JPH0729266B2 - Grasping device for parts - Google Patents
Grasping device for partsInfo
- Publication number
- JPH0729266B2 JPH0729266B2 JP61137570A JP13757086A JPH0729266B2 JP H0729266 B2 JPH0729266 B2 JP H0729266B2 JP 61137570 A JP61137570 A JP 61137570A JP 13757086 A JP13757086 A JP 13757086A JP H0729266 B2 JPH0729266 B2 JP H0729266B2
- Authority
- JP
- Japan
- Prior art keywords
- tube
- tip
- base
- end portion
- expanded
- 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.)
- Expired - Lifetime
Links
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- Manipulator (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、歯車等のように中央に孔のあいた部品等を
この孔の内周面を手掛りとしてつかむための装置に関
し、特にロボットのアームに取付けて有用な部品等のつ
かみ装置に関するものである。Description: TECHNICAL FIELD The present invention relates to a device for gripping a component such as a gear having a hole in the center with an inner peripheral surface of the hole as a clue, and more particularly to an arm of a robot. The present invention relates to a gripping device such as a part that is useful when attached to a.
〔従来の技術〕 従来の機械式つかみ装置、すなわち複数本の爪の動きに
より部品等をつかみものは、傷がつき易い軟質の部品や
爪でつかむ個所が曲面であるもの等には適さなかった。
デリケートな取扱い要求される部品等には、ゴム等の可
撓膜を膨張させ、部品等に形成された孔へこの膨張され
た可撓膜を押し付けてつかむ手段が開発された。これ
は、第５図に示すように、袋状の可撓膜100を筒体101に
取付け、筒体101の通路102からエアーを注入して可撓膜
100を膨張させるものであった。[Prior Art] A conventional mechanical gripping device, that is, a device that grips a part or the like by the movement of a plurality of claws is not suitable for a soft part that is easily scratched or a part that is gripped by a claw is a curved surface. .
For parts and the like that require delicate handling, a means has been developed in which a flexible film such as rubber is expanded, and the expanded flexible film is pressed into a hole formed in the part or the like to grab it. As shown in FIG. 5, a flexible membrane 100 in the shape of a bag is attached to a tubular body 101, and air is injected from a passage 102 of the tubular body 101 so that the flexible membrane can be manufactured.
It was to inflate 100.
また、軟弾性膨張筒やゴムカップ（チューブ）を膨張さ
せてビン類をつかむものとしては、実公昭37−24458号
公報や実公昭45−33132号公報に記載のものが知られて
いる。前者は、ゴム製のチューブの両端のゴムの厚みが
中間部よりも厚く形成してあるとともに、ゴムの厚みが
薄い部分が基体部分から距離をおいて取付けられてい
る。また両端の厚い部分は折り返されずに基体（支筒）
に固着してあるものであり、このチューブ内に流体を注
入して外側へ膨張させるとき、チューブ両端の厚肉部分
は膨張せず、薄肉部分のみが膨張するものである。Further, as the one for inflating a soft elastic expansion cylinder or a rubber cup (tube) to grasp bottles, those described in JP-B-37-24458 and JP-B-45-33132 are known. In the former case, the thickness of the rubber at both ends of the rubber tube is formed to be thicker than that of the middle portion, and the thin rubber portion is attached at a distance from the base portion. In addition, the thick parts at both ends are not folded back
When a fluid is injected into the tube and expanded outward, the thick parts at both ends of the tube do not expand, but only the thin part expands.
後者のチューブは内側へ膨張するものであり、チューブ
の下端側が外側の筒体の下端部外側に内から外へ折り返
されて固着され、チューブの上端側は内側へほぼ直角に
折り曲げられて昇降杆の下端に固着され、チューブその
ものは中空円錐台状をなしている。The latter tube expands inward, the lower end side of the tube is folded back from inside to the outside of the lower end portion of the outer cylinder, and is fixed, and the upper end side of the tube is bent inward at a substantially right angle to raise and lower the rod. The tube itself is in the shape of a hollow truncated cone.
また、第７図に示すようにつかみ基体200にチューブ201
の両端を外側からかしめリング4,5で取付けたものもあ
る。In addition, as shown in FIG.
There are also those with both ends attached by caulking rings 4 and 5 from the outside.
