JPH10194388A - Article-holding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably hold articles in various shapes with a device and to make the structure simple for the device. SOLUTION: An article-holding device 10 is such a one wherein an article- holding member 14 is constructed of a shape memory material 18, and the shape memory material 18 can be deformed at a temperature higher than a specified temperature into an article-holding shape that is suitable to an article model 1A while being formed at a temperature range of use that is lower than the specified temperature into a fixed shape of article holding, and thereby a range for article-holding can be formed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article holder suitable for holding articles such as containers in a container processing step involving filling and capping.

[0002]

2. Description of the Related Art Conventionally, as an article holder, Japanese Unexamined Patent Publication No.
Japanese Patent Publication No. 50 (Prior Art 1) and Japanese Patent Application Laid-Open No. H4-279497 (Prior Art 2) are available.

In the prior art 1, an article holding member is provided on a base member, and when the article can be held by the article holding member, the article holding member is constituted by a plurality of holding pieces made of an elastic sheet material. The holding piece is made of an elastic sealing material so as to correspond to various article shapes.

In prior art 2, an article holding member composed of a V-shaped finger is provided on a base member, and this V-shaped finger is positioned at a desired position corresponding to an article to be held by a servo driver so as to correspond to various article shapes. I was trying.

[0005]

The prior art has the following problems. In the prior art 1, the dimension range of the article shape that can be held within the range of elastic deformation of the elastic sheet material is small. For this reason, depending on the shape of the article, the elastic holding force applied to the article by the elastic sheet material varies greatly, and stable holding cannot be performed. Therefore, the shape of the article that can be substantially held is limited.

In the prior art 2, since the position of the V-shaped finger is controlled, it is extremely complicated mechanically and electrically. In addition, a V-shaped finger holding a V-shaped finger
The shape of the character face is fixed, and the shape of the article that can be held thereby is limited.

An object of the present invention is to stably hold articles of various shapes with a simple structure.

[0008]

According to a first aspect of the present invention, there is provided an article holder having an article holding member, the article holding member being capable of holding an article by the article holding member. The shape memory member can be deformed into an article holding shape capable of abutting a desired article shape at a temperature higher than a certain temperature, and the article holding shape is fixed in an operating temperature range lower than the certain temperature to form an article holding area. It is something to do.

According to a second aspect of the present invention, there is provided an article holder having an article holding member, wherein the article holding member is capable of holding an article. Stores a first article holding shape that can abut the first article shape as an initial storage shape to form a first article holding area, and moves the first article holding shape from the first article holding shape at a temperature higher than a certain temperature. The second article holding shape can be deformed into a second article holding shape capable of abutting the second article holding shape, and the second article holding shape is fixed in a use temperature range lower than a certain temperature to form a second article holding area. It was done.

According to a third aspect of the present invention, in the first or second aspect, the shape memory member further comprises:
It is made of a shape memory resin.

According to a fourth aspect of the present invention, in the first or second aspect, the shape memory member further comprises:
This is a composite of a shape memory resin and a shape memory alloy.

The present invention according to claim 5 provides the invention according to claims 1-4.
In the present invention according to any one of the above, further, the article holding member is composed of a plurality of shape memory members, and each shape memory member is arranged so as to form a radial shape around the article holding region. is there.

According to a sixth aspect of the present invention, in addition to the fifth aspect of the present invention, the tip end of the shape memory member facing the article holding region has a flat plate shape.

The present invention according to claim 7 provides the invention according to claims 1 to 6
In the present invention according to any one of the above, the article holding portion is further provided on a base member, and a height adjusting member is interposed between the base member and the article holding member. .

According to the first aspect of the present invention, the following operations are provided. The shape memory member constituting the article holding member can be variously deformed into an article holding shape corresponding to various desired article shapes (hereinafter, referred to as an article model), and the article holding shape can be fixed. That is, with a simple configuration in which the article holding member is simply constituted by the shape memory member, various article holding areas can be formed, and articles of various shapes can be stably held.

At this time, a shape memory resin and a shape memory alloy can be used as the shape memory member. Both of them return to an initial memory shape (for example, flat) by raising the temperature from a certain temperature, and can be freely deformed into an article holding shape that can abut an article model. And, both
When the temperature is lowered to a use temperature range lower than a certain temperature, the article holding shape is fixed to form an article holding area.

According to the second aspect of the present invention, the following operations are provided. The shape memory member constituting the article holding member is provided with the first article holding shape as the initial memory shape and can be variously deformed into the second article holding shape corresponding to various desired article shapes. Article holding shape can be fixed.
That is, with a simple configuration in which the article holding member is simply constituted by a shape memory member, a first article holding shape as an initial memory shape and a second article holding shape obtained by variously deforming the first article holding shape can be formed. An article having a shape can be stably held.

Then, since the first article holding shape of the article holding member is given as the initial memory shape, it returns to the first article holding shape which is the initial memory shape at a temperature higher than a certain temperature (glass transition temperature T _g ), If this temperature is lowered to a use temperature range (normal temperature) lower than a certain temperature (glass transition temperature T _g ), a first article holding area in which the first article holding shape is fixed can be formed. Therefore, if the frequently used article shape among the various articles held by the article holding member is initially stored as the first article holding shape,
The above-mentioned first article holding shape can be obtained by simply raising the article holding member once provided with another article holding shape (the second article holding shape) to a certain temperature or higher. The type change frequency can be reduced.

At this time, a shape memory resin and a shape memory alloy can be used as the shape memory member. Both of them return to the initial memory shape (the first article holding shape) by raising the temperature from a certain temperature, and can have another article holding shape (the second article holding shape) that can abut the article model selected as desired. Shape). And, both
By lowering the temperature to a use temperature range lower than a certain temperature,
The article holding shape (first and second article holding shapes) is fixed to form an article holding area (first and second article holding areas).

