JPH0262550A - Positioning and supporting device for work - Google Patents
Positioning and supporting device for workInfo
- Publication number
- JPH0262550A JPH0262550A JP21436788A JP21436788A JPH0262550A JP H0262550 A JPH0262550 A JP H0262550A JP 21436788 A JP21436788 A JP 21436788A JP 21436788 A JP21436788 A JP 21436788A JP H0262550 A JPH0262550 A JP H0262550A
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- positioning
- arms
- positioners
- work
- 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.)
- Granted
Links
- 239000000463 material Substances 0.000 description 5
- 238000000576 coating method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 239000011247 coating layer Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 108091008695 photoreceptors Proteins 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、塗布によって電子写真感光体を製造する際な
どにおける外面円形体等のワークを位置決めしながら支
持する装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an apparatus for positioning and supporting a workpiece such as a circular body when manufacturing an electrophotographic photoreceptor by coating.
物品を機械的、物理的あるいは化学的に処理する場合、
その物品を処理のために位置決めすることが多く行なわ
れている。When processing goods mechanically, physically or chemically,
Positioning of the article for processing is often performed.
この一つの例として、電子写真記録体の製造に当り、円
筒ドラムに塗布液を塗布する際、その円筒ドラムをスラ
イドホッパーに対して所定位置に位置決めすることを挙
げることができる。この塗布方式としては、特開昭６０
−９５４４０号公報などによって公知である。また、塗
布層はきわめて薄いため、円筒ドラムが０．１ ａｍ程
度ずれても周方向に関し、塗膜層の大きな偏差をもたら
す。したがって、円筒ドラムの正確な位置決めがきわめ
て重要となる。One example of this is positioning the cylindrical drum at a predetermined position with respect to a slide hopper when applying a coating liquid to a cylindrical drum in manufacturing an electrophotographic recording medium. This coating method is used in Japanese Patent Application Laid-open No. 60
This is known from, for example, Japanese Patent No. -95440. Further, since the coating layer is extremely thin, even if the cylindrical drum shifts by about 0.1 am, a large deviation of the coating layer will occur in the circumferential direction. Therefore, accurate positioning of the cylindrical drum is extremely important.
他方、ある物品（以下ワークという）の処理に当り、ワ
ークを支持するハンド部分の構造として、（１）特開昭
６０−８５８９２号、同６０−８５８９３号公報のよう
に、把持子の少くとも一方に出入調整可能な接触部材を
設けたもの、（２）実開昭６１−９９４９３号公報に示
された鈍角Ｖ字面および平面の把持面をもち、反力を利
用してワークの位置決めを行うものなどが知られている
。さらに、（３）把持子の接触部分にゴム等を貼り付け
、そのゴム等でワークを把持することで把持性を高めた
ものなども知られている。On the other hand, when processing a certain article (hereinafter referred to as a work), as the structure of the hand portion that supports the work, (1) at least the structure of the gripper is disclosed in Japanese Patent Application Laid-open Nos. 60-85892 and 60-85893. One with a contact member that can be adjusted in and out on one side; (2) It has an obtuse V-shaped surface and a flat gripping surface as shown in Japanese Utility Model Application No. 61-99493, and positions the workpiece using reaction force. things are known. Furthermore, (3) there is also known a gripper in which rubber or the like is attached to the contact portion of the gripper and the workpiece is gripped with the rubber or the like to improve gripping performance.
しかし、上記の支持方式にはそれぞれ次のような問題が
ある。However, each of the above support systems has the following problems.
すなわち、（１）の方式では、外力が接触部材の方向に
加わったとき、ワークが逃げてしまい位置ずれが生じて
しまう。把持子の両方に接触部材を設けても事態は同じ
である。That is, in the method (1), when an external force is applied in the direction of the contact member, the workpiece escapes and misalignment occurs. The situation is the same even if contact members are provided on both grippers.
また、（２）の方式においては、反力を利用して位置決
めを行うためには、硬度の高いものでなければならない
ので、位置決めを優先するとワークに傷つける虞れがあ
り、傷つきを防止できる程度の硬度にすると、把持が不
安定になり、かつ位置決め精度が低くなる。In addition, in method (2), in order to perform positioning using reaction force, the material must be highly hard, so if priority is given to positioning, there is a risk of damaging the workpiece. If the hardness is set to , gripping becomes unstable and positioning accuracy decreases.