従来の第５図に示すつまみ装置では、第６図に示すよう
に、薄い部品103の孔104へ可撓膜100の先端を挿入して
膨張させても可撓膜100が孔104の内周面にしっかりと密
着せず、確実に部品103をつかむことができなかった。
また、可撓膜100はモールドで形成されたゴムブラダー
を使用するものが大半であり、エアーの注入により大き
くふくらまず（伸縮性に乏しい）、かつ耐久性に劣り、
比較的高価なものであった。さらに、つかめる部品のサ
イズ範囲が狭く、可撓膜100自体も比較的硬く、対象物
が限定されていた。In the conventional knob device shown in FIG. 5, as shown in FIG. 6, even if the distal end of the flexible film 100 is inserted into the hole 104 of the thin component 103 and expanded, the flexible film 100 still has the inner periphery of the hole 104. The part 103 was not firmly attached to the surface, and the part 103 could not be reliably grasped.
Further, most of the flexible film 100 uses a rubber bladder formed by molding, and does not swell significantly (poor elasticity) due to the injection of air, and is inferior in durability.
It was relatively expensive. Furthermore, the size range of the parts that can be grasped is narrow, and the flexible film 100 itself is relatively hard, so that the target object was limited.
第７図に示す従来例では、チューブ201は可撓膜100より
も大きくふくらむが、下端側のチューブ201はその外側
でかしめリング５を固定されているので、コンベアー上
等に載置された薄い部品103をつかむことはできなかっ
た。In the conventional example shown in FIG. 7, the tube 201 bulges larger than the flexible membrane 100, but the tube 201 on the lower end side has the caulking ring 5 fixed on the outside thereof, so that it is thinly placed on a conveyor or the like. I couldn't grab part 103.
また、実公昭37−24458号公報に記載のものも、チュー
ブの両端が厚く、この厚肉部分は膨張せず、したがって
薄い部品の孔へチューブ先端を挿入して膨張させても薄
い部品をつかむことはできなかった。また、両端が厚
く、中間部が薄いチューブを成形するには、モールドで
成形せざるを得ず、第５図に示す可撓膜100と同様の欠
点があった。さらに、実公昭45−33132号公報に記載の
チューブは内側へ膨張するものであり、孔のあいた部品
等の孔に挿入してこの部品等をつかむことはできない。
また、このチューブは中空円錐台状であり、これを成形
するには、両端厚肉のチューブを成形するのと同様に単
品ずつ成形しなければならず、両端の直径が同一の長い
チューブを所定の長さにカットしたチューブに比べてコ
スト高となってしまうものであった。Also, in the Japanese Utility Model Publication No. 37-24458, both ends of the tube are thick and the thick portions do not expand. Therefore, even if the tube tip is inserted into the hole of the thin part and expanded, the thin part is grabbed. I couldn't do that. Further, in order to mold a tube having thick both ends and a thin middle part, there is no choice but to mold the tube, which has the same drawbacks as the flexible film 100 shown in FIG. Further, since the tube described in Japanese Utility Model Publication No. 45-33132 expands inward, it cannot be inserted into a hole such as a part having a hole to grab the part.
In addition, this tube has a hollow truncated cone shape, and in order to mold this, it is necessary to mold each piece individually as in the case of molding a tube with thick walls at both ends. The cost was higher than that of the tube cut into the length of.
そこで、この発明は、安価に製造し易く、孔や溝のあい
た部品等をその孔等を手掛りとして把持でき、折り返し
部分の膨張性も良く、適用範囲の広い部品等のつかみ装
置を提供することを目的とする。Therefore, the present invention provides a gripping device that is easy to manufacture at low cost, can grip parts with holes or grooves using the holes as a clue, has good expandability at the folded portion, and has a wide range of applications. With the goal.
上述の目的を達成するため、この発明は、エアー等の流
体を注入可能なつかみ基体に膨張可能なチューブの両端
を固定し、取付けてなるつかみ装置において、上記チュ
ーブの両端のうち一方は上記基体の先端部に固定し、更
に、そのチューブの固定個所をチューブの一端を内側に
折り返した部分のみとするように構成した。In order to achieve the above-mentioned object, the present invention provides a gripping device in which both ends of an inflatable tube are fixed and attached to a gripping base into which a fluid such as air can be injected, and one of both ends of the tube is the above-mentioned base. Was fixed to the tip of the tube, and the fixing point of the tube was configured so that only one end of the tube was folded back inward.