According to the third aspect of the present invention, the following operations are provided. In the above, the elastic modulus of the shape memory member in which the article holding shape is fixed in the operating temperature range is used in a state where the difference between the thickness and the like of the shape memory alloy and the shape memory resin is small.
Shape memory resin is higher than shape memory alloy. Therefore, when a shape memory resin is used as the shape memory member, the elastic modulus in the operating temperature range is high, the material becomes hard, and a strong article holding force can be obtained to improve the holding performance.

According to the present invention, there is provided the following operation. In the above, the restoring force when the shape memory member is raised from a certain temperature and returned to the initial memory shape as a pre-stage operation for giving a new article holding shape (remodeling) is a shape memory alloy rather than a shape memory resin. Is larger. Therefore, when the shape memory member is a composite of the shape memory resin and the shape memory alloy, the shape memory member can be quickly returned to the initial memory shape at the time of changing the type, and the type change can be speeded up.

According to the fifth aspect of the present invention, the following operations are provided. Since the plurality of shape memory members constituting the article holding member are arranged radially around the article holding area, the entire circumference of the article can be stably held by each of the plurality of shape memory members.

According to the sixth aspect of the present invention, the following operations are provided. Since the tip end of the shape memory member facing the article holding region has a flat plate shape, the shape memory member comes into contact with the article on a flat surface (not a point or a line) and can stably hold the article.

According to the present invention, the following effects are obtained. By interposing a height adjusting member between the base member and the article holding member, the article holding height position at which the article holding member contacts the article can stabilize the article according to the shape such as the height of the article. The position can be selected so that the article can be held stably, and the article can be stably held.

[0025]

FIG. 1 is a schematic view showing an article holding device according to a first embodiment, FIG. 2 is a schematic view showing an article holding member, and FIG.
Is a schematic view showing another example of the article holding member, FIG. 4 is a schematic view showing the article holding state, FIG. 5 is a perspective view showing the article holding tool, and FIG. 6 is a perspective view showing the disassembled state of the article holding tool. 7 is a schematic view showing a modification of the article holding member, FIG. 8 is a schematic view showing a modification of the article holding tool, FIG. 9 is a schematic view showing a line for changing the shape of the article holding tool, and FIG. Schematic diagram, FIG.
Is a schematic diagram showing an article holding device of the second embodiment, FIG. 12 is a schematic diagram showing an article holding state, FIG. 13 is a schematic diagram showing a shape imparting device, and FIG. 14 is a schematic diagram showing an article holding device of a third embodiment. FIG. 15 is a schematic diagram showing the article holding state, and FIG.
FIG. 17 is a schematic view showing the article holder of the embodiment, FIG. 17 is a schematic view showing a line for changing the type of the article holder, and FIG. 18 is a schematic view showing a modification of the article holder.

(First Embodiment) (FIGS. 1 to 10) (Article Holder 10) (FIGS. 1 to 6) As shown in FIGS. 1, 4 to 6, the article holder 10 is used as a base member. To the first and second base members 11 and 12
An article holding member 14 is provided via a height adjusting member 13,
The article 1 (for example, a container) can be held by the article holding member 14. The article holder 10 is used, for example, to convey an article 1 by a conveyor in a container processing line or the like that involves filling or capping, and to position the article 1 at a filling operation position of a filling machine, a capping operation position of a capping device, or the like.

The first base member 11 has a rectangular shape, and has a circular recess 11A for fitting the second base member 12 on the upper surface.
The lower surface is provided with a ridge portion 11B for engaging with the feeding engagement portion of the conveyor, and a cleaning through-hole 11C at the center. Also, the central axis of the bottom surface of the circular recess 11A 4 position P ₁ ~
A positioning pin 11D for the second base member 12 is provided at each of P ₄ (the corner points of the rectangles P _{1 to} P ₄ ).

The second base member 12 has a circular shape.
Circular convex portion 1 fitted into circular concave portion 11A of base member 11
2A and a circular annular portion 12B on the circular convex portion 12A. In addition, the lower end outer peripheral side corner surface portion 12a of the circular convex portion 12A of the second base member 12 is tapered to facilitate introduction of the first base member 11 into the circular concave portion 11A.
Also, four positions P around the central axis of the lower end surface of the circular convex portion 12A.
Each ₁ to P _4, the positioning holes 12C of the positioning pin 11D of the first base member 11 is engaged input is provided. A positioning pin 12 for a height adjusting member 13 is provided at each of four positions R _{1 to} R ₄ (corner points of rectangles R _{1 to} R ₄ ) around the center axis of the upper end surface of the circular annular portion 12B.
D is provided. Further, a thin plate ring 15 for adsorption made of a magnetic material such as a magnet or a metal plate is joined to the upper end surface of the circular annular portion 12B by an adhesive or the like. Thin plate ring 1
5 has a hole 15A inserted into the positioning pin 12D of the circular annular portion 12B.

The height adjusting member 13 has an annular shape, and has a positioning hole 13A into which the positioning pin 12D of the second base member 12 is engaged at each of four positions R _{1 to} R ₄ around the central axis of the lower end surface. , 4 positions R _{1 to} R around the center axis of the upper end surface
₄ is provided with a positioning pin 13B for the article holding member 14. The positioning hole 13A is a tapered opening for facilitating the introduction of the positioning pin 12D (FIG. 1).
Good to be. A thin plate ring 16 for adsorption made of a magnetic material such as a magnet or a metal plate is joined to the lower end surface of the height adjusting member 13 with an adhesive or the like. Thin plate ring 16
Is provided with a hole 16A that matches the positioning hole 13A of the height adjusting member 13. A thin plate ring 15 similar to that provided on the upper end surface of the circular annular portion 12B of the second base member 12 is joined to the upper end surface of the height adjusting member 13.

The article holding member 14 has an annular shape, and has a positioning hole 14A into which a positioning pin 13B of the height adjusting member 13 is engaged at each of four positions R _{1 to} R ₄ around the central axis of the lower end surface. A plurality (six in this embodiment) of shape memory members 18 fixed by a fixing ring 17 are provided on the upper end surface.
Are provided horizontally. Fixing ring 17 is screw 17
A attaches to the upper end surface of the shape holding member 14. The height adjusting member 1 is provided on the lower end surface of the shape holding member 14.
A thin plate ring 16 similar to that provided on the lower end surface of No. 3 is joined.