（３）の方式では、確かに把持性に優れるものの、ゴム
等が変形するため、ワークの位置決め精度が低い。Although the method (3) is certainly excellent in gripping performance, the accuracy of positioning the workpiece is low because the rubber etc. are deformed.
そこで、本発明の主たる目的は、把持性が良好でおよび
位置決め精度が高い支持装置を提供することにある。Therefore, the main object of the present invention is to provide a support device with good gripability and high positioning accuracy.
上記課題は、ワークの外面に対して外方から接触するそ
れぞれ少くとも２個以上の非変形の′硬い位置決め子お
よび変形自在の柔い弾性のある把持子を有し、これら位
置決め子および把持子はそれぞれ同方向から前記ワーク
に接近当接し、前記位置決め子は３点以上の位置決め点
においてワークを保持するように構成されていることで
解決できる。The above object has at least two or more non-deformable hard positioners and deformable soft elastic grippers that contact the outer surface of the workpiece from the outside, and these positioners and grippers can be solved by approaching and abutting the workpiece from the same direction, and the positioning element is configured to hold the workpiece at three or more positioning points.
本発明に従うと、変形可能で柔い弾性のある把持子、た
とえばゴム等からなる把持子にて把持するので把持性が
良好である。しかるに、把持子がワークに強く押し当て
られたとき、把持子そのものが変形し、やがて非変形の
硬い位置決め子がワークに接触しワークを支持する。し
たがって、最終的にはワークが非変形の硬い位置決め子
によって支持されるから、位置決め精度が高くなる。さ
らに、把持子は、ワークの位置決め中、主に弾性力によ
ってワークを把持するようになるから、ワ一りがずれる
こともない。逆に、先に位置決め子がワークに当接した
後、把持子がワークに押圧されると、位置決め状態のワ
ークを安定的に把持子によって把持できる。According to the present invention, since the object is gripped by a deformable, soft and elastic gripper, for example, a gripper made of rubber or the like, gripability is good. However, when the gripper is strongly pressed against the workpiece, the gripper itself deforms, and eventually the non-deformable hard positioning element comes into contact with the workpiece and supports the workpiece. Therefore, since the workpiece is ultimately supported by a non-deformable hard positioner, the positioning accuracy is increased. Furthermore, since the gripper grips the workpiece mainly by elastic force during positioning of the workpiece, the gripper will not become misaligned. On the other hand, if the positioner contacts the workpiece first and then the gripper is pressed against the workpiece, the positioned workpiece can be stably gripped by the gripper.
以下本発明を実施例によってさらに詳説する６第１図は
第１実施例を示したもので、１はたとえば中空円筒形等
のワークで、その外周面両側に非変形の硬いたとえば金
属製のアーム２Ａ、２Ｂが配設されている。アーム２Ａ
、２Ｂはその一端部において回転支持軸３Ａ、３Ｂによ
って矢印方向に回転自在に保持されている。また、回転
支持軸３Ａ、３Ｂよりワークｌより反対方向のアーム２
Ａ、２Ｂ端部間には開閉用復動シリンダ４が跨設れてい
る。このシリンダ４のロンドが図示ように伸長すると、
アーム２Ａ、２Ｂが実線位置のようにワーク１に対して
接近し、ロンドを収縮させると仮想線のように離間状態
となる。The present invention will be explained in more detail with reference to examples below.6 Figure 1 shows a first example, in which 1 is a hollow cylindrical workpiece, for example, and a non-deformable hard arm made of metal, for example, is attached to both sides of the outer peripheral surface of the workpiece. 2A and 2B are arranged. Arm 2A
, 2B are rotatably held at one end by rotation support shafts 3A, 3B in the direction of the arrow. Also, the arm 2 in the opposite direction from the work l from the rotation support shafts 3A and 3B.
A double-acting cylinder 4 for opening and closing is provided astride between the ends A and 2B. When the rond of cylinder 4 is extended as shown in the figure,
The arms 2A and 2B approach the workpiece 1 as shown by the solid line, and when the iron is contracted, they become separated as shown by the imaginary line.
一方、アーム２Ａ、２Ｂのワーク１がわには、高さ方向
に間隔を置いて一対、合計２対位置決め子５Ａ、５Ｂ、
５Ｃ，５Ｄが突設されている。また、位置決め子５Ａ、
５Ｂ間、および位置決め子５Ｃ，ＳＤ間には、ゴム等の
変形自在で柔い弾性のある把持子６Ａ、６Ｂがアーム２
Ａ、２Ｂに固定されている。さらに、アーム２Ａ、２Ｂ
の下部外側にはストッパー７Ａ、７Ｂが対向的に配され
ている。On the other hand, on the sides of the workpiece 1 of the arms 2A and 2B, there are two pairs of positioners 5A and 5B, spaced apart in the height direction, a total of two pairs.