この発明ではエアー等の流体をつかみ基体を通じてチュ
ーブ内へ注入すると、チューブの両端のうち一方は上記
基体の先端部に固定し、更に、そのチューブの固定個所
をチューブの一端を内側に折り返してあるため、エアー
を注入すると折り返した部分の固定個所は膨張したチュ
ーブにおおわれ、この固定個所をつかみ基体の下端にす
ると、折り返した部分の膨張部分がチューブ先端側に位
置することとなる。したがって、薄い部品の孔へこの折
り返した部分から挿入してチューブを膨張させれば、孔
の内周面に膨張したチューブの膨張面が圧着して部品を
確実につかむ。また、チューブは両端開口で円筒形状を
なした大量かつ安価に製造できるものであり、このよう
な長いチューブを所定の長さにカットすれば、この発明
のチューブとして使用でき、しかも伸縮性に富む。In this invention, when a fluid such as air is grabbed and injected into the tube through the substrate, one of both ends of the tube is fixed to the tip of the substrate, and the fixing point of the tube is folded back inward at one end of the tube. Therefore, when air is injected, the fixed portion of the folded back portion is covered with the expanded tube, and when the fixed portion is grasped and made to be the lower end of the base body, the expanded portion of the folded back portion is located on the tip side of the tube. Therefore, if the tube is expanded by inserting it into the hole of the thin part from this folded back portion, the expanded surface of the expanded tube is crimped to the inner peripheral surface of the hole to securely grasp the part. Further, the tube has a cylindrical shape with openings at both ends and can be manufactured in large quantities at low cost. If such a long tube is cut to a predetermined length, it can be used as the tube of the present invention and is highly stretchable. .
第１図に示す実施例において、エアー等の流体の注入に
より膨張可能な両端開口で円筒形状のチューブ１の両端
1A,1Bをそれぞれつかみ基体の基端部２と先端部３とに
密嵌して取付けてある。この取付手段は、かしめリング
4,5を用いて基端部２及び先端部３へ取付けてあり、チ
ューブ１の両端1A,1Bは密封された状態となる。この実
施例では、基端部２と先端部３とは一体成形されたプラ
スチック材料あるいは金属材料で１つのつかみ基体とし
て形成してあり、少なくとも基端部２に両端が密封され
たチューブ１内へエアーを注入するための通路６を形成
してある。また、基端部２の頭部2Aには後述するロボッ
トのアームに取付くためのねじ孔2Bを形成する共に、通
路６へエアーを注入するための注入口2Cが形成してあ
る。チューブ１はゴムあるいはプラスチック等の材料か
らなる。例えば、ゴム製のホース状の長尺物を形成して
おき、これを所定の長さに切断すれば、この発明に使用
する両端開口のチューブ１を簡単かつ安価に製造でき
る。また、チューブ１にコードを埋設して耐久性や強度
を向上させても良い。また、両端1A,1Bの径はほぼ同一
径で円筒形状であり、厚みもほぼ均一のものであり、特
殊な形状や部分的に厚みが著しく異なったものは使用さ
れない。このようにして構成されたつかみ装置を用いて
部品10をつかむには、第２図に示すように部品10の孔10
Aに先端部３を挿入し、チューブ１内にエアー等の流体
を注入して膨張させる。先端部３に取付けられたチュー
ブ１の一端1Bに続く部分は折り返され、先端部３の外表
面に取付けられた一端1Bはチューブ１の折り返した部分
で覆われるようになり、チューブ１内へエアーを注入し
た場合、チューブ１の折り返した部分の膨張部分がかし
めリングの外側の側方に位置することとなり、この膨張
部分が孔10Aに圧接することとなり、第２図に示すよう
に薄い部品10であっても確実にこれをつかむことが可能
となる。この実施例では、つかみ基体は基端部２と先端
部３とが一体成形されており、この一体物の先端部３に
チューブ１をかぶせ、かしめリング５でチューブ１の一
端1Bを固着し、次いでチューブ１をひっくり返して基端
部２をおおう。このとき、チューブ１の内周面はこの一
体物の基端部２に密着し、密着個所の上部にかしめリン
グ４を嵌めてチューブ１の他端1Aを基端部２に固着す
る。基端部２と先端部３とが一体成形されたものにおい
ては、一体物がコアとなりチューブ１の膨張時における
偏心を防止している。In the embodiment shown in FIG. 1, both ends of a cylindrical tube 1 having openings at both ends that can be expanded by injecting a fluid such as air.