That is, the article holding member 14 is composed of six shape memory members 18 as shown in FIG. 2, and each of the shape memory members 18 is arranged radially around the central axis. The article holding area 19 (FIGS. 5 and 6) is formed. At this time, each shape memory member 18
Is formed by processing a flat plate made of a shape memory resin (for example, shape memory polymer “Diary” manufactured by Mitsubishi Heavy Industries, Ltd.). As shown in FIG.
The base end side fixed by 7 is a fan-shaped portion 18A, and the front end portion facing the article holding area 19 is a flat plate rectangular portion 18B.

However, since the shape memory member 18 is made of the shape memory resin as described above, (a) it returns to the initial memory shape (for example, a flat plate) at a temperature higher than a certain temperature (glass transition temperature T _g ) and It can be freely deformed into an article holding shape that can abut against. Then, (b) the article holding shape is fixed in an operating temperature range (normal temperature) lower than a certain temperature (glass transition temperature T _g ) to form the article holding area 19. The shape memory member 18 shown in FIGS. 1 and 2 has a flat initial memory shape, and the shape memory member 18 shown in FIGS. 4 and 5 has a fixed article holding shape for holding a container having an elliptical cross section. It is a thing.

Therefore, in the article holder 10, the article holding shape using the article model (desired article shape) having the same shape as the article to be held is stored in the shape memory member 18 of the article holding member 14. ), (B)
The shape memory member 18 can stably hold the outer shape of the article 1 by obtaining an article holding shape in which at least the flat rectangular portion 18B is deformed into a curved shape as shown in FIG. At this time, since the shape memory member 18 made of the shape memory resin has a high elastic modulus in the use temperature range where the article holding shape is fixed, it is hard in the use temperature range and a strong article holding force can be obtained.

When the shape memory member 18 gives the article holding shape, if the article model is made smaller in diameter than the article to be held, the article holding force in the article holding area 19 is strengthened. If the diameter is larger than the article size, the article can be smoothly inserted into the article holding area 19.

In the article holding member 14, six shape memory members 18 are arranged radially around the article holding area 19, so that the entire periphery of the article 1 is covered by the six shape memory members 18.
Can be stably held. In the article holding member 14, when the cross section of the article 1 to be held is elliptical, a pair of shape memory members 18 whose major axis directions of the ellipse are located on the same diameter in the article holding member 14, 18 so as to coincide with the center line direction of these shape memory members 18.
At the central portion in the width direction of the elliptical shape can stably hold the side surface in the long axis direction.

In the article holding member 14, the shape memory member 18 is provided with an article holding shape, and the leading end of the shape memory member 18 which faces the article holding area 19 is the flat rectangular section 1.
8B, the flat rectangular portion 18 of the shape memory member 18 is formed.
B comes into contact with the article 1 on a flat surface, so that the article 1 can be stably held.

In the article holding member 14, FIG.
In the initial storage shape of the shape memory member 18 shown in (1), the flat rectangular portions 18B of all the shape memory members 18 have an overlap at the center. Thus, even if the size of the article to be held is an extremely small diameter, the shape memory member 18 obtains an article holding shape in which the flat rectangular portion 18B is necessarily deformed into a curved shape around the article holding area 19, and the extremely small diameter is obtained. The article holding area 19 for the article can be reliably formed. That is, the very small diameter article 1
Can also respond.

In the article holding member 14, FIG.
In the initial storage shape of the shape memory member 18 shown in (1), all the shape memory members 18 have a gap g between the adjacent shape memory members 18. Thus, when each of the shape memory members 18 returns to the flat initial memory shape in (a) described above, and when the shape memory member 18 is deformed into a curved shape so as to be given an article holding shape by the article model, the shape is imparted. For this purpose, there is no disturbance due to the edges of adjacent shape memory members 18 rubbing or interfering with each other. Therefore, the shape memory member 18 provided with the article holding shape (particularly, the flat rectangular portion 18B)
Forms a straight article holding surface without inclination or distortion around the central axis, and can stably hold the article 1.

The procedure for assembling the article holder 10 will be described below (FIG. 6). (1) The positioning pin 11D provided in the circular concave portion 11A of the first base member 11 is provided with a circular convex portion 12A of the second base member 12.
Into the second base member 1
2 is fitted to the first base member 11.

(2) Circular annular portion 12 of second base member 12
The positioning hole 13A of the height adjusting member 13 is engaged with the positioning pin 12D provided in B. At the same time, the thin plate ring 1 provided on the upper end surface of the circular annular portion 12B of the second base member 12
5, the thin plate ring 16 provided on the height adjusting member 13 is attracted by magnetic force. At this time, it is sufficient that at least one of the thin ring 15 and the thin ring 16 is made of a magnet.

(3) Positioning pin 1 of height adjusting member 13
The positioning hole 14A of the article holding member 14 is engaged with 3B. At the same time, the thin ring 15 provided on the article holding member 14 is attached to the thin ring 15 provided on the upper end surface of the height adjusting member 13.
6 is attracted by magnetic force. At this time, the thin plate ring 1
It suffices if at least one of 5 and thin ring 16 is made of a magnet.

