction Z2 side of the protruding portion 111A is connected to the annular portion 112A. In the second embodiment, four protruding portions 111A are provided in one cylindrical body 11A, and no external screw is formed on the outer peripheral surface portion of the protruding portion 111A. When the sliding portion 131A of the movable body 13A is not positioned in the internal space 115A formed by the plurality of protrusions 111A, the plurality of protrusions 111A are in a tapered state, and the internal space 115A formed by the plurality of protrusions 111A. When the sliding portion 131A of the movable body 13A is positioned at the position, each projecting portion 111A is in an open state. The deformation from the open state to the tapered state is performed by elastically returning the end portion on the other side Z2 in the sliding direction of the projecting portion 111A connected to the annular portion 112A. The diameter of the smallest virtual cylinder having an axis in the sliding direction Z that can surround the protruding portion 111A in the tapered state is in the sliding direction Z that can surround the protruding portion 111A in the open state. It is less than the diameter of the smallest virtual cylinder with an axis.

  FIG. 16 is a side view partially showing a cross-sectional view of the cylindrical body 11A in the opened state according to the second embodiment of the present invention. The flexible member 117 is a member having flexibility and elasticity, and in the second embodiment, the flexible member 117 is formed of rubber. The flexible member 117 is fixed to the outer peripheral surface of the protrusion 111A. When the projecting portion 111A is in the open state, the flexible member 117 is pressed against the inner peripheral surface of the inner screw portion 21 of the held body. The pressed flexible member 117 contacts the screw of the inner screw portion 21 and deforms in accordance with the shape of the screw. Since the movable body 13A is located inside the projecting portion 111A in the open state, when the flexible member 117 receives pressure from the inner peripheral surface of the inner screw portion 21, the flexible member 117 Although deformed within the thickness range, the deformation beyond the range is prevented by the protrusion 111A and the movable body 13A.

  The sliding part 131A of the movable body 13A is located on the Z1 side in the sliding direction from the transmitting part 132A, and the length of the sliding part Z in the sliding direction Z is the sliding direction Z of the protruding part 111A in the open state. It shall be more than the length of. A transmission portion 132A is connected to the other sliding direction Z2 side of the sliding portion 131A. The displacement of the sliding portion 131A in the sliding direction Z is performed by the transmission portion 132A being displaced in the sliding direction Z. The shape and size of the cross section perpendicular to the sliding direction Z of the transmission portion 132A are the same as the shape and size of the cross section perpendicular to the sliding direction Z of the sliding portion 131A. A stopper 133A is formed in the middle of the sliding direction Z on the outer peripheral surface of the transmission portion 132A, and the transmission portion 132A is connected to the connector 17 via the stopper 133A. As a result, the displacement of the transmitting portion 132A in the sliding direction Z is transmitted to the cylindrical body 11A via the connecting body 17, and the cylindrical body 11A is displaced in the sliding direction Z. At least a part of the transmission part 132A on the other side Z2 in the sliding direction than the stopper 133A is housed in a part of the driving means 15. In the second embodiment, the driving means 15 is an air cylinder 151 and a compressed air supply compressor 152 that supplies compressed air to the air cylinder 151, and at least a part of the transmission portion 132A on the other side Z2 in the sliding direction from the stopper 133A is air. Housed in the cylinder 151.

  The coupling body 17 is formed of a compression coil spring. The end on the one side Z1 side in the sliding direction of the connecting body 17 is connected to the end on the other side Z2 in the sliding direction of the cylindrical body 11A, and the end on the other side Z2 in the sliding direction of the connecting body 17 is movable. It is connected to the stopper 133A of the body 13A. Accordingly, when the transmission portion 132A is displaced in the sliding direction Z with respect to the base body 16, the cylindrical body 11A is also elastically displaced in the sliding direction Z with respect to the base body 16. A cylindrical end portion having an outer diameter coinciding with the inner diameter of the coil spring of the coupling body 17 is formed at the end portion of the cylindrical body 11A where the end portion on the one side Z1 in the sliding direction of the coupling body 17 contacts. The coil spring of the connecting body 17 is fitted into the cylindrical end of the cylindrical body 11A. The cross section perpendicular to the sliding direction Z of the cylindrical body 11A on the Z1 side in the sliding direction from the cylindrical end portion has one side longer than the outer diameter of the cylindrical end portion of the cylindrical body 11A. It is a square. This prevents the end of the connecting body 17 on the one side in the sliding direction Z1 from being displaced relative to the cylindrical body 11A in the one side in the sliding direction Z1.

