JP6436574B2 - 把持装置及び把持方法 - Google Patents
把持装置及び把持方法 Download PDFInfo
- Publication number
- JP6436574B2 JP6436574B2 JP2015125339A JP2015125339A JP6436574B2 JP 6436574 B2 JP6436574 B2 JP 6436574B2 JP 2015125339 A JP2015125339 A JP 2015125339A JP 2015125339 A JP2015125339 A JP 2015125339A JP 6436574 B2 JP6436574 B2 JP 6436574B2
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- Prior art keywords
- movable piece
- gripping
- piece
- movable
- cam
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000000034 method Methods 0.000 title claims description 16
- 239000000463 material Substances 0.000 claims description 16
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000004804 winding Methods 0.000 description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 238000013459 approach Methods 0.000 description 4
- 239000012530 fluid Substances 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/0003—Apparatus or processes specially adapted for manufacturing conductors or cables for feeding conductors or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
- H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
- H01B13/0026—Apparatus for manufacturing conducting or semi-conducting layers, e.g. deposition of metal
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Coil Winding Methods And Apparatuses (AREA)
- Tension Adjustment In Filamentary Materials (AREA)
- Manufacture Of Motors, Generators (AREA)
Description
9 被把持材(線材)
10 把持装置
11 基台
12b 固定片
13 第一可動片
18 第二可動片
19 第一コイルスプリング
20 小バネ
21 係止材
22 第二コイルスプリング
26 駆動装置
27 カム
28 モータ
Claims (6)
- 固定片(12b)と前記固定片(12b)に一端が対向して前記固定片(12b)に離接可能に構成された第一可動片(13)を有する把持具(7)と、
前記第一可動片(13)の他端側に設けられた第二可動片(18)と、
前記第一可動片(13)と前記第二可動片(18)の間に介在して前記第一可動片(13)と前記第二可動片(18)の間隔を広げるように付勢する第一スプリング(19)と、
前記第一スプリング(19)の付勢力に抗して前記第二可動片(18)を任意の位置にまで移動させる駆動装置(26)と
を備えた把持装置。 - 把持具(7)が把持する線材(9)の長手方向に前記把持具(7)が移動可能に基台(11)に設けられ、
前記把持具(7)を一方の方向に移動するように付勢する小バネ(20)と、前記小バネ(20)の付勢力に抗して前記把持具(7)の所定値以上の一方の方向への移動を禁止する係止材(21)が設けられた請求項1記載の把持装置。 - 駆動装置(26)が、第二可動片(18)を移動可能なカム(27)と、前記カム(27)を任意の位置に変位させるモータ(28)とを備えた請求項1又は2記載の把持装置。
- カム(27)が第二可動片(18)に外周が当接する板カム(27)であって、前記板カム(27)の外周に前記第二可動片(18)を接触させるように前記第二可動片(18)を付勢する第二スプリング(22)を更に備え、
モータ(28)は前記第二スプリング(22)の付勢力に抗して前記板カム(27)を変位させて前記第二可動片(18)を前記第一可動片(13)側に移動可能に構成された請求項3記載の把持装置。 - 固定片(12b)と、前記固定片(12b)に一端が対向して前記固定片(12b)に離接可能に構成され前記固定片(12b)に接近して間に存在する被把持材(9)を把持可能な第一可動片(13)と、
前記第一可動片(13)の他端側に設けられた第二可動片(18)と、
前記第一可動片(13)と前記第二可動片(18)の間に介在して前記第一可動片(13)と前記第二可動片(18)の間隔を広げるように付勢する第一スプリング(19)とを備えた把持装置を用いる把持方法であって、
前記第二可動片(18)を前記第一可動片(13)に離接させ、前記第一可動片(13)と前記第二可動片(18)の間隔を変化させて前記固定片(12b)と前記第一可動片(13)が把持する被把持材(9)の把持力を変更させる
ことを特徴とする把持方法。 - 把持装置が、第二可動片(18)を移動可能なカム(27)と、前記カム(27)を任意の位置に変位させるモータ(28)とを更に備え、
前記モータ(28)による前記カム(27)の変位量によって前記第二可動片(18)を前記第一可動片(13)に離接させる請求項5記載の把持方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015125339A JP6436574B2 (ja) | 2015-06-23 | 2015-06-23 | 把持装置及び把持方法 |