As a result of the assembly of the article holder 10 according to the above (1) to (3), as described above, when the cross section of the article 1 to be held is elliptical, the major axis direction of the elliptical article 1 is A pair of shape memory members 1 located on the same diameter in the member 14
The first and second base members 1 and 2 are aligned so as to match the direction of the center line 8 and 18 and further so that the major axis direction of the elliptical article 1 matches the conveying direction of the article holder 10 by the conveyor.
1, 12; height adjustment member 13; article holding member 14;
People are engaged. The conveying direction of the article holder 10 by the conveyor is the convex ridge 1 on the lower surface of the first base member 11.
1B, the first base member 1
1, the circular recess 1 of the first base member 11
Positioning pin 11D provided on 1A, second base member 12
Position P of the positioning hole 12C provided in the circular convex portion 12A of FIG.
Position of the _{rectangle 1} to P ₄ are formed, a positioning pin 12D provided in the circular ring portion 12B of the second base member 12, positioning holes 13A provided in the height adjustment member 13, the positioning pins 13
B, the first and second base members 11, 1, 1 are formed by appropriately setting in advance the rectangular positions formed by the four positions R _{1 to} R _{4 of the} positioning holes 14 A provided in the article holding member 14.
2. As a result of the assembly of the height adjusting member 13 and the article holding member 14, the major axis direction of the elliptical article 1
A pair of shape memory members 18, 1 located on the same diameter in
8 and the long axis direction of the elliptical article 1 matches the conveying direction of the article holder 10 by the conveyor, and the assembly result can be naturally obtained (without manual assembly errors). According to this assembly result, as described above, the pair of shape memory members 18, 18 located on the same diameter in the article holding member 14, the longitudinal side surfaces of the elliptical article 1 at the center in the width direction thereof. It is possible to secure a transport posture in which the wide front part sandwiched between the long-side surfaces of the elliptical article 1 is stably held and faces the side of the conveyor.

In the article holder 10, the first base member 11 and the second base member 12 are separated, and the circular concave portion 11A of the first base member 11 is provided with the circular convex portion 12A of the second base member 12. Since the fitting is performed, the circular projection 12A of the second base member 12 is rotated by 90 degrees with respect to the circular recess 11A of the first base member 11 to engage the positioning pins 11D and the positioning holes 12C. The direction of the conveying posture of the article 1 with respect to the conveying direction of the conveyor determined by the ridges 11B of the first base member 11 can be easily changed immediately (the wide front part of the elliptical article 1 can be changed to either the side or the front of the conveyor). Etc.)

In the article holder 10, the ridges 11B are set in the first base member 11 such that the long side of the rectangle is, for example, in the direction along the conveyor conveyance direction. Thus, the direction of the conveyance posture of the article 1 can be easily specified. However, when the direction of the conveyance posture of the article 1 does not matter, the first base member 11 is not necessarily required to be rectangular, but may be circular.

(Article Holding Member 20) (FIG. 3) The article holding member 20 of FIG. 3 is different from the above-described article holding member 14 in that the shape memory member 2 constituting the article holding member 20 is different.
1 is a composite of a shape memory resin 22 and a shape memory alloy 23. Shape memory resin 22 and shape memory alloy 2
3 is fixed to the article holding member 20 by the fixing ring 17 and the screw 17 </ b> A, as in the article holding member 14.

The shape memory resin 22, like the shape memory member 18 in the article holding member 14, is made of, for example, a shape memory polymer "Diary" manufactured by Mitsubishi Heavy Industries, Ltd.
It has a fan-shaped portion 22A and a flat rectangular portion 22B. The shape memory alloy 23 has a strip shape attached to the center line of the back surface of the shape memory resin 22, and is made of, for example, a Ni—Ti alloy “K10K ALLOY” manufactured by Daido Steel Co., Ltd.

Since the shape memory member 21 is composed of the shape memory resin 22 and the shape memory alloy 23, (a) the shape memory alloy 23 is heated at a temperature higher than a certain temperature (glass transition temperature T _g or shape recovery temperature A _f ). Is higher in elastic modulus than the shape memory resin 22, the shape memory resin 22 is quickly returned to the initial memory shape (for example, a flat plate) by the shape memory alloy 23, and is freely changed to an article holding shape that can abut an article model. Can be transformed. And (b) a constant temperature (glass transition temperature T
_g or the article holding shape is fixed in an operating temperature range (normal temperature) lower than the shape recovery temperature A _f ) to form the article holding area 19.

At this time, since the shape memory resin 22 of the shape memory member 21 has a high elastic modulus in the operating temperature range where the article holding shape is fixed, it is hard in the operating temperature range and a strong article holding force can be obtained. it can. Further, the shape memory alloy 23 of the shape memory member 21 is restored when the shape memory member 21 is heated to a certain temperature and returned to the initial memory shape at the time of the preparatory work for providing a new article holding shape (model change). It is possible to quickly restore the entire shape memory member 21 to the initial memory shape by applying the large restoring force to the shape memory resin 22 having a small restoring force by itself, thereby speeding up the type change. it can.

(Article holding members 30, 40) (FIG. 7)
(A), (B)) The article holding member 30 of FIG.
The difference from the fourth embodiment resides in that it is constituted by four shape memory members 31A to 31D.

The point that the article holding member 40 shown in FIG. 7B differs from the aforementioned article holding member 14 is that twelve shape memory members 41 are provided.
A to 41L.

(Article Holder 50) (FIG. 8) The article holder 50 of FIG. 8 is different from the aforementioned article holder 10 in that the second base member 12 is placed on the first base member 11.
A height adjusting member 13 on the second base member 12,
The article holding member 14 is joined onto the height adjusting member 13 (same as the article holder 10 up to this point), and the height adjusting member 13 is further placed on the article holding member 14 and the height adjusting member 1
The product holding member 14 is connected to the product 3. Thereby, the article holder 50 can stably hold the long article 1 by providing the article holding members 14 at each of the two positions in the height direction.

In the article holder 50, a hole 51 provided in a screw 17A located on the upper end surface of the article holding member 14 so that the height adjusting member 13 can be connected to the intermediate article holding member 14. And a positioning hole 13A on the lower end surface of the height adjusting member 13 can be engaged with the positioning pin 52 of the article holding member 14. Also,
The fixing ring 17 located on the upper end face of the article holding member 14 is made of a magnetic material such as a magnet or metal, and the thin ring 16 of the height adjusting member 13 is attracted to the fixing ring 17 by magnetic force.

(Method and Apparatus for Changing Type of Article Holder 10)
(FIGS. 9 and 10) As shown in FIG. 9, an article holding member supply device 61 (see FIG.
Heating device 62, shape applying device 63, cooling device 64, height adjusting member supply device 65, article holding member setting device 66
Is configured.