  The stopper 133A of the movable body 13A with which the other end Z2 side in the sliding direction of the connecting body 17 comes into contact is formed with a cylindrical end portion having an outer diameter that matches the inner diameter of the coil spring of the connecting body 17. The coil spring of the connecting body 17 is fitted into the cylindrical end of the stopper. The stopper 133A on the other side Z2 in the sliding direction from the cylindrical end is a square having one side longer than the outer diameter of the cylindrical end of the stopper into which the connecting body 17 is fitted. This prevents the end of the coupling body 17 on the other side in the sliding direction Z2 from being displaced in the sliding direction one side Z1 with respect to the stopper 133A.

  According to the second embodiment, the protruding portion 111A of the cylindrical body 11A can be deformed into a tapered state and an open state. In the tapered state, the protruding portion 111A has a shape that tapers toward the one side Z1 in the sliding direction. In the stretched state, the protruding portion 111A has a shape that is farther from the sliding axis than in the tapered state. Accordingly, in the tapered state, the cylindrical body 11A is not engaged with the inner threaded portion 21 of the held body, and the cylindrical body 11A is moved in the sliding direction Z1 to move the protruding portion 111A to the inner threaded portion of the held body. After the insertion into 21, the projecting portion 111 </ b> A is brought into an open state, whereby the cylindrical body 11 </ b> A can be engaged with the inner screw portion 21. The engagement of the cylindrical body 11A with the inner screw portion 21 is performed by elastically deforming the protruding portion 111A from the tapered state to the extended state. When the movable body 13A is displaced to one side Z1 in the sliding direction, the projecting portion 111A, which has been tapered due to the sliding of the movable body 13A, is pushed from the inner peripheral surface to be separated from the sliding axis, and is in an open state, and the cylindrical body 11A. Can engage with the internal thread of the object 20 to be held. Therefore, it is not necessary to rotate the cylindrical body 11A around the axis of the internal screw in a state where the cylindrical body 11A is engaged with the internal thread portion 21 of the held body.

  Therefore, the distance of sliding required for screwing can be shortened compared with screwing an external screw member to the internal screw part 21 by rotating an external screw member. Therefore, it is possible to hold and release the held body 20 in a shorter time compared to rotating the external screw member and holding the held body 20 by the external screw member. Further, since it is not necessary to rotate the cylindrical body 11A around the axis of the inner screw while being engaged with the inner screw portion 21, the outer screw member is screwed into the inner screw portion 21 by rotating the outer screw member. Compared to the mechanism, the cylindrical body 11A can be engaged with the inner screw portion 21 of the held body by a simple mechanism.

  The cylindrical body 11A has a flexible member 117 on the outer peripheral surface of the protruding portion 111A. Since the flexible member 117 has flexibility and elasticity, the movable body 13A spreads the protruding portion 111A from the inner peripheral surface, and the protruding portion 111A is within the inner screw portion 21 of the held body. When the stretched state is reached, the flexible member 117 contacts both the protruding portion 111A and the inner screw portion 21, and receives pressure from both the outer peripheral surface of the protruding portion 111A and the inner peripheral surface of the inner screw portion 21. . Since the flexible member 117 has flexibility, it is deformed along the shape of the screw of the inner screw portion 21. As a result, a frictional force with the inner screw portion 21 is generated, and the held body 20 can be held. Since the movable body 13A is located inside the projecting portion 111A in the open state, when the flexible member 117 receives pressure from the inner peripheral surface of the inner screw portion 21, the flexible member 117 Although deformed within the thickness range, the deformation beyond the range is prevented by the protrusion 111A and the movable body 13A.