CN201680003438.2A CN107004502B (zh) | 2015-06-23 | 2016-06-01 | 把持装置以及把持方法 |
KR1020177011551A KR101944028B1 (ko) | 2015-06-23 | 2016-06-01 | 파지 장치 및 파지 방법 |
PCT/JP2016/066239 WO2016208345A1 (ja) | 2015-06-23 | 2016-06-01 | 把持装置及び把持方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015125339A JP6436574B2 (ja) | 2015-06-23 | 2015-06-23 | 把持装置及び把持方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017011108A JP2017011108A (ja) | 2017-01-12 |
JP6436574B2 true JP6436574B2 (ja) | 2018-12-12 |
Family
ID=57585446
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015125339A Active JP6436574B2 (ja) | 2015-06-23 | 2015-06-23 | 把持装置及び把持方法 |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP6436574B2 (ja) |
KR (1) | KR101944028B1 (ja) |
CN (1) | CN107004502B (ja) |
WO (1) | WO2016208345A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109133217B (zh) * | 2018-09-28 | 2021-07-13 | 叶东升 | 一种悬浮球生物填料的打捞爪 |
JP7153990B2 (ja) * | 2019-01-24 | 2022-10-17 | Nittoku株式会社 | 線材係止装置及び線材係止方法 |
CN111534908B (zh) * | 2020-05-09 | 2021-08-03 | 丁明明 | 纺织机械压轮臂组件操作调整装置 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01261836A (ja) * | 1988-04-12 | 1989-10-18 | Mitsubishi Electric Corp | ワイヤボンディング装置 |
JPH03230539A (ja) * | 1990-02-06 | 1991-10-14 | Matsushita Electron Corp | ワイヤボンディング装置 |
WO1991014032A1 (en) * | 1990-03-12 | 1991-09-19 | Iro Ab | Output yarn brake |
JP3552590B2 (ja) | 1999-05-25 | 2004-08-11 | 松下電器産業株式会社 | 線材の把持装置 |
DE10107311A1 (de) * | 2001-02-16 | 2002-08-29 | Iro Patent Ag Baar | Fadengreifer |
AU2002215960A1 (en) * | 2000-10-18 | 2002-04-29 | Iropa Ag | Method for inserting weft threads and thread feed device |
JP2002224985A (ja) * | 2001-01-31 | 2002-08-13 | Sunroots Kk | 電動式チャック |
JP4617223B2 (ja) * | 2005-08-17 | 2011-01-19 | 健 高木 | フィンガー把持装置 |
JP2010023185A (ja) * | 2008-07-18 | 2010-02-04 | Tokyo Institute Of Technology | 把持装置 |
CN201551346U (zh) * | 2009-11-05 | 2010-08-18 | 孙墨 | 内窥镜握持器 |
CN103177980A (zh) * | 2013-03-01 | 2013-06-26 | 广东工业大学 | 一种用于全自动引线键合设备上的键合头装置 |
CN103715835B (zh) | 2013-12-31 | 2016-02-24 | 泰信电机(苏州)有限公司 | 一种供线装置 |
-
2015
- 2015-06-23 JP JP2015125339A patent/JP6436574B2/ja active Active
-
2016
- 2016-06-01 KR KR1020177011551A patent/KR101944028B1/ko active IP Right Grant
- 2016-06-01 WO PCT/JP2016/066239 patent/WO2016208345A1/ja active Application Filing
- 2016-06-01 CN CN201680003438.2A patent/CN107004502B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN107004502A (zh) | 2017-08-01 |
JP2017011108A (ja) | 2017-01-12 |
WO2016208345A1 (ja) | 2016-12-29 |
KR20170063867A (ko) | 2017-06-08 |
CN107004502B (zh) | 2019-09-10 |
KR101944028B1 (ko) | 2019-01-30 |
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