The article holding member supply device 61 is composed of a robot, and removes the article holding member 14 of the article holding tool 10 carried in from the article holding tool carry-in line 71 from the first and second base members 11 and 12. Article holding member molding line 7
The article holding member 14 is transferred to the heating device 62.

The heating device 62 raises the temperature of the shape memory member 18 of the article holding member 14 from a certain temperature and returns it to a flat initial memory shape. The heating device 62 can be specifically configured by an infrared heater or the like.

The shape imparting device 63 deforms the shape memory member 18 whose temperature has been raised from a certain temperature into an article holding shape which can abut an article model. More specifically, as shown in FIG. 10, the shape applying device 63 can be constituted by a pair of upper and lower forming tools 63A and 63B sandwiching the shape memory member 18 from the front and back. The outer surface of the upper molding tool 63A (male mold) matches the outer shape of the article model, and the inner surface of the lower molding tool 63B (female mold) has a similar shape that is larger than the outer shape of the article model by the thickness of the shape memory member 18. is there.

The cooling device 64 fixes the article holding shape of the shape memory member 18 provided by the shape applying device 63 by lowering the temperature from a predetermined temperature. The cooling device 64 can be specifically configured by a cooling medium or the like built in the forming tools 63A and 63B of the shape applying device 63.

The height adjusting member supply device 65 is composed of a robot, and the first and second base members 11 and 12 transferred from the article holder transfer line 71 to the bypass line 73.
Is connected to the height adjusting member 13.

The article holding member setting device 66 is composed of a robot. The article holding member 14 having a new article holding shape given by the above-described heating device 62, shape applying device 63, and cooling device 64 in the article holding member forming line 72. To
The first and second base members 11 and 12 and the height adjusting member 13 discharged from the bypass line 73 are set, and the assembly of the new article holder 10 is completed. The article holder 10 is carried out to the next step by the article holder carry-out line 74.

Accordingly, the article holder 10 is provided with
The type is changed as follows by 0. (1) The article holding member 14 is taken out of the first and second base members 11 and 12 by the article holding member supply device 61, and the article holding member 14 is supplied to the heating device 62.

(2) The article holding member 1 is heated by the heating device 62.
The temperature of the shape memory member 18 of No. 4 is raised from a certain temperature to return to the flat initial memory shape.

(3) The shape memory member 18 heated from a certain temperature is deformed into an article holding shape by the shape applying device 63.

(4) The shape memory member 1 is cooled by the cooling device 64.
The article holding shape of No. 8 is fixed by lowering the temperature from a certain temperature.

(5) If necessary, the height adjusting member 13 is connected to the first and second base members 11 and 12 by the height adjusting member supply device 65.

(6) The article holding member setting device 66
The article holding member 14 of (4) is set on the first and second base members 11 and 12 and the height adjusting member 13 of (5).

Incidentally, in the mold changing device 60, the article holding member supply device 61, the heating device 62, the shape applying device 63,
The operation of the cooling device 64, the height adjustment member supply device 65, the article holding member setting device 66, the article holding member carry-in line 71, the article holding member forming line 72, the bypass line 73, and the article holding member unloading line 74 allows the article to be held. Among the first and second base members 11 and 12, the height adjustment member 13, and the shape holding member 14 that constitute the tool 10, the number and position of the height adjustment member 13, the article holding member, and the like. The number and positions of the 14 mounting members are appropriately changed, and a plurality of height adjusting members 1 are provided.
Long, multiple article holding members 14 with 3 interposed
Can be freely assembled into a multi-stage type or the like installed at an appropriate height position.

Therefore, according to the present embodiment, the following operations are provided. (About the article holder 10) The shape memory member 18 constituting the article holding member 14 can be variously deformed into an article holding shape corresponding to various article models, and the article holding shape can be fixed. That is, with a simple configuration in which the article holding member 14 is simply constituted by the shape memory member 18, various article holding areas 19 can be formed, and articles of various shapes can be stably held.

At this time, as the shape memory member 18, a shape memory resin and a shape memory alloy can be used. Both of them return to an initial memory shape (for example, flat) by raising the temperature from a certain temperature, and can be freely deformed into an article holding shape that can abut an article model. Then, when the temperature is lowered to a use temperature range lower than a certain temperature, the article holding shape is fixed and the article holding area 19 is formed.

In the above, the elasticity of the shape memory member 18 in which the article holding shape is fixed in the operating temperature range is higher in the shape memory resin than in the shape memory alloy. Therefore, when a shape memory resin is used as the shape memory member 18, the elasticity in the operating temperature range is high, the material becomes hard, and a strong article holding force can be obtained to improve the holding performance.

In the above, the shape memory member 2 is used as a pre-operation for providing a new article holding shape (remodeling).
The shape memory alloy 23 has a greater restoring force when the temperature of 1 is returned to the initial memory shape by raising the temperature than a certain temperature, than the shape memory resin 22. Therefore, the shape memory member 21 is
And a shape memory alloy 23 to quickly return to the initial memory shape when the shape memory member 21 is changed,
It is possible to quickly change the type.

Since the plurality of shape memory members 18 constituting the article holding member 14 are arranged radially around the article holding area 19, the entire periphery of the article is covered by the plurality of shape memory members 18.
Can be stably held.

By forming the flat rectangular portion 18B facing the article holding area 19 of the shape memory member 18, the shape memory member 18 comes into contact with the article on a flat surface (not a point or a line), thereby stabilizing the article. Can be maintained.

The base members 11 and 12 and the article holding member 1
By interposing the height adjusting member 13 between the first and fourth members,
The article holding height position where the article holding member 14 contacts the article,
It is possible to select a position where the article can be held more stably according to the shape such as the height of the article, and the article can be stably held.

(Regarding Method and Apparatus for Changing Type of Article Holder 10) By applying a heating step, a shape providing step, and a cooling step to the shape memory member 18 constituting the article holding member 14, the shape memory member 18 can be renewed. It is possible to provide a unique article holding shape and fix it (model change). In other words, the type change operation only needs to change the shape of the shape memory member 18 without replacing the article holding member 14 with another member.
It is simple and easy to automate.