The grippers 1A and 1B are attached to the base end portion 2 and the tip end portion 3 of the base body in a tight fit. This mounting means is a caulking ring
They are attached to the base end portion 2 and the tip end portion 3 using 4,5, and both ends 1A and 1B of the tube 1 are in a sealed state. In this embodiment, the base end portion 2 and the tip end portion 3 are formed as a single gripping base body by integrally molding a plastic material or a metal material, and at least into the tube 1 whose both ends are sealed by the base end portion 2. A passage 6 for injecting air is formed. A screw hole 2B for attaching to a robot arm, which will be described later, is formed in the head portion 2A of the base end portion 2, and an injection port 2C for injecting air into the passage 6 is formed. The tube 1 is made of a material such as rubber or plastic. For example, by forming a long rubber hose-shaped object and cutting it into a predetermined length, the tube 1 with both ends opening used in the present invention can be manufactured easily and inexpensively. Further, a cord may be embedded in the tube 1 to improve durability and strength. Further, both ends 1A and 1B have substantially the same diameter and a cylindrical shape, and the thickness is also substantially uniform, and a special shape or a part having a significantly different thickness is not used. To grasp the component 10 using the grasping device thus configured, as shown in FIG.
The tip portion 3 is inserted into A, and a fluid such as air is injected into the tube 1 to expand it. The portion of the tube 1 attached to the tip portion 3 following the one end 1B is folded back, and the one end 1B attached to the outer surface of the tip portion 3 is covered with the folded portion of the tube 1, so that air is introduced into the tube 1. When the liquid is injected, the expanded portion of the folded portion of the tube 1 is located on the outer side of the caulking ring, and this expanded portion comes into pressure contact with the hole 10A, and as shown in FIG. Even in this case, it is possible to surely grasp this. In this embodiment, the grip base has a base end portion 2 and a tip end portion 3 formed integrally with each other. A tube 1 is placed on the tip end portion 3 of the integrated body, and one end 1B of the tube 1 is fixed with a caulking ring 5. Then, the tube 1 is turned over and the proximal end portion 2 is covered. At this time, the inner peripheral surface of the tube 1 is in close contact with the base end portion 2 of this integral body, and the caulking ring 4 is fitted on the upper part of the contact portion to fix the other end 1A of the tube 1 to the base end portion 2. In the case where the base end portion 2 and the tip end portion 3 are integrally molded, the integral body serves as a core to prevent eccentricity when the tube 1 is expanded.
第３図に示す他の実施例は、基端部２と先端部３とを別
体に構成したつかみ基体の例を示し、その他の構成は第
１図に示すものと同様であるため説明を省略する。Another embodiment shown in FIG. 3 shows an example of a gripping base body in which the base end portion 2 and the tip end portion 3 are separately constructed, and the other construction is similar to that shown in FIG. Omit it.
第４図はロボット20のアーム21にこの発明のつかみ装置
を取付けた具体例を示すものであり、部品10をワークス
テーション30から搬送装置40へ移動させたり、あるいは
搬送装置40の個所からロボット20の作動によりワークス
テーション30へ移動させたりする例を示すものである。
部品10としてセラミック等の焼結前の軟らかい部品を転
送するときにこの発明の装置の使用が有効である。また
は、ガラス瓶等のように口が開いた製品をこの装置によ
り転送することが出来る。なお、第４図中符号22で示す
部材はエアー等の流体の注入を行うためのチューブであ
る。FIG. 4 shows a concrete example in which the gripping device of the present invention is attached to the arm 21 of the robot 20, and the component 10 is moved from the workstation 30 to the transfer device 40, or from the position of the transfer device 40 to the robot 20. This is an example of moving to the workstation 30 by the operation of.
The use of the apparatus of the present invention is effective when transferring a soft component such as ceramic as the component 10 before sintering. Alternatively, products with open mouths such as glass bottles can be transferred by this device. The member indicated by reference numeral 22 in FIG. 4 is a tube for injecting a fluid such as air.