  Therefore, compared to a device that presses the outer surface of the balloon against the inner surface of the inner screw portion 21 by air pressure, and holds the held member 20 by the frictional force between the outer surface of the balloon and the inner surface of the inner screw portion 21, It can be held firmly. Further, in the engaged state in the open state, since the flexible member 117 is in contact with the inner peripheral surface of the inner thread portion 21 of the held body, the depth of the thread groove of the inner thread portion 21 of the held body, Corresponding to a plurality of types of internal screws having different flank angles and screw pitches, a plurality of types of held bodies 20 can be held. Therefore, the holding device 10A having high versatility can be realized by having the flexible member 117 outside the protruding portion 111A.

  Further, since the flexible member 117 has elasticity, even if it is deformed by contact with the inner screw portion 21, after the holding of the held body 20 is released, it returns to the shape before holding. Therefore, it is possible to repeatedly hold and release the held body 20. Further, the protruding portion 111A can be elastically deformed from the tapered state to the open state. As a result, the protruding portion 111A can elastically return from the open state to the tapered state, and therefore, the holding of the held body 20 can be released by the elastic return, and the holding of the held body 20 and the release of the holding are repeated. be able to. Therefore, it is possible to provide the holding device 10A that has a simple mechanism and firmly holds the held body 20 having the inner screw portion 21 in a short time.

  Although the flexible member 117 is rubber in the second embodiment, it is sufficient if the flexible member has flexibility and elasticity. For example, in another embodiment, the flexible member may be a sponge-like member formed from a resin, and may be a cloth in still another embodiment.

  Further, in the second embodiment, the annular portion 112A of the cylindrical body 11A and the sliding portion 131A of the movable body 13A are formed in a quadrangular prism shape, but like the annular portion 112 and the sliding portion 131 in the first embodiment, Also good. The holding device 10A according to the second embodiment includes the cylindrical body 11A, the movable body 13A, the coupling body 17, the driving means 15, and the base body 16, but is configured as the first embodiment. The angular displacement means 12 may be further included. Further, in the second embodiment, no screw is formed on the outer peripheral surface portion of the annular portion 112A of the cylindrical body 11A, but an outer screw is formed on the outer peripheral surface portion of the annular portion 112 in the same manner as the annular portion 112 in the first embodiment. May be.

  Further, according to the present invention, it is sufficient that the flexible member 117 has flexibility and elasticity. For example, in another embodiment, the flexible member may be a sponge-like member formed from a resin, and may be a cloth in still another embodiment. As a result, a portion that contacts the inner threaded portion 21 of the held body can be a member that is greatly deformed by a force smaller than that of rubber. Therefore, it becomes easy to hold | maintain the to-be-held body 20 without damaging the internal thread part 21. FIG.

  Further, according to the present invention, the annular portion 112 of the cylindrical body 11A and the sliding portion 131A of the movable body 13A may be columnar like the annular portion 112 and the sliding portion 131 in the first embodiment. 11 A of cylindrical bodies may abbreviate | omit the slider of 11 A of cylindrical bodies for connecting with a base | substrate directly. In addition to the configuration of the second embodiment, the held body holding device may further include the angular displacement means 12 in the first embodiment. Further, the annular portion 112 of the cylindrical body 11A may have an external screw formed on the outer peripheral surface portion, similarly to the annular portion 112 in the first embodiment. As a result, the angular displacement means can angularly displace the cylindrical body 11A around the sliding axis, and the annular portion 112 of the cylindrical body 11A can be fitted to the inner screw portion 21 of the held body. . Therefore, when the cylindrical body 11A comes into contact with the inner screw portion 21 of the held body, it becomes easy to accurately determine the positional relationship between the inner screw portion 21 and the protruding portion 111 of the cylindrical body 11A.