5C and 5D are provided protrudingly. In addition, the positioner 5A,
Between the arm 2
It is fixed at A and 2B. Furthermore, arms 2A and 2B
Stoppers 7A and 7B are arranged opposite to each other on the outside of the lower part.
かかる支持装置においては、シリンダ４のロンドが収縮
し、仮想線のようにアームが離間し、かつ位置決め子５
Ａ〜５Ｄおよび把持子６Ａ、６Ｂがワーク１から離間し
ている状態の後、シリンダ４のロンドが伸長すると、ア
ーム２Ａ、２Ｂの上部が回転軸３Ａ、３Ｂ周りにワーク
１がわに回転して接近する。さらに回転が進むと、やが
て把持子６Ａ、６Ｂがワーク１に接触する。このとき、
位置決め子５Ａ〜５Ｄはワーク１に接触しておらず、か
つ、このような位置関係に予め設計されている。アーム
２Ａ、２Ｂの回転に伴って、ワーク１に把持子６Ａ、６
Ｂを接触させこれをワーク１に押し当てることで、ワー
ク１は把持子６Ａ、６Ｂによって把持される。把持子６
Ａ、６Ｂのワークｌへの押し当てに伴って自らは変形す
る。さらに、アーム２Ａ、２Ｂの回転角を大きくすると
、やがて位置決め子５Ａ〜５Ｄがワーク１外面に接触す
る。この接触の際、もしワーク１が正規の位置にない場
合、ワーク１が把持子６Ａ、６Ｂを変形させながら、位
置決め子５Ａ〜５Ｄの位置によって規定される正規位置
に位置決めされる。この位置決め状態にあるとき、たと
え位置決め子５八〜５Ｄをワークｌに強く押し当てなく
とも、把持子６Ａ、６Ｂがその弾性によって押え付けて
いるので、ワーク１が脱落するようなことはない。In such a support device, the rod of the cylinder 4 contracts, the arms are separated as shown in the imaginary line, and the positioner 5
After A to 5D and the grippers 6A, 6B are separated from the workpiece 1, when the cylinder 4's rond is extended, the upper parts of the arms 2A, 2B rotate toward the workpiece 1 around the rotation axes 3A, 3B. approach. As the rotation progresses further, the grippers 6A and 6B eventually come into contact with the workpiece 1. At this time,
The positioners 5A to 5D are not in contact with the workpiece 1, and are designed in advance to have such a positional relationship. As the arms 2A and 2B rotate, the grippers 6A and 6 are attached to the workpiece 1.
By bringing B into contact and pressing it against the workpiece 1, the workpiece 1 is gripped by the grippers 6A and 6B. Grip element 6
As A and 6B are pressed against the work l, they deform themselves. Furthermore, when the rotation angle of the arms 2A and 2B is increased, the positioners 5A to 5D eventually come into contact with the outer surface of the workpiece 1. During this contact, if the workpiece 1 is not at the normal position, the workpiece 1 is positioned at the normal position defined by the positions of the positioners 5A to 5D while deforming the grippers 6A and 6B. In this positioning state, even if the positioners 58 to 5D are not strongly pressed against the workpiece 1, the workpiece 1 will not fall off because the grippers 6A and 6B hold it down with their elasticity.
ワーク１の位置決め支持後、ワーク１の処理のために解
放するときには、シリンダ４のロッドを収縮させればよ
い。After positioning and supporting the workpiece 1, when releasing the workpiece 1 for processing, the rod of the cylinder 4 may be contracted.
なお、ストッパー７Ａ、７Ｂは、アーム２Ａ。Note that the stoppers 7A and 7B are the arms 2A.
２Ｂの回転比を定め、過度の位置決め子５八〜５Ｄのワ
ーク１への位置決めおよび接触を防止するためなどに利
用される。It is used to determine the rotation ratio of the positioners 2B and to prevent the positioners 58 to 5D from excessively positioning and contacting the workpiece 1.