以上説明したように、この発明によれば、エアー等の流
体を注入可能なつかみ基体に膨張可能なチューブの両端
を固定し、取付けてなるつかみ装置において、上記チュ
ーブの両端のうち一方は上記基体の先端部に固定し、更
に、そのチューブの固定個所をチューブの一端を内側に
折り返した部分のみとなっており、そのためつかみ基体
の先端部に取付けられたチューブの一端から続く部分は
折り返した部分とすれば、この折り返した部分も流体注
入時には膨張するので、孔や溝のあいた部品等をこの孔
等を手掛りとしてつかむことができる。すなわち、例え
ばチューブの先端固定個所がつかみ基体の先端部の最下
端部だとすれば、チューブ固定個所の外側にも折り返さ
れてきたチューブがこの固定個所を覆うように存在し、
チューブの折り返した部分がつかみ基体の先端部の最下
端と同レベル若しくはそれよりも下方に位置することと
なり、この折り返し部分にも流体が注入されて膨らみ、
つかみ基体の先端部の最下端付近を含む外側にもチュー
ブの膨張部分が存在することとなり、部品等の孔や溝の
内周面にチューブの膨張面が圧着してその部品等をつか
むことができる。チューブのつかみ基体の先端部外表面
に密着する面を内面とすると、つかみ基体の基端部外表
面に密着するのはチューブの外面となる。チューブの両
端がともに内面でつかみ基体の基端部と先端部とに密着
して取付けられるならば、先端部の固定個所の上下方向
における取付けに要する高さ分だけ、例えば固定手段が
かしめリングであれば、かしめリングの幅（上下方向の
長さ）だけチューブの上下方向における膨張範囲は狭め
られるが、つかみ基体の先端部に位置するチューブに折
り返した部分があれば上記膨張範囲は下方に拡がり、薄
い部品等もつかむことが可能となるものであり、つかめ
る部品等の範囲が広くなる。なお、チューブにコードを
入れた場合には、チューブの脹らみが規制されるが、折
り返しがあるために部品等をつかむには十分な脹らみを
確保するとができる。さらに、チューブは両端が開口し
円筒形状をなす肉厚がほぼ均一なものを用いるので、ホ
ース状のものを所定の長さに切断すれば良く、安価かつ
容易に製造することができる。さらにまた、チューブ両
端はつかみ基体の外表面に沿って固着されるために密封
性も良く、取付けも容易である。As described above, according to the present invention, in a grasping device in which both ends of an inflatable tube are fixed and attached to a grasping base body into which a fluid such as air can be injected, one of both ends of the tube is the base body. It is fixed to the tip of the tube, and the fixing point of the tube is only the part where one end of the tube is folded back inward, so the part continuing from one end of the tube attached to the tip of the grip base is the folded part. Then, since the folded-back portion also expands at the time of injecting the fluid, it is possible to grab a component having a hole or a groove with the hole or the like as a clue. That is, for example, assuming that the tip fixing portion of the tube is the lowermost end portion of the tip of the base body, the tube that has been folded back also exists outside the tube fixing portion so as to cover this fixing portion,
The folded portion of the tube is located at the same level as or lower than the lowermost end of the tip portion of the gripping base body, and the fluid is also injected into this folded portion to swell,
Since the expanded portion of the tube also exists outside the lowermost part of the tip of the grip base, the expanded surface of the tube may be crimped to the inner peripheral surface of the hole or groove of the component to grip the component. it can. If the inner surface is the surface of the tube that is in close contact with the outer surface of the distal end portion of the grip base, the outer surface of the tube is in close contact with the outer surface of the proximal end portion of the grip base. If both ends of the tube are gripped by the inner surface and they are attached in close contact with the base end and the tip of the base, only the height required for the vertical attachment of the fixing part of the tip, for example, the fixing means is a caulking ring. If there is, the expansion range in the vertical direction of the tube will be narrowed by the width (length in the vertical direction) of the caulking ring, but if there is a folded part in the tube located at the tip of the grip base, the expansion range will expand downward. It is possible to hold thin parts and the like, and the range of graspable parts and the like is widened. When the cord is inserted into the tube, the expansion of the tube is regulated, but since the tube is folded back, it is possible to secure a sufficient expansion for grasping parts and the like. Furthermore, since a tube having both ends opened and having a cylindrical shape with a substantially uniform wall thickness is used, a hose-shaped tube may be cut into a predetermined length, and the tube can be manufactured inexpensively and easily. Furthermore, since both ends of the tube are fixed along the outer surface of the grip base, the tube has good sealing performance and is easy to mount.