Before the above-mentioned heating step is applied to the shape memory member 18 constituting the article holding member 14, the base member 11,
By taking out the article holding member 14 from the 12 and setting the article holding member 14 on the base member after the above-described cooling step, heating, shape imparting, and cooling operations on the shape memory member 18 can be easily and efficiently performed. be able to. That is, the article holding member 14 is separated by being separated from the base member, the heat capacity in the heating step and the cooling step is reduced, and the heating efficiency and the cooling efficiency can be improved. In addition, the shape memory member 18 is not obstructed from being obstructed by the presence of the base member, and the forming tool can be easily acted on from the front and back of the shape memory member 18, and the workability of shape provision can be improved.

The shape applying device 63 is used for the shape memory member 18.
Is constituted by a pair of molding tools 63A, 63B sandwiching the shape memory member 18 from the front and back, so that the article holding shape can be reliably and quickly imparted to the shape memory member 18.

(Second Embodiment) (FIGS. 11 to 13) (Article Holder 80) (FIGS. 11 and 12) The article holder 80 is a hexagonal frame material provided on a rectangular base member 81 via a support 82. The frame 83 is supported by suspending six shape memory members 85 constituting the article holding member 84 on each side of the frame member 83.

The shape memory member 85 is made of the same shape memory resin as the shape memory member 18 of the first embodiment. Therefore, the shape memory member 85 can (a) return to an initial memory shape (for example, a flat plate) at a temperature higher than a certain temperature (glass transition temperature T _g ) and freely deform to an article holding shape that can be in contact with an article model. And (b) a constant temperature (glass transition temperature T
_g ) The article holding shape is fixed in a lower operating temperature range (normal temperature) to form the article holding area 86.

(Method and Apparatus for Changing Type of Article Holder 80)
(FIG. 13) The remodeling device 90 of the article holder 80 includes a heating device, a shape-imparting device, and a cooling device, similarly to the remodeling device 60 of the first embodiment. (For example, "Air Picker" manufactured by Bridgestone Corporation) 91A is used. That is, the shape imparting device 91
Is a balloon 91A provided with the article model 1A inserted inside the entire shape memory member 85 and provided outside each shape memory member 85.
To inflate the shape memory member 85 between the balloon 91A and the article model 1A into an article holding shape.

Accordingly, the article holder 80 is provided in the
The type is changed as follows by 0. (1) The shape memory member 85 of the article holding member 84 is raised from a certain temperature by a heating device (not shown) to return to a flat initial memory shape (FIG. 11).

(2) The shape memory member 85 heated from a certain temperature is deformed into an article holding shape by the shape applying device 91. At this time, the balloon 91A of the shape applying device 91 is pressurized and inflated (FIG. 13A).

(3) The article holding shape of the shape memory member 85 is cooled down from a certain temperature and fixed by a cooling device (not shown). After that, the balloon 9 of the shape applying device 91 is used.
1A is evacuated and contracted (FIG. 13B).

(Third Embodiment) (FIGS. 14 and 15) (Article Holder 100) (FIGS. 14 and 15) The article holder 100 has an article holder 102 provided on a circular box-shaped base member 101. Things. Then, the article holding member 102 is divided into ten rectangular curved shape memory members 103.
It consists of. The upper end of the shape memory member 103 is fixed to the upper end surface of the base member 101, and the shape memory member 10
The lower end of 3 extends outward through a guide hole 104 provided in a side wall of the base member 101.

The shape memory member 103 is made of the same shape memory alloy as the shape memory alloy 23 of the shape memory member 21 of the first embodiment. Therefore, the shape memory member 103
(a) When the temperature is higher than a certain temperature (shape recovery temperature A _f ), the shape returns to the initial memory shape (a mode in which the distance between the opposed shape memory members 103, 103 is smaller than the diameter of the article to be held) (FIG. 14) and the article model It can be freely deformed into an article holding shape that can abut against. And (b) a constant temperature (shape recovery temperature A
_f ) In the lower operating temperature range (normal temperature), the article holding shape is fixed to form the article holding area 105 (FIG. 1).
5).

The method and apparatus for changing the shape of the article holder 100 can be performed as follows in the same manner as in the article holder 10 of the first embodiment. (1) Shape memory member 10 facing article holding member 102
The space between the members 3 and 103 is made larger than that of the article model 1A, and the article model 1A is inserted into the shape memory members 103 and 103.

(2) The article holding member 102 is heated by the heating device.
The shape memory member 103 is heated above a certain temperature and returned to the initial memory shape (FIG. 14). In this process, each of the shape memory members 103 abuts on the article model 1A, and the article holding shape can be given to the shape memory member 103.

(3) The shape memory member 103 is cooled by the cooling device.
The above article holding shape is fixed by lowering the temperature from a certain temperature.

(Fourth Embodiment) (FIGS. 16 and 17) (Article Holder 110) (FIG. 16) The article holder 110 has the same basic configuration as the article holder 10. The point that the article holder 110 is different from the article holder 10 is that the shape memory member 1 that constitutes the article holder 14 is different.
As the initial memory shape 8 (not the flat shape), the first article holding shape A that is frequently used among various article shapes is stored.

Here, the initial memory shape (first article holding shape A) of the shape memory member 18 is as follows: (1) The desired first article holding shape is changed from a state in which the shape memory resin (or shape memory alloy) is melted. Forming and solidifying into shape A, or (2) Forming material (eg, flat plate) of shape memory resin (or shape memory alloy)
In a state where the temperature is raised to a temperature close to the melting point, and is solidified into a desired first article holding shape A.

For example, a shape memory member 18 made of a shape memory polymer “Diary” manufactured by Mitsubishi Heavy Industries, Ltd.
At 130 ° C near the melting point for 15 minutes
Can be formed.