第２図および第３図は第２実施例を示したちので、位置
決め子および把持子を別に設けて別々に回転しながらワ
ークｌに接触させるようにしたものである。すなわち、
アーム２Ａ、２Ｂに対して、把持子６Ａ、６Ｂを先端部
に有する専用アーム２０Ａ、２０Ｂを設けるとともに、
シリンダ４Ａ。FIGS. 2 and 3 show the second embodiment, in which a positioner and a gripper are provided separately and are brought into contact with the work l while rotating separately. That is,
Dedicated arms 20A and 20B having grippers 6A and 6B at their tips are provided for the arms 2A and 2B, and
Cylinder 4A.
４Ｂを２個設けたものである。３Ｃ，３Ｄはアーム２０
Ａ、２０Ｂの支持回転軸である。Two 4Bs are provided. 3C and 3D are arm 20
This is the support rotation shaft of A and 20B.
この例では、シリンダ４Ａのロッドがまず伸長し、把持
子６Ａ、６Ｂにてワーク１を把持した後、シリンダ４Ｂ
のロッドが伸長し、位置決め子５Ａ〜５Ｄにより位置決
めを図る。また、シリンダ４Ａ、４Ｂのロッドの伸長タ
イミングは、逆または同時であってもよい。したがって
、本発明においては、（１）把持子がワークに先に当接
、（２）位置決め子が先に当接、（３）把持子および位
置決め子が同時に当接する全ての態様が含まれる。In this example, the rod of cylinder 4A first extends, and after gripping workpiece 1 with grippers 6A and 6B, cylinder 4B
The rod extends and positioning is performed using positioners 5A to 5D. Furthermore, the timing of the extension of the rods of the cylinders 4A and 4B may be opposite or simultaneous. Therefore, the present invention includes all aspects in which (1) the gripper contacts the workpiece first, (2) the positioner contacts the workpiece first, and (3) the gripper and the positioner contact the workpiece simultaneously.
上記の第１および第２実施例では、位置決め子５Ａ〜５
Ｄの突出端による４点（横断面においていうのであって
、点でなくとも線接触でもよい）支持であるが、第４図
のように３点支持でもよく、本発明においては、支持点
が少くとも３点であればよい。なお、３点とは、片側に
３点あり、他側に何もない場合には支持ができないから
、ワークが全方向に対して移動できないように安定であ
るような点位置をいう。In the first and second embodiments described above, the positioners 5A to 5
The projecting end of D is supported at four points (referring to the cross section, and it may be a line contact rather than a point), but it may be supported at three points as shown in Fig. 4, and in the present invention, the supporting points are It should be at least 3 points. Note that 3 points means a point position where the workpiece is stable so that it cannot move in all directions since it cannot be supported if there are 3 points on one side and there is nothing on the other side.
さて、第４図の第３実施例では、アーム２１はワーク１
がわに平面的な位置決め子５Ｅを有し、アーム２２は°
ワーク１がわにＶ字状溝による位置決め子５Ｆ、５Ｇを
有する。ワークの位置決め点は、ワーク１と位置決め子
５Ｅ〜５Ｇとの３つの接触点である。また、把持子６Ｃ
〜６Ｅは、たとえばアーム２１がわに２個、アーム２２
がわに１個設けられている。Now, in the third embodiment shown in FIG. 4, the arm 21 is
It has a planar positioner 5E on its side, and the arm 22 is
The workpiece 1 has positioners 5F and 5G formed by V-shaped grooves. The positioning points of the workpiece are three contact points between the workpiece 1 and the positioners 5E to 5G. In addition, gripper 6C
~6E, for example, two arms on arm 21, two on arm 22
There is one on each side.
上記各側において、ワーク１が長いものであれば、その
長手方向に間隔を置いて、上記の支持装置をそのまま、
あるいは組合わせながら複数設けてもよい。アームと位
置決め子とは、別材質または一体であるが別部材であ゛
ってもよい。位置決め子は材質的に非変形の硬いもので
あればよいから、金属のほか、セラミックス、高硬度プ
ラスチック等を用いることができる。また、把持子は変
形自在の柔い弾性のあるものであり、代表的にはゴムで
あるが、嵩高布類柔いプラスチックやバネ性材料等も用
いることができる。On each of the above sides, if the workpiece 1 is long, the above-mentioned support device can be used as it is at intervals in the longitudinal direction.
Alternatively, a plurality of them may be provided in combination. The arm and the positioner may be made of different materials or may be integral, but may be separate members. The positioning element may be made of any hard material that does not deform, so in addition to metal, ceramics, high-hardness plastic, etc. can be used. Further, the gripper is made of a flexible and soft elastic material, and is typically made of rubber, but bulky cloth, soft plastic, springy material, etc. can also be used.