  Although the angular displacement means 12 in the first and second embodiments is configured to include the cylindrical body holding portion 121, the slider 125, and the connecting portion 126, in other embodiments, the angular displacement means is a cylindrical body. It is sufficient if 11 can be angularly displaced with respect to the substrate. For example, it may be realized by a mechanism using a motor or a solenoid.

Although the holding device and the conveying device according to the first and second embodiments have been described as devices for holding and conveying the object to be held, in other embodiments, the holding device has an internal screw. In the second embodiment, the driving unit includes an air cylinder. However, in another embodiment, the driving unit may include a linear motor.

  In the first and second embodiments, the sliding direction is the vertical direction, but in other embodiments, the sliding direction may be set at an angle with respect to the vertical direction.

  In the drawings of the first and second embodiments, the screw is represented by a triangular screw, but the type of screw is not specified. For example, a double thread, an inch thread, a metric coarse thread, a square thread, a round thread or the like may be used.

  In another embodiment, the holding device is provided with a compression coil spring between the collar 114 of the cylindrical body 11 and the cylindrical body holding part 121, and the collar 114 of the cylindrical body 11 and the cylindrical body holding part 121 are arranged. A mechanism for separating by a compression coil spring may be provided. As a result, even when the sliding direction Z forms an angle with respect to the vertical direction, it is possible to hold the object to be held, and to realize a highly versatile holding device.

It is a side view which cuts and shows a part of holding device 10 concerning a 1st embodiment of the present invention. It is a side view which shows the cylindrical body 11 in a taper state. It is a side view which shows the cylindrical body 11 in an open state. It is sectional drawing of the cylindrical body 11 cut | disconnected and shown by the AA cut surface line of FIG. It is sectional drawing which cut | disconnected the angular displacement prevention part 123 of the angular displacement means 12 in 1st Embodiment of this invention, and cut | disconnected it by the cut surface line BB shown in FIG. It is sectional drawing seen by cut | disconnecting by the cut surface line CC of FIG. It is a flowchart showing the process in which the holding | maintenance body holding | maintenance apparatus 10 which concerns on 1st Embodiment of this invention hold | maintains the to-be-held body 20. FIG. It is a side view of the to-be-held body holding | maintenance apparatus 10 showing the process in which the to-be-held body holding | maintenance apparatus 10 which concerns on 1st Embodiment of this invention hold | maintains the to-be-held body 20. FIG. It is a side view of the conveying apparatus 30 which concerns on 1st Embodiment of this invention. It is a block diagram showing the electrical connection relationship of the conveying apparatus 30 which concerns on 1st Embodiment of this invention. It is a flowchart showing the conveyance process of the to-be-held body by the conveying apparatus 30 which concerns on 1st Embodiment of this invention. It is a side view of the cylindrical body 11 showing each step of the process which produces the cylindrical body 11 in 1st Embodiment of this invention. It is a flowchart showing the process of producing the cylindrical body 11 in 1st Embodiment of this invention. It is a side view of the to-be-held body holding | maintenance apparatus 10A which concerns on 2nd Embodiment of this invention. It is the side view which partially showed 11 A of cylindrical bodies in 2nd Embodiment of this invention with sectional drawing. It is the side view which partially showed cylindrical body 11A in the open state in 2nd Embodiment of this invention with sectional drawing. It is a side view which shows the holding | maintenance apparatus 1 of the 1st prior art. It is a side view which shows the holding | maintenance apparatus 5 of the 2nd prior art.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Holding | maintenance apparatus of to-be-held body 11 Cylindrical body 12 Angular displacement means 13 Movable body 15 Driving means 16 Base | substrate 17 Connection body 20 To-be-held body 21 Internal thread part of to-be-held body 30 Conveyance apparatus 32 Sliding direction Z drive means 112 Ring Part 113 Engaging projection part 114 Collar 121 Cylindrical body holding part 123 Angular displacement prevention part 124 Long hole 126 Connection part 131 Sliding part 132 Transmission part 151 Air cylinder 312 Support means