Accordingly, the shape memory member 18 of the article holder 110 is formed by a first article holding area 19A shown in FIG.
(B) constitutes the second article holding area 19B. (A) The first article holding area 19A The shape memory member 18 has a constant temperature (glass transition temperature T) regardless of the shape in the operating temperature range (normal temperature).
_g ) The temperature is raised to a higher temperature and returns to the first article holding shape A which is the initial memory shape. And (b) the shape memory member 1
If the temperature of 8 is lowered to a use temperature range (normal temperature) lower than a certain temperature (glass transition temperature T _g ), a first article holding area 19A in which the first article holding shape A is fixed can be formed. .

In the article holder 110, the first article holding shape A of the shape memory member 18 may be permanently fixed to a specific and unique shape, or may be set as by a type changing device 120 described later. It may be replaced.

(B) The second article holding area 19B The shape memory member 18 is provided with (a) a constant temperature (glass transition temperature T
_g ) At a higher temperature, it returns to the first article holding shape A, which is the initial memory shape, and can be freely deformed from the first article holding shape A to the second article holding shape B that can abut an article model. Then, (b) the second article holding shape B is fixed in an operating temperature range (normal temperature) lower than a certain temperature (glass transition temperature T _g ) to form a second article holding area 19B.

For example, a shape memory member 18 made of a shape memory polymer “Diary” manufactured by Mitsubishi Heavy Industries, Ltd.
, The glass transition temperature T _g depends on the material type
The temperature is about 30 to 100 ° C., and the first article holding shape A can be transformed into the second article holding shape B at a temperature rise of, for example, 80 ° C. for 1 minute.

FIG. 16 shows a first article holding area 19A which can hold a frequently used large-diameter article 1 formed by the first article holding shape A stored in the shape memory member 18, and stores the shape. A second article holding area 19B that can hold the article 1 having a small diameter is formed by the second article holding shape B provided to the member 18.

(Method and Apparatus for Changing the Type of the Article Holder 110) (FIG. 17)
The main function is to deform the second article holding shape B imparted to the shape memory member 18 of the article holding member 14 constituting the article 10 in various ways, and the same article holding as that of the mold changing device 60 for the article holding tool 10 is performed. Member supply device 61, heating device 6
2. A shape providing device 63, a cooling device 64, a height adjusting member supply device 65, and an article holding member setting device 66 are provided. Further, the type changing device 120 is capable of giving or changing the first article holding shape A itself as an initial memory shape to be given to the shape memory member 18, and is provided with an initial memory shape setting line-in 75. In the shape setting line 75, an initial heating device 67, an initial shape applying device 68,
A cooling device 69 is provided.

Therefore, the article holder 110 performs the following initial setting operation (A) and the following type changing operation (B) by the type changing device 120. (A) Initial Setting Operation (1) The article holding member 14 is taken out of the first and second base members 11 and 12 by the article holding member supply device 61, and the article holding member 14 is supplied to the initial heating device 67.

(2) The initial heating device 67 heats the shape memory member 18 of the article holding member 14 to near the melting point.

(3) The first article holding shape A is applied by the initial shape applying device 68 to the shape memory member 18 whose temperature has been raised to near the melting point.

(4) The shape memory member 1 is cooled by the cooling device 69.
The temperature of 8 is lowered to fix the first article holding shape A as the initial memory shape.

(5) The height adjusting member 13 is connected to the first and second base members 11 and 12 by the height adjusting member supply device 65 as required.

(6) The article holding member setting device 66
The article holding member 14 of the above (4) is set on the first and second base members 11 and 12 and the height adjusting member 13 of the above (5), and the first article holding shape A as an initial memory shape is set. The setting of the provided article holder 110 is completed.

(B) Remodeling operation (1) The article holding member 14 is taken out of the first and second base members 11 and 12 by the article holding member supply device 61, and the article holding member 14 is supplied to the heating device 62. I do.

(2) The article holding member 1 is heated by the heating device 62.
The temperature of the shape memory member 18 of No. 4 is raised from a certain temperature to return to the initial memory shape (first article holding shape A).

(3) The second article holding shape B is applied to the shape memory member 18 heated from a certain temperature by the shape applying device 63.
Is applied.

(4) The shape memory member 1 is cooled by the cooling device 64.
8 is cooled to fix the second article holding shape B.

(5) If necessary, the height adjusting member 13 is connected to the first and second base members 11 and 12 by the height adjusting member supply device 65.

(6) The article holding member setting device 66
The article holding member 14 of the above (4) is set on the first and second base members 11 and 12 and the height adjusting member 13 of the above (5), and the article holding member provided with the second article holding shape B is provided. Tool 11
The setting change of 0 is completed.

Therefore, according to the present embodiment, the following operations are provided. The shape memory member 18 constituting the article holding member 14 is given the first article holding shape A as the initial memory shape and can be variously deformed into the second article holding shape B corresponding to various desired article shapes. The second article holding shape B can be fixed. That is, with a simple configuration in which the article holding member 14 is simply configured by the shape memory member 18, the first article holding shape A as the initial memory shape and the second article holding shape B obtained by variously deforming the first article holding shape A are formed. It can be formed and can stably hold articles of various shapes.

Then, since the first article holding shape A of the article holding member 14 is given as the initial memory shape, the first article holding shape A which is the initial memory shape at a temperature higher than a certain temperature (glass transition temperature T _g ). And then used as it is in a temperature range (normal temperature) lower than a certain temperature (glass transition temperature T _g ).
When the temperature is lowered to the first temperature, the first article holding area A in which the first article holding shape A is fixed can be formed. Therefore, if the frequently used article shape among the various articles held by the article holding member is initially stored as the first article holding shape A, the other article holding shape (the second article holding shape B) is temporarily stored. The above-described first article holding shape A can be obtained simply by raising the temperature of the article holding member provided with the above ()) to a certain temperature or higher, and the frequency of changing the article holding member 14 can be reduced.

At this time, as the shape memory member 18, a shape memory resin and a shape memory alloy can be used. Both of them return to the initial memory shape (the first article holding shape A) by raising the temperature from a certain temperature, and can have another article holding shape (the second article holding shape) that can abut an article model selected as desired. It can be freely transformed into the holding shape B). By lowering the temperature to a use temperature range lower than a certain temperature, the two are fixed in the article holding shape (the first and second article holding shapes A and B), and the article holding areas (the first and second article holding areas). 2
Are formed as the article holding areas 19A and 19B).

The embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration of the present invention is not limited to the embodiments, and the design may be changed without departing from the scope of the present invention. The present invention is also included in the present invention. For example, the base member is not indispensable to the article holding member, and the article holding member may have a function of the base member, and the shape memory resin used as the shape memory member constituting the article holding member of the present invention. In order to avoid swelling due to moisture absorption of the resin, it is preferable to use a water-repellent treatment on the surface.

In the article holder 10 (same for 50 and the like), the height adjusting member 13 is held by the base member 12 and the article holding member 14 is held by the height adjusting member 13. (a) The positioning pin 12D provided on the upper end surface of the base member 12 is inserted into the positioning hole 1 on the lower end surface of the height adjusting member 13.
3A, the suction thin plate ring 16 on the lower end surface of the height adjusting member 13 is magnetically attached to the suction thin ring 15 on the upper end surface of the base member 12, and (b) the height adjusting member. Positioning pins 13B provided on the upper end surface of the member 13 engage with positioning holes 14A on the lower end surface of the article holding member 14, and are attached to the suction thin plate ring 15 on the upper end surface of the height adjusting member 13 under the article holding member 14. The suction-use thin plate ring 16 on the end face is magnetically held. However, the height adjusting member 13 is held by the base member 12 and the height adjusting member 1 is held.
As another method for holding the article holding member 14 on the object 3, FIG.
As shown in FIG. 8, (a) a large-diameter ring-shaped portion 202 on the lower end surface of the height adjusting member 13 is fitted into a small-diameter ring-shaped portion 201 provided on the upper end surface of the base member 12, and
2 engaging recess 2 provided on the outer periphery of small diameter ring-shaped portion 201
The height adjusting member 13 is held on the base member 12 by engaging a resilient plunger 204 embedded in the inner peripheral portion of the large-diameter ring-shaped portion 202 of the height adjusting member 13 with 03.
(b) The large-diameter ring-shaped portion 212 on the lower end surface of the article holding member 14 is fitted into the small-diameter ring-shaped portion 211 provided on the upper end surface of the height adjusting member 13, and the small-diameter ring of the height adjusting member 13. By engaging a resilient plunger 214 embedded in the inner peripheral portion of the large-diameter ring-shaped portion 212 of the article holding member 14 with an engaging concave portion 213 provided on the outer peripheral portion of the convex portion 211, the height adjusting member 13 is engaged. The article holding member 14 may be held. Here, the resilient plunger 204 (same for 214) includes a compression spring 204B and a ball 2 in a case 204A embedded in the height adjusting member 13 and the article holding member 14.
04C is stored, and the equator of the ball 204C is placed in the case 2 so that the ball 204C does not fly out of the case 204A.
04A, the compression spring 204
B causes the ball 204C to spring outward.

[0114]

As described above, according to the present invention, articles of various shapes can be stably held with a simple structure.

[Brief description of the drawings]

FIG. 1 is a schematic diagram illustrating an article holder according to a first embodiment.

FIG. 2 is a schematic view showing an article holding member.

FIG. 3 is a schematic view showing another example of the article holding member.

FIG. 4 is a schematic diagram showing an article holding state.

FIG. 5 is a perspective view showing an article holder.

FIG. 6 is a perspective view showing the disassembled state of the article holder.

FIG. 7 is a schematic view showing a modification of the article holding member.

FIG. 8 is a schematic view showing a modification of the article holder.

FIG. 9 is a schematic view showing a type changing line of the article holder.

FIG. 10 is a schematic view showing a shape applying device.

FIG. 11 is a schematic view illustrating an article holder according to a second embodiment.

FIG. 12 is a schematic diagram showing an article holding state.

FIG. 13 is a schematic view showing a shape applying device.

FIG. 14 is a schematic view showing an article holder according to a third embodiment.

FIG. 15 is a schematic diagram showing an article holding state.

FIG. 16 is a schematic diagram illustrating an article holder according to a fourth embodiment.

FIG. 17 is a schematic view showing a type changing line of the article holder.

FIG. 18 is a schematic view showing a modification of the article holder.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 article 1A article model 10, 110 article holder 11, 12 base member 13 height adjustment member 14, 20 article holding member 18, 21 shape memory member 18B flat rectangular section 19 article holding area 19A first article holding area 19B Second article holding area 22 Shape memory resin 23 Shape memory alloy

Claims (7)

[Claims] 1. An article holder having an article holding member, wherein the article holding member can hold an article, wherein the article holding member is constituted by a shape memory member, and the shape memory member has a desired temperature higher than a predetermined temperature. An article holder, which can be deformed into an article holding shape that can abut the article shape, and forms the article holding area by fixing the article holding shape in a use temperature range lower than a certain temperature. 2. An article holder having an article holding member and capable of holding an article by the article holding member, wherein the article holding member is constituted by a shape memory member, and the shape memory member has an impact on the first article shape. The first article holding shape that can be merged is stored as an initial memory shape to form a first article holding area, and abuts the first article holding shape from the first article holding shape to a second article holding shape at a temperature higher than a certain temperature. An article holder, which can be deformed into a second article holding shape that can be deformed, and forms the second article holding area by fixing the second article holding shape in a use temperature range lower than a certain temperature. 3. The article holder according to claim 1, wherein the shape memory member is made of a shape memory resin. 4. The article holder according to claim 1, wherein the shape memory member is a composite of a shape memory resin and a shape memory alloy. 5. The article holding member according to claim 1, wherein the article holding member comprises a plurality of shape memory members, and each of the shape memory members is radially arranged around the article holding region. Article holder. 6. The article holder according to claim 5, wherein a tip end of the shape memory member facing the article holding area has a flat plate shape. 7. The article holding member is provided on a base member,
The article holder according to any one of claims 1 to 6, wherein a height adjusting member is interposed between the base member and the article holding member.