上述では、電子写真記録体の基材をワークとしたが、位
置決め精度が要求される物品の全てに対して本発明装置
は有効に適用可能である。また、本装置をロボットの一
部に用いると好適である。In the above description, the base material of the electrophotographic recording medium is used as the workpiece, but the apparatus of the present invention can be effectively applied to all articles that require positioning accuracy. Further, it is suitable to use this device as a part of a robot.
以上の通り、本発明によれば、把持性および位置決め精
度が共に優れたものとなる。As described above, according to the present invention, both gripability and positioning accuracy are excellent.
第１図は第１実施例の正面図、第２図は第２実施例の正
面図、第３図はその側面図、第４図は第３実施例の正面
図である。
１・・・ワーク、２Ａ、２Ｂ、２ＯＡ、２０Ｂ。
２１．２２・・・アーム、３Ａ〜３Ｄ・・・支持回転軸
、４．４Ａ、４Ｂ・・・開閉用復動シリンダ、５Ａ〜５
Ｇ・・・位置決め子、６Ａ〜６Ｅ・・・把持子。
第
図
第
図
第
図
第
図FIG. 1 is a front view of the first embodiment, FIG. 2 is a front view of the second embodiment, FIG. 3 is a side view thereof, and FIG. 4 is a front view of the third embodiment. 1...Work, 2A, 2B, 2OA, 20B. 21.22...Arm, 3A-3D...Support rotating shaft, 4.4A, 4B...Double-acting cylinder for opening/closing, 5A-5
G...Positioner, 6A-6E...Gripper. Figure Figure Figure Figure
Claims (1)
くとも２個以上の非変形の硬い位置決め子および変形自
在の柔い弾性のある把持子を有し、これら位置決め子お
よび把持子はそれぞれ同方向から前記ワークに接近当接
し、前記位置決め子は３点以上の位置決め点においてワ
ークを保持するように構成されていることを特徴とする
ワークの位置決め支持装置。(1) It has at least two or more non-deformable hard positioners and deformable soft elastic grippers each of which is in contact with the outer surface of the workpiece, and each of these positioners and grippers is A workpiece positioning and supporting device, characterized in that the positioner is configured to approach and abut the workpiece from the same direction and hold the workpiece at three or more positioning points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21436788A JP2686778B2 (en) | 1988-08-29 | 1988-08-29 | Work positioning support device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21436788A JP2686778B2 (en) | 1988-08-29 | 1988-08-29 | Work positioning support device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0262550A true JPH0262550A (en) | 1990-03-02 |
| JP2686778B2 JP2686778B2 (en) | 1997-12-08 |
Family
ID=16654613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21436788A Expired - Lifetime JP2686778B2 (en) | 1988-08-29 | 1988-08-29 | Work positioning support device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2686778B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015527092A (en) * | 2012-06-01 | 2015-09-17 | サーモディクス，インコーポレイテッド | Apparatus and method for coating a balloon catheter |
| US10099041B2 (en) | 2012-06-01 | 2018-10-16 | Surmodics, Inc. | Apparatus and methods for coating medical devices |
| US11090468B2 (en) | 2012-10-25 | 2021-08-17 | Surmodics, Inc. | Apparatus and methods for coating medical devices |
| US11628466B2 (en) | 2018-11-29 | 2023-04-18 | Surmodics, Inc. | Apparatus and methods for coating medical devices |
| US11819590B2 (en) | 2019-05-13 | 2023-11-21 | Surmodics, Inc. | Apparatus and methods for coating medical devices |
-
1988
- 1988-08-29 JP JP21436788A patent/JP2686778B2/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015527092A (en) * | 2012-06-01 | 2015-09-17 | サーモディクス，インコーポレイテッド | Apparatus and method for coating a balloon catheter |
| US10099041B2 (en) | 2012-06-01 | 2018-10-16 | Surmodics, Inc. | Apparatus and methods for coating medical devices |
| US10507309B2 (en) | 2012-06-01 | 2019-12-17 | Surmodics, Inc. | Apparatus and methods for coating medical devices |
| US11090468B2 (en) | 2012-10-25 | 2021-08-17 | Surmodics, Inc. | Apparatus and methods for coating medical devices |
| US11628466B2 (en) | 2018-11-29 | 2023-04-18 | Surmodics, Inc. | Apparatus and methods for coating medical devices |
| US11819590B2 (en) | 2019-05-13 | 2023-11-21 | Surmodics, Inc. | Apparatus and methods for coating medical devices |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2686778B2 (en) | 1997-12-08 |
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