Claims (9)

A holding device for holding a to-be-held body on which an inner screw portion is formed,
A substrate;
A movable body coupled to the base body so as to be movable in a sliding direction along a predetermined sliding axis with respect to the base body;
A driving means provided on the base for driving the movable body to move in the sliding direction;
An internal space in which the movable body can enter in the sliding direction is formed, and includes a cylindrical body connected to the base body,
The cylindrical body
An annular portion formed annularly with respect to the sliding axis;
The annular part protrudes from one end in the sliding direction to one side in the sliding direction, has an external thread region in which an external thread is formed on at least a part of the outer peripheral part, and has a circumferential interval around the sliding axis. A plurality of projecting portions arranged in a row, and each projecting portion changes from a tapered state that extends closer to the sliding axis as the inner peripheral portion and the outer peripheral portion proceed in one of the sliding directions to the sliding axis as compared to the tapered state. A holding device comprising: a plurality of protrusions that are elastically deformable in an open state separated from each other in a perpendicular direction.   The holding device according to claim 1, wherein in the tapered state, the maximum outer diameter of the protruding portion is set to be less than the outer diameter of the annular portion.   The outer peripheral part of each protrusion extends in parallel with the sliding axis in the open state, and the axis of each external screw of each protrusion coincides with one virtual straight line. Holding device. An angular displacement means for driving the cylindrical body to be angularly displaced about the sliding axis;
At least a part of the outer peripheral portion of the annular portion is formed with an external screw along an imaginary external screw in which the external screw formed on the outer peripheral portion of the projecting portion is extended in the sliding direction in the open state. The holding device according to claim 3. The angular displacement means is
A cylindrical body holding portion connected to the base body, holding the cylindrical body slidably in the sliding direction and the sliding axis within a predetermined range;
A guide unit that guides the cylindrical body to be angularly displaced about the sliding axis with respect to the cylindrical body holding unit as the cylindrical body is displaced in the sliding direction with respect to the cylindrical body holding unit; The holding device according to claim 4, further comprising: The angular displacement means is
A connecting part for elastically connecting the cylindrical body holding part to the base body so as to be displaceable in a sliding direction;
6. The holding device according to claim 5, further comprising an angular displacement prevention unit that prevents the cylindrical body holding unit from being angularly displaced about the sliding axis with respect to the base body. The movable body enters the internal space of the cylindrical body and slides with respect to the inner peripheral surface of the cylindrical body, and is connected to the sliding section and is driven to displace in the sliding direction by the driving means. A transmission unit that transmits the power applied from the driving means to the sliding unit;
The holding device according to claim 6, wherein the connecting portion elastically connects the transmission portion of the movable body and the cylindrical body holding portion. A holding device for holding a held body on which an inner screw is formed,
A substrate;
A movable body coupled to the base body so as to be movable in a sliding direction along a predetermined sliding axis with respect to the base body;
A driving means provided on the base for driving the movable body to move in the sliding direction;
An internal space in which the movable body can enter in the sliding direction is formed, and includes a cylindrical body connected to the base body,
The cylindrical body
An annular portion formed annularly with respect to the sliding axis;
The annular part protrudes from one end in the sliding direction to one side in the sliding direction, and at least a part of the outer peripheral part has a flexible region having flexibility and elasticity, and the circumference of the annular part is around the sliding axis. A plurality of protrusions arranged at intervals in the direction, each of the protrusions from a tapered state extending closer to the sliding axis as the inner peripheral portion and the outer peripheral portion proceed in one of the sliding directions compared to the tapered state And a plurality of projecting portions that can be elastically deformed in an open state separated in a direction perpendicular to the sliding axis. A holding device according to any one of claims 1 to 8,
A transfer device having a moving means for moving the substrate of the holding device;

Images