第１図はこの発明の好適な実施例を示す断面図、第２図
は第１図に示す装置を用いて部品をつかんだ状態の説明
図、第３図は別の実施例を示す断面図、第４図はロボッ
トのアームに取付けた状態を示す正面概略図、第５図は
従来例を示す断面図、第６図は従来例の欠点を説明する
ための図、第７図は他の従来例の欠点を説明するための
図である。 １……チューブ、２……基端部、３……先端部。FIG. 1 is a sectional view showing a preferred embodiment of the present invention, FIG. 2 is an explanatory view of a state where parts are grasped by using the apparatus shown in FIG. 1, and FIG. 3 is a sectional view showing another embodiment. FIG. 4 is a schematic front view showing a state in which the robot is attached to an arm of the robot, FIG. 5 is a sectional view showing a conventional example, FIG. 6 is a diagram for explaining a defect of the conventional example, and FIG. It is a figure for demonstrating the fault of the prior art example. 1 ... Tube, 2 ... Base end, 3 ... Tip.
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 実公 昭37−24458（ＪＰ，Ｙ１) 実公 昭51−17644（ＪＰ，Ｙ２) 米国特許4270789（ＵＳ，Ａ) ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-B 37-24458 (JP, Y1) JP-B 51-17644 (JP, Y2) US Patent 4270789 (US, A)
Claims (1)
膨張可能なチューブの両端を固定し、取付けてなるつか
み装置において、 上記チューブの両端のうち一方は上記基体の先端部に固
定し、更に、そのチューブの固定個所をチューブの一端
を内側に折り返した部分のみとすることを特徴とする部
品等のつかみ装置。1. A gripping device in which both ends of an inflatable tube are fixed and attached to a gripping base into which a fluid such as air can be injected, and one of both ends of the tube is fixed to the tip of the base. Furthermore, the gripping device for parts and the like is characterized in that the fixing point of the tube is only a part where one end of the tube is folded back inward.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61137570A JPH0729266B2 (en) | 1986-06-13 | 1986-06-13 | Grasping device for parts |
| US07/062,035 US4783108A (en) | 1986-06-13 | 1987-06-11 | Catching head of apparatus for handling parts such as cylinder blocks and the like |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61137570A JPH0729266B2 (en) | 1986-06-13 | 1986-06-13 | Grasping device for parts |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62297083A JPS62297083A (en) | 1987-12-24 |
| JPH0729266B2 true JPH0729266B2 (en) | 1995-04-05 |
Family
ID=15201806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61137570A Expired - Lifetime JPH0729266B2 (en) | 1986-06-13 | 1986-06-13 | Grasping device for parts |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0729266B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004205035A (en) * | 2002-12-13 | 2004-07-22 | Bridgestone Corp | Seal device for tube |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2666215B2 (en) * | 1988-04-26 | 1997-10-22 | 株式会社ブリヂストン | Device for gripping parts |
| JPH01301086A (en) * | 1988-05-26 | 1989-12-05 | Bridgestone Corp | Grab for parts or the like |
| JPH01301087A (en) * | 1988-05-30 | 1989-12-05 | Bridgestone Corp | Grab for parts or the like |
| JPH01317990A (en) * | 1988-06-16 | 1989-12-22 | Bridgestone Corp | Holding device for parts or the like |
| JPH0392281A (en) * | 1989-08-31 | 1991-04-17 | Murata Mfg Co Ltd | Holding device of cylindrical work piece |
| JP2009172729A (en) * | 2008-01-25 | 2009-08-06 | Bridgestone Corp | Gripping device |
| JP5402697B2 (en) * | 2009-10-26 | 2014-01-29 | 株式会社安川電機 | Robot apparatus, work picking system and work picking method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4270789A (en) | 1979-10-09 | 1981-06-02 | Clarksville Machine Works, Inc. | Airbag setter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5117644U (en) * | 1974-07-26 | 1976-02-09 |
-
1986
- 1986-06-13 JP JP61137570A patent/JPH0729266B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4270789A (en) | 1979-10-09 | 1981-06-02 | Clarksville Machine Works, Inc. | Airbag setter |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004205035A (en) * | 2002-12-13 | 2004-07-22 | Bridgestone Corp | Seal device for tube |
| US6901966B2 (en) | 2002-12-13 | 2005-06-07 | Bridgestone Corporation | Seal device for tubular member |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62297083A (en) | 1987-12-24 |
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